Cargo pickup system

Abstract

To provide a cargo pickup system capable of picking up an article through detection of the article adaptively to restriction of installation.SOLUTION: There is provided a cargo pickup system 10 that picks up an article 11 arrayed in a horizontal first direction x. A distance sensor 32 detects the article 11 from a detection direction s along the first direction x. A cargo pickup device 15 picks up the article 11 in order in the opposite direction from the detection direction s of the distance sensor 32 when the distance sensor 32 detects the article 11.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a pickup system for picking up arranged articles in order. [Background technology]

[0002] Conventionally, there is known a device that recognizes the packaging of items stacked on a pallet based on recognition information acquired by photographing the items from above with a camera or detection information acquired with a distance sensor, as described in Patent Document 1 below, for example. By recognizing the packaging of the items, the topmost item can be identified and the items can be picked up in a predetermined picking order. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7065632 Summary of the Invention [Problem to be solved by the invention]

[0004] In a device that uses a sensor such as a camera from above to recognize the packaging shape of an item as described above, the sensor needs to be installed in the space above the item to be recognized, but depending on the size and layout of the facility, it may be difficult to secure space to install the sensor in the space above the item.

[0005] The problem to be solved by the present invention is to provide a goods receiving system that can receive goods based on the detection of goods while dealing with restrictions on the location of sensor installation in the height direction. [Means for solving the problem]

[0006] The present invention is a loading system for loading items arranged in a horizontal first direction, comprising a sensor that detects the items from a detection direction along the first direction, and a loading device that, when the sensor detects the items, loads the items in sequence from the opposite direction to the detection direction from the sensor. [Effects of the Invention]

[0007] According to the goods receiving system of the present invention, goods can be received based on the detection of goods while complying with the restrictions on the height direction of the sensor installation location. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic plan view of an item collection system showing one embodiment of the present invention. [Figure 2] 2A to 2C are perspective views showing the sensor device and articles of the same article receiving system according to article patterns. [Figure 3] FIG. 2 is a block diagram of the cargo pick-up system. [Figure 4] 10A to 10F are explanatory diagrams showing the order of picking up items for each pattern by the same picking up system. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of the present invention will now be described with reference to the drawings.

[0010] 1 shows an article receiving system 10. The article receiving system 10 is a depalletizing system that receives an article 11 from a transfer source and transfers it to a transfer destination.

[0011] The loading system 10 includes a pallet conveying device 14 that conveys a pallet 12 loaded with multiple items 11 to a loading position 13 from which the items 11 are to be transferred, a loading device 15 that retrieves the items 11 from the pallet 12 arranged at the loading position 13 and transfers them to a destination, an item conveying device 16 that is the destination, and a sensor device 17 that detects the items 11 on the pallet 12 arranged corresponding to the loading position 13.

[0012] The article 11 is, for example, a container for containing an item, and is a rectangular parallelepiped-shaped object such as a bag, an A-type or wrap-around type cardboard box, a case, or a container.

[0013] The items 11 are stacked on a pallet 12 that is rectangular in top view. A plurality of items 11 are stacked on the pallet 12 in multiple vertical tiers, each tier being a predetermined stacking pattern. Figure 2(a) shows an example of a block-stacking tier, in which three items 11 are arranged in a horizontal first direction x along one side of the pallet 12, and two items 11 are arranged in a horizontal second direction y intersecting the first direction x. Figures 2(b) and 2(c) show examples of a windmill-shaped stacking tier. For example, Figure 2(b) shows an example of two items 11 arranged in both the first direction x and the second direction y, and Figure 2(c) shows an example of three items 11 arranged in both the first direction x and the second direction y. In each stacking pattern, the items 11 are stacked vertically in the same stacking pattern in all tiers. Furthermore, even if the items 11 on the pallets 12 are stacked in a predetermined stacking pattern, the number of layers may differ for each pallet 12, or some of the items 11 in the top layer of the stacking pattern may not be stacked. In other words, a stacking pattern of the items 11 is formed by arranging a predetermined number of items 11 in the first direction x and the second direction y.

