Controller, control method, and program

Abstract

To simultaneously grip a plurality of objects to adequately load them.SOLUTION: A controller comprises: a position acquisition unit that acquires arrangement information indicating a loading position in a first pallet for a scheduled object, which is an object scheduled to be loaded onto the first pallet at a loading destination; a first selection unit that selects, from among the scheduled objects, a plurality of adjacent scheduled objects as a scheduled object group to be simultaneously loaded, based on the arrangement information; an image acquisition unit that acquires a detection result obtained by detecting, from above, a second pallet serving as a loading source in a state in which objects are mounted; and a second selection unit that selects, from among the objects mounted on the second pallet, a plurality of adjacent objects as an object group to be loaded as the scheduled object group, based on the detection result.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control device, a control method, and a program. [Background technology]

[0002] When selecting and shipping specific items, a palletizer grabs the objects placed on a specific pallet and stacks them on the shipping pallet. For example, Patent Document 1 describes a transport robot that can simultaneously grab and transpose multiple target objects. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-9120 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is room for improvement in simultaneously grasping and properly stacking multiple objects.

[0005] The present disclosure aims to provide a control device, a control method, and a program that are capable of simultaneously gripping and appropriately stacking multiple objects. [Means for solving the problem]

[0006] The control device according to the present disclosure includes a position acquisition unit that acquires placement information indicating the loading position on a first pallet of a planned object, which is an object scheduled to be loaded on the first pallet as a loading destination; a first selection unit that selects, based on the placement information, a plurality of adjacent planned objects from among the planned objects as a group of planned objects to be loaded simultaneously; an image acquisition unit that acquires detection results obtained by detecting from above the second pallet from which the objects are to be loaded while they are loaded; and a second selection unit that, based on the detection results, selects a plurality of adjacent objects from among the objects loaded on the second pallet as a group of objects to be loaded as the group of planned objects.

[0007] The control method disclosed herein includes the steps of: acquiring placement information indicating the loading position on a first pallet for planned objects that are scheduled to be loaded on the first pallet as a loading destination; selecting, based on the placement information, multiple adjacent planned objects from among the planned objects as a group of planned objects to be loaded simultaneously; acquiring detection results obtained by detecting, from above, the second pallet from which the objects will be loaded while they are loaded; and, based on the detection results, selecting, from among the objects loaded on the second pallet, multiple adjacent objects to be loaded as a group of planned objects to be loaded as the group of planned objects.

[0008] The program disclosed herein causes a computer to perform the following steps: acquiring placement information indicating the loading position on a first pallet for planned objects that are scheduled to be loaded on the first pallet as a group of planned objects to be loaded simultaneously based on the placement information; acquiring detection results from detecting the second pallet from above with the objects loaded on it; and selecting, based on the detection results, adjacent objects from the objects loaded on the second pallet as a group of planned objects to be loaded as a group of planned objects to be loaded as a group of planned objects. [Effects of the Invention]

[0009] According to the present disclosure, multiple objects can be simultaneously grasped and properly stacked. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of a stowage system according to this embodiment. [Figure 2] FIG. 2 is a schematic block diagram of the control device. [Figure 3] FIG. 3 is a schematic diagram showing an example of setting a stowage plan. [Figure 4] FIG. 4 is a schematic diagram for explaining an example of selection of a scheduled target group. [Figure 5] FIG. 5 is a schematic diagram showing an example of a method for selecting a subject group. [Figure 6] FIG. 6 is a schematic diagram showing an example of a method for selecting a subject group. [Figure 7] FIG. 7 is a flowchart illustrating the processing flow for setting a staging plan. [Figure 8] FIG. 8 is a schematic diagram showing another example. [Figure 9] FIG. 9 is a schematic diagram illustrating an example of a gripping position. [Figure 10] FIG. 10 is a schematic diagram illustrating an example of a gripping position. DETAILED DESCRIPTION OF THE INVENTION

[0011] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes configurations in which the respective embodiments are combined.