[0014] As shown in Figure 1, the pallet conveying device 14 is equipped with an inlet path 20 for conveying pallets 12 loaded with items 11 to the unloading position 13, a first outlet path 21 that extends from the unloading position 13 in a direction intersecting the inlet path 20 and in the opposite direction to the unloading device 15 and for conveying out pallets 12 that have been unloaded and are empty or have items 11 remaining on them, a second outlet path 22 that branches off midway from the first outlet path 21 in a direction intersecting the first outlet path 21 and for conveying out pallets 12 that have items 11 remaining on them, and a third conveying path 23 that is located downstream of the first outlet path 21 and for conveying out empty pallets 12.

[0015] The items 11 on the pallet 12 placed at the loading position 13 face the loading device 15 in a first direction x, which is opposite to the conveying direction of the first discharge path 21, and the second direction y faces in a direction intersecting the conveying direction of the first discharge path 21.

[0016] 1, the object-receiving device 15 is installed on the side opposite the first discharge path 21 across the object-receiving position 13 of the pallet transport device 14. The object-receiving device 15 includes a hand device 25 for gripping the object 11 and a movement mechanism 26 for moving the position of the hand device 25.

[0017] The hand device 25 has a gripping structure that can pick up the topmost articles 11 stacked on the pallet 12 one by one. For example, it has a gripping structure that sucks the top surface of the article 11, a gripping structure that clamps the article 11 between a pair of palms, a gripping structure that combines sucking and clamping, and the like.

[0018] The movement mechanism 26 is, for example, an articulated robot, and includes a robot arm 28 rotatably mounted on a base 27. The robot arm 28 has a rotation shaft at its tip, and the hand device 25 is attached to the lower end of this rotation shaft, allowing the hand device 25 to be moved to any position. The robot arm 28 is controlled so that the central axis of the rotation shaft remains vertical, thereby allowing the horizontal rotation angle of the hand device 25 to be adjusted around the rotation shaft. Note that the movement mechanism 26 is not limited to an articulated robot, and may be, for example, an orthogonal movement mechanism configured with three orthogonal slide axes.

[0019] As shown in FIGS. 1 and 2, the sensor device 17 includes an installation body 31 and a distance sensor 32 that is a sensor attached to the installation body 31 and serves as a detection means.

[0020] The installation body 31 is installed above the first discharge path 21, straddling the first discharge path 21, on the opposite side of the object receiving device 15 with respect to the object receiving position 13 and in the opposite direction to the first direction x of the objects 11 on the pallet 12 placed at the object receiving position 13. The installation body 31 includes support columns 33 on both sides of the first discharge path 21, upper and lower guide members 34 horizontally installed between the support columns 33 on both sides, and a first mounting member 35a and a second mounting member 35b mounted to be slidable horizontally along the upper and lower guide members 34. A plurality of distance sensors 32 are attached to each mounting member 35a, 35b. The guide members 34 and the mounting members 35a, 35b are arranged above the first discharge path 21 and allow the passage of the pallets 12 being discharged via the first discharge path 21.

[0021] The distance sensor 32 detects the item 11 at the pick-up position 13 from a detection direction s along the first direction x. The distance sensor 32 is, for example, a reflective laser distance sensor, and has a light-projecting unit and a light-receiving unit. The light-projecting unit irradiates detection light 36, which is laser light from, for example, a laser diode, toward the side of the item 11 from a horizontal direction, and the reflected light reflected by the side of the item 11 is received by a light-receiving sensor, such as a CMOS sensor, in the light-receiving unit, and measures the distance to the side of the item 11 using, for example, a triangulation method or a time-of-flight method.

[0022] The order in which the items 11 at the pick-up position 13 are picked up by the pick-up device 15 is set starting from the item 11 closest to the pick-up device 15, taking into consideration the ease and efficiency of the pick-up operation by the pick-up device 15, and is set at least from the direction opposite to the first direction x and the detection direction s. In other words, the pick-up order is set from the leading edge to the trailing edge in the first direction x. Since the items 11 are lined up in the second direction y, the pick-up order for the items 11 in one row lined up in the first direction x is set first, followed by the pick-up order for the items 11 in another adjacent row. In Figures 1 and 2, the numbers "1, 2, 3..." for the pick-up order are shown on the items 11.

[0023] As shown in Figures 2(a) to (c), the distance sensors 32 are attached to multiple tiers on each mounting member 35a, 35b so as to individually detect the items 11 on each tier stacked on the pallet 12, and are adjusted to correspond to the position of the items 11 to be detected by each mounting member 35a, 35b moving along the guide member 34.

[0024] The distance sensor 32 includes a first distance sensor 32a attached to the first mounting member 35a and configured to detect the distance toward a first detection target item 11a, which is the trailing item located at the rear end in the first direction x and intermediate in the order of picking among the first array of items 11, which is one of the second directions y, and a second distance sensor 32b attached to the second mounting member 35b and configured to detect the distance toward a second detection target item 11b, which is the trailing item located at the rear end in the first direction x and later in the order of picking than the first detection target item 11a, which is the last item in the second array of items 11. The first and second distance sensors 32a, 32b are positioned at a distance toward the rear end in the first direction x relative to the trailing item 11a, which is the trailing item located at the rear end in the first direction x, and are capable of detecting the presence of the item 11a, but the arrangement area of ​​the items 11 located closer to the front end in the first direction x than the item 11a is a blind spot area.

[0025] In Figure 2(a), the items 11 are arranged in a first row in the first direction x, with items arranged in the collection order of "3," "2," and "1," and a second row in the first direction x, with items arranged in the collection order of "6," "5," and "4." The first distance sensor 32a detects the distance from a detection direction s along the first direction x toward the first detection target item 11a, which has the collection order of "3" in the first row, and the second distance sensor 32b detects the distance from a detection direction s along the first direction x toward the second detection target item 11b, which has the collection order of "6" in the second row.

[0026] In Figure 2(b), the items 11 are arranged in a first row in the first direction x with the items with picking orders "2" and "1" lined up, and a second row in the first direction x with the items with picking orders "4" and "3" lined up. The first distance sensor 32a detects the distance from the detection direction s along the first direction x toward the first detection target item 11a with the picking order "2" in the first row, and the second distance sensor 32b detects the distance from the detection direction s along the first direction x toward the second detection target item 11b with the picking order "4" in the second row.

[0027] 2(c), there is a first row of items 11 with picking orders "3," "2," and "1" lined up in the first direction x, and a second row of items with picking orders "8," "7," and "5" lined up in the first direction x. The first distance sensor 32a detects the distance from the detection direction s along the first direction x toward the first detection target item 11a with picking order "3" in the first row, and the second distance sensor 32b detects the distance from the detection direction s along the first direction x toward the second detection target item 11b with picking order "8" in the second row. The picking order "3" is adjacent to the picking order "4" in the second direction y, and the picking order "5" is adjacent to the picking order "6" in the second direction y.

[0028] Next, as shown in FIG. 3, the article receiving system 10 includes a control unit 40 that controls the operation of the hand device 25 and the robot arm 28 (movement mechanism 26) of the article receiving device 15.

[0029] The distance sensors 32a and 32b and the object-receiving device 15 are connected to the control unit 40. The control unit 40 includes an acquisition unit 41, an object-receiving order setting unit 42, a robot controller 43, a storage unit 44, and the like.

[0030] The control unit 40 operates the pick-up device 15 based on the pick-up order of the articles 11 and the positions of the articles 11 detected by the distance sensor 32. The control unit 40 controls the pick-up device 15 to perform a pick-up operation in accordance with the pick-up order, starting from the article 11 that is earlier in the pick-up order than the article 11a detected by the distance sensor 32 and that is located at the tip of the first direction x.

[0031] The acquisition unit 41 acquires distance information detected by the distance sensors 32a and 32b.

[0032] When the distance sensor 32 (32a, 32b) detects an item 11, the picking order setting unit 42 sets the picking order of the items 11 from the opposite direction to the detection direction s from the distance sensor 32. In other words, the picking order setting unit 42 identifies the items 11 in the stowage pattern based on the distance information from the distance sensor 32, and sets the picking order starting from the items 11 that have an earlier picking order than the identified item 11.