[0012] (Loading system) FIG. 1 is a schematic diagram of a stowage system according to this embodiment. The stowage system 100 according to this embodiment is a system for stowing objects B onto a pallet P. More specifically, the stowage system 100 according to this embodiment transfers objects B loaded on a second pallet P2 onto a first pallet P1. That is, the second pallet P2 is the source pallet P on which objects B are loaded, and the first pallet P1 is the destination pallet P to which objects B are loaded. The objects B are items to be stowed on the pallet P, such as products to be shipped. Note that the term "objects B" also refers to cardboard boxes and the like used to package products. In this embodiment, the objects B may be rectangular or cubic cardboard boxes. The Japan Pallet Association defines a pallet P as "a surface on which cargo can be placed as a single unit, with a structure that allows for all loading, transport, and storage by hand or by dedicated vehicles such as forklifts. This includes pallets with superstructures." In this embodiment, the pallet P refers to a container or platform on which the object B is stacked. In other words, the pallet here is not limited to a so-called flat platform, but may also include a cart or the like, and may be of any shape.

[0013] In this embodiment, only one type of object B is loaded on the second pallet P2. Furthermore, depending on the work content (shipping order), only one type of object B may be loaded on the first pallet P1, or multiple types of objects B may be loaded. The type of object B here refers to the type of product, etc., and objects B of the same type may be the same size. Furthermore, in this embodiment, depending on the work content (shipping order), multiple objects B may be loaded on the second pallet P2 so that they are stacked in layers, or multiple objects B may be stacked in just one layer. Here, stacked in layers refers to a state in which one object B is placed on top of another object B.

[0014] As shown in FIG. 1, the stowage system 100 includes a stowage device 10 , a detection device 20 , and a control device 30 .

[0015] Hereinafter, a direction along the horizontal direction will be referred to as the X direction, a direction along the horizontal direction that is perpendicular to the X direction will be referred to as the Y direction, and a direction perpendicular to the X and Y directions, more specifically, a direction going vertically upward, will be referred to as the Z direction.

[0016] (Loading device) The stacking device 10 is a device (robot) that stacks objects B on a pallet P, and is a so-called palletizer. The stacking device 10 has an arm 12 and a gripping unit 14. The arm 12 is a movable, shaft-like mechanism, and the gripping unit 14 is a mechanism that is provided at the tip of the arm 12 and grips the object B. The gripping unit 14 may grip the object B in any manner, but in this embodiment, it grips the object B by suction. In this case, for example, an opening through which air is sucked is formed on the surface of the gripping unit 14 (the surface opposite the arm 12) and functions as a suction surface. The gripping unit 14 sucks the object B by sucking air when the object B is brought close to or in contact with the suction surface. In addition, in this embodiment, the gripping unit 14 has an upper gripping unit 14A and a side gripping unit 14B. The top gripping portion 14A is provided at the tip of the arm 12, and its surface (the surface opposite the arm 12) serves as an adsorption surface that adsorbs the top surface (the surface on the Z direction side) of the object B. The side gripping portion 14B extends downward from the side of the top gripping portion 14A, and its surface (the surface on the top gripping portion 14A side) serves as an adsorption surface that adsorbs the side surface of the object B. However, the gripping portion 14 does not necessarily have to have the side gripping portion 14B.

[0017] The stowage device 10 moves the arm 12 to position the gripping unit 14 above the object B placed on the second pallet P2 and causes the gripping unit 14 to grip the object B. Then, the stowage device 10 moves the arm 12 with the object B gripped by the gripping unit 14 to move the gripping unit 14 to a position on the first pallet P1 where the object B will be stacked, and then releases the gripping unit 14 from the object B, thereby stacking the object B onto the first pallet P1.