[0033] Specifically, the unloading order setting unit 42 identifies the article 11 in the stacking pattern based on the distance information from the first distance sensor 32a, and when the article 11 in the stacking pattern is identified based on the distance information from the second distance sensor 32b, sets the unloading order from the article 11 with the earliest unloading order. Further, when the article 11 is not identified based on the distance information from the first distance sensor 32a and the article 11 in the stacking pattern is identified based on the distance information from the second distance sensor 32b, the unloading order from the article 11 with the next unloading order after the article 11a of the first detection target is set.

[0034] The robot controller 43 controls the operations of the hand device 25 and the robot arm 28 so as to pick up the article 11 at the unloading position 13, which is the transfer source, according to the unloading order set by the unloading order setting unit 42 and transfer it to the article transfer device 16, which is the transfer destination.

[0035] The storage unit 44 stores article information including the shape and dimensions of the article 11, stacking pattern information of the articles 11 stacked on the pallet 12, information regarding the operations of the hand device 25 and the robot arm 28, information regarding the transfer of the article 11, and the like.

[0036] In addition, the storage unit 44 stores, according to the stacking pattern, the distances from the first distance sensor 32a and the second distance sensor 32b to the facing surfaces facing the first distance sensor 32a and the second distance sensor 32b of each article

[0037] Furthermore, if the first distance sensor 32a and the second distance sensor 32b measure a distance shorter than the predetermined distance L1 ± the allowable range, this means that an item 11 has been detected in a location where it does not actually exist, and the control unit 40 outputs an error.

[0038] On the other hand, if the first distance sensor 32a measures a distance longer than the distance L3 ± the allowable range, the item 11 with the picking order "1" that is located farthest from the first distance sensor 32a is not present, and therefore there are no items 11 in that arrangement. In this state, if the second distance sensor 32b detects items 11 with the picking order "6," "5," and "4," picking operations are performed based on the items 11 with "6," "5," and "4," and if the second distance sensor 32b also detects a distance longer than the distance L3 ± the allowable range, the control unit 40 determines that there are no items 11 in that row.

[0039] Next, the operation of the cargo pick-up system 10 will be described.

[0040] First, the overall operation of the goods pick-up system 10 will be described with reference to FIG.

[0041] A pallet 12 loaded with goods 11 is transported by a pallet transport device 14 to a loading position 13 and stops there.

[0042] The items 11 on the pallet 12 placed at the loading position 13 have a first direction x of the stacking pattern facing the loading device 15 and facing the same direction as the detection direction s of the distance sensors 32a and 32b, and a second direction y facing the direction in which the distance sensors 32a and 32b are aligned.

[0043] The distance sensors 32a, 32b for each tier detect the distance by irradiating a detection light 36 horizontally toward the item 11 on each tier at the pick-up position 13. Based on the distance information from the distance sensors 32a, 32b, the presence or absence of the item 11 on each tier is confirmed, and for the tier where the presence of the item 11 is confirmed, the position of the item 11 in the stacking pattern is identified and the pick-up order is set.

[0044] The item receiving device 15 receives the items 11 one by one from the item receiving position 13 according to the set order of items to be received, and transfers the items to the item transport device 16.

[0045] Next, the setting of the order in which the items 11 are picked up and the pick-up operation will be described.

[0046] First, the setting of the order of picking up the items 11 and the picking operation in the block stacking patterns shown in Figs. 2(a) and 4(a) and (b) will be described.

[0047] When the first detection target item 11a at the position of pickup order "3" in the stowage pattern is identified based on the distance information acquired from the first distance sensor 32a, the pickup order of the items 11 from the direction opposite to the detection direction s is set to "1," "2," and "3." When the second detection target item 11b at the position of pickup order "6" in the stowage pattern is identified based on the distance information acquired from the second distance sensor 32b, the pickup order of the items 11 from the direction opposite to the detection direction s is set to "4," "5," and "6." This sets pickup orders "4," "5," and "6" following pickup orders "1," "2," and "3." In other words, the first pickup order "1" is set as the pickup start position, and pickup orders "1" to "6" are set.