[0018] (Detection device) The detection device 20 is a device that detects the shape of an object. The detection device 20 detects the second pallet P2 with the objects B loaded thereon from above (in the Z direction) to obtain a detection result, which is data that can identify the number and shape of the objects B loaded on the second pallet P2. That is, the detection result of the detection device 20 is data that can identify the number and shape of the objects B loaded on the second pallet P2 when viewed from above (in the Z direction) of the second pallet P2 with the objects B loaded thereon. In this embodiment, the detection device 20 is an imaging device (camera) that captures an image, and the detection result is a top-view image of the second pallet P2 with the objects B loaded thereon, which can also be said to be a top-view image of the objects B loaded on the second pallet P2. For example, the detection device 20 is provided above (in the Z direction) the placement area AR0 in which the second pallet P2 is placed when the objects B are transferred to the first pallet P1, and detects (images) the second pallet P2 placed in the placement area AR0 from above. However, the detection device 20 may be installed in any position, and may detect (image) the second pallet P2 placed in an area other than the placement area AR0 from above. Furthermore, the detection device 20 is not limited to being an image capture device, and may be, for example, a two-dimensional LiDAR (Light Detection and Ranging), and point cloud data obtained from reflected light of emitted laser light may be acquired as the detection result.

[0019] (Control device) Fig. 2 is a schematic block diagram of the control device. The control device 30 is a device that controls the stowage of the object B by the stowage device 10. The control device 30 is a computer, and as shown in Fig. 2, has an input unit 32, a display unit 34, a communication unit 36, a memory unit 38, and a control unit 39. The control device 30 may be configured as a standalone device, may be configured integrally with other devices, or may be configured as a system combining various devices such as an arithmetic circuit and a data server, and is not particularly limited.

[0020] The input unit 32 is a mechanism for accepting operations by a user, and may be a mouse, a keyboard, a touch panel, or the like. The display unit 34 is a display for displaying images. Note that the input unit 32 and the display unit 34 are not essential components. The communication unit 36 ​​is a communication module for communicating with an external device, such as an antenna. The control device 30 communicates with an external device via wireless communication, but wired communication may also be used, and any communication method may be used.

[0021] The storage unit 38 is a memory that stores various information such as the contents of calculations and programs of the control unit 39, and includes at least one of a main storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and an external storage device such as an HDD (Hard Disk Drive). The program for the control unit 39 stored in the storage unit 38 may be stored in a recording medium that can be read by the control device 30.

[0022] The control unit 39 is a computing device and includes a computing circuit such as a CPU (Central Processing Unit). The control unit 39 includes a position acquisition unit 40, a first selection unit 42, an image acquisition unit 44, a second selection unit 46, and an output control unit 48. The control unit 39 implements the position acquisition unit 40, the first selection unit 42, the image acquisition unit 44, the second selection unit 46, and the output control unit 48 by reading and executing a program (software) from the storage unit 38. The control unit 39 may implement these processes using a single CPU, or may be provided with multiple CPUs and execute the processes using the multiple CPUs. At least a portion of the processes performed by the position acquisition unit 40, the first selection unit 42, the image acquisition unit 44, the second selection unit 46, and the output control unit 48 may be implemented using hardware circuits.

[0023] The control device 30 sets a stowage plan for stowage of the objects B from the second pallet P2 onto the first pallet P1. The stowage plan is information indicating which objects B loaded on the second pallet P2 are to be stowed at which positions on the first pallet P1. In this embodiment, the control device 30 controls the stowage device 10 in accordance with the set stowage plan. That is, the control device 30 has both the function of setting the stowage plan and the function of controlling the stowage device 10. However, this is not limiting, and the control device 30 does not necessarily have the function of controlling the stowage device 10. In other words, in this case, the control device 30 that sets the stowage plan and the control device that controls the stowage device 10 are separate devices.