[0048] The pick-up device 15 picks up and transfers the items 11 one by one according to the set pick-up order "1" to "6."

[0049] Furthermore, the first distance sensor 32a can identify the first detection target item 11a with the picking order "3", but cannot identify the presence or absence of items 11 with picking orders "1" and "2" that are located in the blind spot of the first distance sensor 32a due to the picking order "3". For example, as shown in Figure 4(a), there may be cases where the item 11 with the picking order "1" is not present. Even if there is no item 11 with the picking order "1" in this way, the picking device 15 performs operations from picking to transferring as if there is an item 11 with the picking order "1" to be picked up. Alternatively, if it is confirmed that the hand device 25 cannot pick up the item 11, for example, if it is confirmed that the hand device 25 has a suction mechanism and is unable to suction the item 11 during pick-up so that the suction pressure does not increase, or if it is confirmed that the hand device 25 has a gripping mechanism and is not gripping the item 11 with its palm, or if the presence of the item 11 to be picked up is not confirmed by measuring the distance to the item 11 below with a sensor provided in the hand device 25 or by photographing with a camera, then the pick-up device 15 may stop picking up the item 11 with pick-up order "1" and move on to picking up the next item 11 with pick-up order "2".

[0050] If, based on the distance information acquired from the first distance sensor 32a, the first detection target item 11a with the loading order "3" is not identified, and an item 11 with the loading order "2" is identified, then only the loading orders "1" and "2" are set, and the loading order "3" is skipped, or the loading order "3" is not set, and no loading is performed by the loading device 15. Similarly, if the items 11 with the loading order "2" and "3" are not identified, and an item 11 with the loading order "1" is identified, then only the loading order "1" is set, and the loading orders "2" and "3" are skipped, or the loading orders "2" and "3" are not set, and no loading is performed by the loading device 15.

[0051] 4(b), if no item 11 is detected based on the distance information acquired from the first distance sensor 32a, and the second detection target item 11b with a collection order of "6" is identified based on the distance information acquired from the second distance sensor 32b, then collection orders of "4," "5," and "6" for the items 11 are set in succession from the direction opposite to the detection direction s of the second distance sensor 32b, starting from collection order "4" which is the next to collection order "3," which is the latest collection order detectable by the first distance sensor 32a. Therefore, collection order "4" is set as the collection start position, and collection orders "4" to "6" are set.

[0052] The second distance sensor 32b can identify the second detection target item 11b with the picking order "6", but cannot identify the presence or absence of the items 11 with the picking orders "4" and "5". For example, as shown in Figure 4(b), there may be cases where the items 11 with the picking orders "4" and "5" are not present. Even if there are no items 11 with the picking orders "4" and "5" in this way, the picking device 15 will perform the operations from picking to transferring as if the items 11 with the picking orders "4" and "5" are present, as described above, or if it is confirmed that picking by the hand device 25 is not possible, it will stop the picking in progress and move on to picking the next item 11 with the picking order.

[0053] Next, the setting of the order in which the items 11 are picked up and the picking operation in the windmill-shaped stacking patterns shown in FIG. 2(b) and FIGS. 4(c) and (d) will be described.

[0054] When the first detection target item 11a at the position of pickup order "2" in the stowage pattern is identified based on the distance information acquired from the first distance sensor 32a, the pickup order of the items 11 from the direction opposite to the detection direction s is set to "1" and "2." When the second detection target item 11b at the position of pickup order "4" in the stowage pattern is identified based on the distance information acquired from the second distance sensor 32b, the pickup order of the items 11 from the direction opposite to the detection direction s is set to "3" and "4." This sets pickup orders "3" and "4" following pickup orders "1" and "2." In other words, the first pickup order "1" is set as the pickup start position, and pickup orders "1" to "4" are set.

[0055] The pick-up device 15 picks up and transfers the items 11 one by one according to the set pick-up order "1" to "4."

[0056] Furthermore, the first distance sensor 32a can identify the first detection target item 11a with the picking order "2", but cannot identify the presence or absence of the item with the picking order "1", and as shown in Figure 4(c), there may be cases where the item 11 with the picking order "1" is not present. Even if the item 11 with the picking order "1" is not present, as described above, the picking device 15 performs operations from picking up to transferring as if the item 11 with the picking order "1" is present, or if it is confirmed that the picking device 15 cannot pick up the item 11 with the picking order "1", the picking device 15 stops picking up the item 11 with the picking order "1" and moves on to picking up the next first detection target item 11a with the picking order "2".

[0057] If the first detection target item 11a for pick-up order "2" is not identified based on the distance information obtained from the first distance sensor 32a, and pick-up order "1" is identified, only pick-up order "1" is set and pick-up order "2" is skipped, or pick-up order "2" is not set and pick-up by the pick-up device 15 is not performed.

[0058] 4(d), if an item 11 is not detected based on the distance information acquired from the first distance sensor 32a, and a second detection target item 11b with a collection order of "4" is identified based on the distance information acquired from the second distance sensor 32b, collection orders "3" and "4" for the items 11 are set successively from the opposite direction to the detection direction s of the second distance sensor 32b, starting from collection order "3" which follows the latest collection order "2" in which the first distance sensor 32a can detect the item 11. Therefore, collection order "3" is set as the collection start position, and collection orders "3" to "4" are set.

[0059] The second distance sensor 32b can identify the second detection target item 11b with the picking order "4", but cannot identify the presence or absence of the item 11 with the picking order "3", and as shown in Figure 4(d), there may be cases where the item 11 with the picking order "3" is not present. Even if the item 11 with the picking order "3" is not present, as described above, the picking device 15 will perform the operations from picking to transferring as if the item 11 with the picking order "3" is present, or if it is confirmed that the picking device 15 cannot pick up the item 11 with the picking order "3", it will stop picking up the item 11 with the picking order "3" and move on to picking up the next item 11 with the picking order "4".

[0060] Next, the setting of the order of picking up the items 11 in the windmill-shaped stacking patterns shown in Figs. 2(c) and 4(e) and (f) and the picking operation will be described.

[0061] When the first detection target item 11a is identified as being at a position with a loading order of "3" in the stowage pattern based on the distance information acquired from the first distance sensor 32a, the loading order of the items 11 from the direction opposite to the detection direction s is set to "1," "2," and "3." When the second detection target item 11b is identified as being at a position with a loading order of "8" in the stowage pattern based on the distance information acquired from the second distance sensor 32b, the loading orders are set to "4," "5," "6," "7," and "8" from the loading order "4" after the loading order "3" of the first detection target item 11a to the final loading order "8." This sets the loading orders "4," "5," "6," "7," and "8" following the loading orders "1," "2," and "3." In other words, the first loading order "1" is set as the loading start position, and the loading orders "1" to "8" are set.

[0062] The pick-up device 15 picks up and transfers the items 11 one by one according to the set pick-up order "1" to "8".

[0063] Furthermore, the first distance sensor 32a can identify the first detection target item 11a with the picking order "3", but cannot identify the presence or absence of items with the picking orders "1" and "2", and as shown in Figure 4(e), there may be cases where the items 11 with the picking orders "1" and "2" are not present. Even if there are no items 11 with the picking orders "1" and "2" in this way, the picking device 15 will perform the operations from picking to transferring as if there are items 11 with the picking orders "1" and "2", as described above, or if it is confirmed that the picking of the item 11 is not possible, it will stop the picking in progress and move on to picking the next item 11 with the picking order.

[0064] If, based on the distance information acquired from the first distance sensor 32a, an item 11a with a pick-up order of "3" is not identified and a pick-up order of "2" is identified, only the pick-up orders "1" and "2" are set, and the pick-up order "3" is skipped, or the pick-up order "3" is not set, and pick-up by the pick-up device 15 is not performed. Similarly, if an item 11 with a pick-up order of "2" and "3" is not identified and an item 11 with a pick-up order of "1" is identified, only the pick-up order "1" is set, and the pick-up orders "2" and "3" are skipped, or the pick-up orders "2" and "3" are not set, and pick-up by the pick-up device 15 is not performed.