[0024] (Controller processing) The control device 30 selects a planned target group Aa, which is a plurality of planned targets A to be stacked simultaneously, from the planned targets A to be loaded onto the first pallet P1. The control device 30 then selects a target group Ba, which is a plurality of targets B (a plurality of targets B to be gripped simultaneously) to be loaded onto the first pallet P1 as the planned target group Aa, from the plurality of targets B loaded onto the second pallet P2, and sets a stowage plan so that the target group Ba is gripped simultaneously and loaded onto the first pallet P1. By setting the stowage plan in this manner, the stowage device 10 can appropriately select a plurality of targets B to grip simultaneously, taking into account the loading plan for the first pallet P1 and the loading status on the second pallet P2, and can appropriately stow a plurality of targets B simultaneously. Specific processing details are described below.

[0025] (Getting placement information) 3 is a schematic diagram showing an example of setting a stowage plan. The position acquisition unit 40 acquires placement information indicating the stowage position of a scheduled object A on the first pallet P1. The scheduled object A refers to an object B scheduled to be stowed on the first pallet P1, and the object B designated as the scheduled object A will be stowed on the first pallet P1. The placement information is information indicating the stowage position of each scheduled object A on one layer of the first pallet P1. Therefore, when multiple layers of objects B are stowed on the first pallet P1, placement information is set for each layer.

[0026] The placement information can be said to be information indicating the type of target B, which is to be the scheduled target A, and the stacking position of the scheduled target A on the first pallet P1. The position acquisition unit 40 acquires, as the placement information, information indicating the size of the scheduled target A (e.g., the length in the X direction, the Y direction, and the Z direction of the scheduled target A) and the stacking position of the scheduled target A on the first pallet P1 (e.g., the X coordinate and the Y coordinate of the stacking position). In the placement information, the size information and the stacking position information are set for each scheduled target A. In this embodiment, the position acquisition unit 40 also acquires, as the placement information, information on the orientation of each scheduled target A (the orientation of the scheduled target A in a top view) and information on the stacking order of each scheduled target A. Note that the stacking order may be set arbitrarily, or may be set in ascending order of the distance between the scheduled target A and the second pallet P2 (or the stowage device 10) to be stacked.

[0027] In the example of Fig. 3, information that the planned objects A1 to A16 of the same type (same size) will be stacked on the first pallet P1 as shown in Fig. 3 is acquired as arrangement information. In this example, the planned object A (the object B that is scheduled to be stacked) has a rectangular parallelepiped shape, and is rectangular in top view. More specifically, in the example of FIG. 3, the arrangement information is set so that the planned objects A1 and A4 are lined up in the Y direction with their long sides adjacent to each other, the planned objects A2 and A5 are lined up in the Y direction with their long sides adjacent to each other on the opposite side of the X direction from the planned objects A1 and A4, the planned objects A3 and A6 are lined up in the Y direction with their long sides adjacent to each other on the opposite side of the X direction from the planned objects A2 and A5, the planned objects A7 to A11 are lined up in the X direction with their long sides adjacent to each other on the Y direction side of the planned objects A4 to A6, and the planned objects A12 to A16 are lined up in the X direction with their long sides adjacent to each other on the Y direction side of the planned objects A7 to A11. 3, since stacking is performed with the second pallet P2 positioned on the opposite side of the first pallet P1 in the X direction and the stowage device 10 positioned on the Y direction side of the first pallet P1 and on the opposite side of the X direction, the stacking order is set in the order of A1 to A16. That is, in this case, the placement information is set so that object B is stacked first at the position of the intended object A1, and then at the position of the intended object A2.

[0028] The position acquisition unit 40 may also acquire weight information of each scheduled object A as the placement information. The position acquisition unit 40 may also acquire allowable distance information, which indicates the distance between scheduled objects A that can be selected as a scheduled object group Aa (multiple scheduled objects A to be loaded simultaneously), described below, as the placement information. The allowable distance here may be set arbitrarily, for example, it may be set individually for each scheduled object A, or it may be set as a common value for each scheduled object A. The position acquisition unit 40 may also set the allowable distance for a scheduled object A based on the type of the scheduled object A. In this case, for example, the position acquisition unit 40 may set the allowable distance based on at least one (preferably both) of the size and weight of the scheduled object A indicated in the placement information. The position acquisition unit 40 may set the allowable distance shorter as the scheduled object A is larger, and shorter as the weight of the scheduled object A is heavier.

[0029] The position acquisition unit 40 may also acquire, as the arrangement information, pattern information indicating the arrangement pattern of the planned objects A. The pattern information is information indicating the pattern in which the planned objects A are arranged. Examples of patterns include block laying, brick laying, and pinhole laying. Block laying refers to a pattern in which the orientation (posture) of all planned objects A in one layer is the same when viewed from above. Brick laying refers to a pattern in which, in one layer, there is a group of multiple planned objects A with a predetermined orientation (for example, with their long sides aligned along the X direction) and a group of multiple planned objects A with the same orientation different from the predetermined orientation (for example, with their long sides aligned along the Y direction). Pinhole laying refers to a pattern in which, in one layer, the long sides of each planned object A are arranged in a spiral.

[0030] The position acquisition unit 40 may acquire the location information by any method. For example, the location information may be set in advance by another device such as a WCS (Warehouse Control System) or a WMS (Warehouse Management System), and the position acquisition unit 40 may acquire the location information from the other device via the communication unit 36. Alternatively, the location information may be stored in advance in the memory unit 38, and the position acquisition unit 40 may read the location information from the memory unit 38. Alternatively, the position acquisition unit 40 may set the location information itself. In this case, for example, the position acquisition unit 40 may acquire order information, identify the type and number of the planned objects A from the order information, and set the stacking position of each planned object A based on the type and number of the planned objects A and the size of the first pallet P1, and use this as the location information.

[0031] (Setting of No. 1 loading information) The first selection unit 42 selects a scheduled object group Aa from among the scheduled objects A, a plurality of which will be stowed at the same time, based on the placement information, and sets first stowage information indicating the stowage positions and stowage order of the scheduled objects A (objects B) to be placed on the first pallet P1, based on the information on the scheduled object group Aa. That is, the first selection unit 42 corrects the stowage positions and stowage order of the objects B indicated in the placement information, based on the information on the selected scheduled object group Aa, to set the first stowage information. This will be explained in detail below.

[0032] (Selection of target group) Based on the placement information, the first selection unit 42 selects, from among the scheduled objects A, a plurality of adjacent scheduled objects A as a scheduled object group Aa in which multiple items will be loaded simultaneously. For example, the first selection unit 42 extracts one scheduled object A from among the scheduled objects A indicated in the placement information, and selects the extracted scheduled object A and the scheduled objects A adjacent to that scheduled object A as a scheduled object group Aa. The first selection unit 42 repeats this process, attempting to select a scheduled object group Aa for each scheduled object A indicated in the placement information. Note that if there is no scheduled object A adjacent to the extracted scheduled object A among the scheduled objects A that have not yet been used to select the scheduled object group Aa, the scheduled object group Aa including that scheduled object A is not set. Here, "adjacent" means that there is no other scheduled object A between those scheduled objects A.

[0033] In the present embodiment, the first selection unit 42 selects two adjacent scheduled objects A as the scheduled object group Aa, but is not limited to this and may select three or more adjacent scheduled objects A as the scheduled object group Aa. Three or more adjacent scheduled objects A means that a scheduled object A is adjacent to at least one other scheduled object A. That is, in FIG. 3, for example, scheduled objects A7 to A9 can be said to be three or more adjacent scheduled objects A.

[0034] Preferably, the first selection unit 42 recognizes adjacent scheduled objects A that are separated by a predetermined distance or less as adjacent scheduled objects A and selects these scheduled objects A as a scheduled object group Aa. That is, the first selection unit 42 does not select multiple scheduled objects A that are separated by a distance greater than a predetermined distance as a scheduled object group Aa, even if the multiple scheduled objects A are adjacent to each other. Note that the predetermined distance may be set arbitrarily, and for example, the allowable distance acquired as the placement information may be set as the predetermined distance. By selecting the scheduled object group Aa in this manner, it is possible to prevent distant objects B from being grasped simultaneously, thereby enabling multiple objects B to be grasped stably and appropriately stowed simultaneously.