[0065] As shown in Figure 4(f), if item 11 is not detected based on the distance information obtained from the first distance sensor 32a, and item 11b, the second detection target with picking order "8", is identified based on the distance information obtained from the second distance sensor 32b, the picking start position is set to picking order "4", which is the next picking order after the latest picking order "3" at which item 11 can be detected by the first distance sensor 32a, and items 11b, the second detection target with picking order "4" to "8", are set.

[0066] The second distance sensor 32b can identify the second detection target item 11b with the picking order "8", but cannot identify the presence or absence of items with the picking order "4", "5", "6", and "7", and as shown in Figure 4(f), there may be cases where the items 11 with the picking order "4", "5", "6", and "7" are not present. Even if there are no items 11 with the picking order "4", "5", "6", and "7" in this way, the picking device 15 will perform the operations from picking to transferring as if there are items 11 with the picking order "4", "5", "6", and "7", as described above, or if it is confirmed that the picking device 15 cannot pick up the item 11, it will stop the current picking and move on to picking up the next item 11 with the picking order.

[0067] If the items 11 in the stowage pattern cannot be identified based on the distance information from the distance sensors 32a, 32b and the order of picking up cannot be set, the picking operation by the picking device 15 is not performed and the situation is treated as an abnormality.

[0068] Since the distance sensors 32a and 32b detect the item 11 from the horizontal direction, there are no restrictions on the installation location that require a higher height, as is the case when the package of the item 11 is photographed from above with a camera or detected with a sensor.

[0069] Even when detecting items 11 from a horizontal direction using distance sensors 32a, 32b, if it is possible to detect items 11 from the opposite direction to the first direction x, it will be possible to identify and retrieve items 11 in the order in which they are retrieved. However, since a retrieval device 15 is positioned in the opposite direction to the first direction x to retrieve and transfer items 11, it is not possible to install sensor device 17 in the opposite direction to the first direction x. In other words, there is an installation constraint in that it is not possible to detect items 11 from the opposite direction to the first direction x.

[0070] In the loading system 10 of this embodiment, a sensor device 17 is installed on the opposite side of the loading location 13 from the loading device 15, and items 11 are detected from a detection direction s along the first direction x, and a loading order is set and items are loaded from the opposite direction to the detection direction s, or items 11 that come earlier in the loading order than the item 11 identified by detection are loaded according to the loading order, thereby allowing items 11 to be loaded based on the detection of items 11 while responding to installation constraints.

[0071] Furthermore, when the unloading device 15 is to unload an item 11 that is earlier in the unloading order than the identified item 11, it may perform the unloading operation on the non-existent item 11 in the unloading order even if the unloaded item 11 is not present, and then move on to unloading the next item 11 in the unloading order, or may cancel (omit) unloading the item 11 to be unloaded and move on to unloading the next item 11 in the unloading order if it is confirmed that the unloaded item 11 cannot be unloaded because the unloaded item 11 is not present. Note that when unloading of an item 11 that does not exist is canceled, idle operations of the unloading device 15 can be reduced, improving processing efficiency.

[0072] When the loading device 15 identifies an item 11 other than the first or second detection target item 11 based on distance information from the first distance sensor 32a or the second distance sensor 32b, the loading device 15 can reduce idle operation of the loading device 15 and improve processing efficiency by not performing loading from items 11 that are later in the loading order than the identified item 11 to the first or second detection target item 11.

[0073] The sensor may be a sensor that simply detects the presence or absence of an item 11. For example, in FIG. 4(a), if the sensor detects the presence of an item 11 in any of the pick-up orders "1," "2," or "3," the pick-up order may be set to "1," "2," or "3."