[0035] When the planned objects A are rectangular in top view, the first selection unit 42 preferably recognizes the planned objects A whose long sides are adjacent in top view as adjacent planned objects A and selects these planned objects A as the planned object group Aa. That is, for example, in FIG. 3, the planned objects A1 and A4 are selected as the planned object group Aa because their long sides are adjacent. On the other hand, the planned objects A1 and A2 are not selected as the planned object group Aa because their short sides are adjacent. By selecting the planned object group Aa in this manner, multiple objects B can be stably grasped and multiple objects B can be appropriately stacked simultaneously. However, the first selection unit 42 is not limited to excluding planned objects whose short sides are adjacent from the planned object group Aa, and planned objects whose short sides are adjacent may also be selected as the planned object group Aa.

[0036] The first selection unit 42 selects the scheduled object group Aa in the order indicated by the stowage order (the order in which the scheduled objects A are stowed) in the arrangement information. That is, the first selection unit 42 extracts the scheduled object A with the earliest stowage order from among the scheduled objects A that have not yet been used to select the scheduled object group Aa, and selects the extracted scheduled object A and the scheduled object A adjacent to that scheduled object A as the scheduled object group Aa. The first selection unit 42 repeats this process to attempt to select a scheduled object group Aa for each scheduled object A. Note that if there is no scheduled object A adjacent to the extracted scheduled object A, the scheduled object group Aa including that scheduled object A is not set, and the next scheduled object A in the stowage order is extracted, and the selection process for the scheduled object group Aa continues.

[0037] A specific example of a method for selecting a scheduled object group Aa in this embodiment will be described. FIG. 4 is a schematic diagram for explaining an example of selecting a scheduled object group. As shown in steps S1 and S2 of FIG. 4, the first selection unit 42 classifies each scheduled object A indicated in the placement information by the orientation of the scheduled object A. The first selection unit 42 classifies the scheduled objects A by orientation by extracting, as one group, scheduled objects A that have the same orientation in the placement information. In the example of FIG. 4, the first selection unit 42 extracts scheduled objects A1 to A6 as a group whose long sides are aligned with the X direction, and extracts scheduled objects A7 to A16 as a group whose long sides are aligned with the Y direction, thereby classifying the scheduled objects A1 to A6 from the scheduled objects A7 to A16.

[0038] Then, as shown in step S2 of FIG. 4, the first selection unit 42 selects a scheduled object group Aa for each group (divided scheduled objects A) in the order indicated by the stacking order in the placement information. The selection of the scheduled object group Aa is executed. That is, the first selection unit 42 selects adjacent scheduled objects A from among the scheduled objects A in the same group (same orientation) as the scheduled object group Aa. In the example of FIG. 4, for a group whose long side faces the X direction, the scheduled object group Aa is selected in the order of scheduled object A1 and scheduled object A4, scheduled object A2 and scheduled object A5, and scheduled object A3 and scheduled object A6. Furthermore, for a group whose long side faces the Y direction, the scheduled object group Aa is selected in the order of scheduled object A7 and scheduled object A8, scheduled object A9 and scheduled object A10, scheduled object A12 and scheduled object A13, and scheduled object A14 and scheduled object A15. The scheduled objects A11 and A16 have not yet been used in the selection of the scheduled object group Aa, and there are no scheduled objects A adjacent to them in the long side direction, so they are not selected as part of the scheduled object group Aa.

[0039] (Setting of No. 1 loading information) The first selection unit 42 sets first stowage information indicating the stowage positions and stowage order of the scheduled objects A to be placed on the first pallet P1 based on the information of the selected scheduled object group Aa. That is, the first selection unit 42 updates the stowage positions and stowage order indicated in the placement information based on the information of the scheduled object group Aa to obtain the first stowage information. Specifically, the first selection unit 42 treats the set of scheduled objects A selected as the scheduled object group Aa as a single scheduled object A, and updates the stowage positions and stowage order of the scheduled objects A indicated in the placement information to obtain the first stowage information.

[0040] In this case, the first selection unit 42 sets the stacking position of the scheduled object A selected as the scheduled object group Aa based on the stacking position and size indicated in the placement information for the scheduled object A. For example, the first selection unit 42 may set a position within an area surrounded by the periphery of the scheduled object group Aa in a top view as the stacking position of the scheduled object group Aa. That is, in the example of FIG. 4, the stacking positions of the scheduled object group Aa1 of the scheduled objects A1 and A4 may be set to a position within an area surrounded by the periphery of the scheduled object group Aa1 in a top view. The periphery of the scheduled object group Aa is calculated from the size of the scheduled object A indicated in the placement information, and may be the periphery of each area occupied by the scheduled objects A that make up the scheduled object group Aa. Note that the first selection unit 42 applies the stacking position indicated in the placement information as is to the scheduled object A not selected as the scheduled object group Aa.

[0041] Furthermore, the first selection unit 42 sets the stacking order of the scheduled objects A selected for the scheduled object group Aa and the scheduled objects A not selected for the scheduled object group Aa based on the stacking order indicated in the arrangement information. For example, for the scheduled object group Aa, the first selection unit 42 sets the stacking order of the scheduled object A included in the scheduled object group Aa and having the earliest stacking order indicated in the arrangement information as the stacking order for the scheduled object group Aa. Then, the first selection unit 42 sets the stacking order based on the stacking order of the scheduled object group Aa and the stacking order of the scheduled objects A not selected for the scheduled object group Aa. Specifically, the first selection unit 42 sets the stacking order for the scheduled object group Aa according to the extracted stacking order. Then, the first selection unit 42 places the scheduled objects A that were not selected as part of the scheduled object group Aa in a stacking order that comes after the scheduled object group Aa, and the stacking order of these scheduled objects A is set according to the stacking order indicated in the arrangement information. That is, in the example of Fig. 4, as shown in step S3, the stacking order is set in the following order: scheduled object group Aa1 of scheduled objects A1 and A4, scheduled object group Aa2 of scheduled objects A2 and A5, scheduled object group Aa3 of scheduled objects A3 and A6, scheduled object group Aa4 of scheduled objects A7 and A8, scheduled object group Aa5 of scheduled objects A9 and A10, scheduled object group Aa6 of scheduled objects A12 and A13, scheduled object group Aa7 of scheduled objects A14 and A15, scheduled object A11, scheduled object A16.

[0042] Note that if the arrangement pattern of the planned objects A on the first pallet P1 is a predetermined pattern, the first selection unit 42 does not need to set the planned object group Aa and the first stowage information. That is, in this case, the first selection unit 42 uses the stacking positions and stacking order indicated in the arrangement information acquired by the position acquisition unit 40 as the stacking positions and stacking order of the planned objects A. For example, if the arrangement pattern is set to pinhole stacking in the pattern information included in the arrangement information, the first selection unit 42 does not need to set the planned object group Aa and the first stowage information, assuming that the arrangement pattern is a predetermined pattern. In pinhole stacking, there are no or few planned objects A whose long sides are adjacent to each other. Therefore, by not setting the planned object group Aa, multiple objects B are not stacked at the same time, allowing for stable stacking. On the other hand, in patterns other than pinhole piling (such as brick piling and block piling), there are scheduled objects A whose long sides are adjacent to each other, so by setting a scheduled object group Aa and first stowage information and attempting to stow multiple objects simultaneously, the stowage work time can be reduced. However, scheduled object group Aa and first stowage information may also be set in pinhole piling. In pinhole piling, there are few areas where multiple objects set in the scheduled object group Aa can be held, but objects not in the scheduled object group Aa are held one by one, so by combining multiple holding and single holding, stable stowage can be performed.