[0074] Furthermore, when the picking order is from the rear end to the front end in the first direction x, the picking device 15 can be operated to pick up the items 11 in the order starting from the item 11 detected by the first distance sensor 32a or the second distance sensor 32b. More specifically, for example, when the items 11 with picking orders "1," "2," and "3" are lined up in order from the rear end in the first direction x, if the distance sensor 32 detects the item 11 with order "2," it can be recognized that the item 11 with order "1" does not exist but the item 11 with order "3" does exist, and therefore picking operation can be started from the item 11 with order "2." A stowage pattern based on a combination of the arrangement of the items 11 can also be a combination of a picking order arrangement from the front end to the rear end in the first direction x and a picking order arrangement from the rear end to the front end in the first direction x.

[0075] Although the embodiment of the present invention and its modified examples have been described above, various combinations of configurations, partial omissions, substitutions and modifications are also possible. [Explanation of symbols]

[0076] 10. Loading System 11 Goods 13 Pick-up location 15 Loading equipment 32 Distance sensor as a detection means and sensor 32a First distance sensor 32b Second distance sensor s Detection direction x 1st direction y second direction

Claims

1. A loading system for loading items arranged in a horizontal first direction, comprising: a sensor that detects the article from a detection direction along the first direction; When the sensor detects the item, a pickup device picks up the item in order from the opposite direction to the detection direction from the sensor. A cargo receiving system comprising:

2. A pickup system that picks up items arranged in a horizontal first direction according to a set pickup order, a distance sensor that detects a distance to the article from a detection direction along the first direction; When the item is identified based on the distance information from the distance sensor, the receiving device receives the item in order of pickup, starting from the item that is earlier in the pickup order than the identified item. A cargo receiving system comprising:

3. A pickup system that picks up items arranged in a predetermined pattern in a horizontal first direction and a horizontal second direction intersecting the first direction, in accordance with a set pickup order, comprising: a first distance sensor that detects a distance from a detection direction along the first direction toward the item that is a first detection target included in a first array in the second direction; a second distance sensor that detects a distance from a detection direction along the first direction toward a second detection target item included in a second array that is later in the picking order than the first detection target item in the second direction; a receiving device that identifies the item based on distance information from the first distance sensor and, when the item is identified based on distance information from the second distance sensor, receives the item in a receiving order starting with the item that is first in the receiving order, and, when the item is not identified based on distance information from the first distance sensor but is identified based on distance information from the second distance sensor, receives the item in a receiving order starting with the item that is next in the receiving order after the first detection target item; A cargo receiving system comprising:

4. When the item to be picked up is an item that is earlier in the picking order than the identified item, if the item to be picked up does not exist, the picking device performs a picking operation on the non-existent item and then moves on to picking up the next item in the picking order, or if it is confirmed that the item to be picked up does not exist, stops picking up the item to be picked up and moves on to picking up the next item in the picking order.

4. The system of claim 3.

5. When the pickup device identifies an item other than the item of the first detection target or the second detection target based on distance information from the first distance sensor or the second distance sensor, the pickup device does not execute pickup from the item that is later in the pickup order than the identified item to the item of the first detection target or the second detection target.

4. The system of claim 3.

6. The first distance sensor and the second distance sensor are provided in a plurality of stages in the vertical direction, and perform distance detection individually for each stage of the articles stacked in a plurality of stages in the vertical direction in the predetermined pattern.

6. A cargo handling system according to any one of claims 3 to 5.

7. A pickup system that picks up a predetermined number of articles arranged in a first direction at a pickup position in a pickup order from a leading end to a trailing end in the first direction, a loading device capable of removing the item from the loading position by a loading operation; a detection means positioned at a distance from a trailing item in the first direction that is located at the trailing end of the group of items arranged in the first direction, the detection means being capable of detecting the presence of the trailing item, and the arrangement area of ​​the items located at the leading end of the trailing item in the first direction being a blind spot area; a control unit that operates the item-receiving device based on the order in which the items are to be picked up and the positions of the items detected by the detection means, The control unit The object-receiving device is controlled so as to perform the object-receiving operation in accordance with the object-receiving order, starting from the object that is located at the front end in the first direction and that is earlier in the object-receiving order than the rear end object detected by the detection means. A cargo handling system characterized by:

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