[0043] (Getting detection results) The image acquisition unit 44 acquires the detection result of the top view of the second pallet P2 with the object B placed on it, detected by the detection device 20 (in this example, a captured image of the top view of the object B placed on the second pallet P2). The image acquisition unit 44 controls the detection device 20 to cause the detection device 20 to detect the second pallet P2 from above, and acquires the detection result. However, the detection device 20 is not limited to being controlled by the image acquisition unit 44 (control device 30), and the detection device 20 may also be controlled by another device.

[0044] (Setting of second loading information) The second selection unit 46 selects an object group Ba to be set as a scheduled object group Aa from among the objects B loaded on the second pallet P2 based on the detection result acquired by the image acquisition unit 44, and sets second stowage information indicating the objects B to be stowed on the first pallet P1 as scheduled objects A based on the information on the object group Ba. This will be explained in detail below.

[0045] (Selection of subject group) 5 and 6 are schematic diagrams illustrating an example of a method for selecting a group of objects. Based on the detection results of the objects B on the second pallet P2, the second selection unit 46 selects adjacent objects B from the objects B on the second pallet P2 as a group of objects Ba to be stacked on the first pallet P1 as a planned group of objects Aa. More specifically, the second pallet P2, which contains stacked objects B of the same type as the planned object A, is placed in the placement area AR0. Based on the detection results of the second pallet P2, the second selection unit 46 extracts a set of adjacent objects B on the second pallet P2 and designates it as a group of objects Ba. Based on the detection results, the second selection unit 46 identifies each object B on the second pallet P2 through image analysis and calculates the position and size of the identified object B on the second pallet P2. The second selection unit 46 then selects adjacent objects B based on the positions and sizes of the identified objects B. Note that adjacent here means that there is no other object B between the objects B. In addition, in this embodiment, two adjacent scheduled objects A are selected as a scheduled object group Aa, and accordingly, two adjacent objects B are selected as a target group Ba, but the number of objects B included in the target group Ba is the same as the number of scheduled objects A included in the scheduled object group Aa.

[0046] Preferably, the second selection unit 46 selects, as the object group Ba, a set of adjacent objects B that falls within the allowable area AR in a top view. In this case, the second selection unit 46 sets the size of the allowable area AR based on the size of the scheduled object group Aa in a top view. For example, the second selection unit 46 may set the allowable area AR to an area that is a predetermined size larger than the area within the periphery of the scheduled object group Aa. Then, the second selection unit 46 assigns, as the object group Ba, a set of adjacent objects B that falls within the set allowable area AR for the scheduled object group Aa for which the allowable area AR has been set. In FIG. 5, for example, the set of objects B1 and B4 falls within the allowable area AR, but the set of objects B2 and B5 does not. Therefore, in this case, the set of objects B1 and B4 is selected as the object group Ba, but the set of objects B2 and B5 is not selected as the object group Ba. The allowable area AR may be set for each scheduled target group Aa, or may be common to each scheduled target group Aa.

[0047] The second selection unit 46 assigns the object groups Ba to be stowed as the scheduled object group Aa in the order indicated in the stowage order of the first stowage information (the order in which the scheduled object groups Aa and scheduled objects A are stowed). The second selection unit 46 repeats this process to attempt to assign an object group Ba to each scheduled object group Aa. That is, in this example, the second selection unit 46 first selects the object group Ba to be stowed as the scheduled object group Aa1, and then selects the object group Ba to be stowed as the scheduled object group Aa2.

[0048] When selecting an object group Ba to be stowed as the scheduled object group Aa, the second selection unit 46 preferably selects, from among a plurality of adjacent sets of objects B, a set in which no other objects B (objects B to which the scheduled object group Aa or scheduled object A has not yet been assigned) exists between that set and the first pallet P1 (or the stowage device 10) as the object group Ba. In the example of FIG. 3, the first pallet P1 is located on the X-direction side of the second pallet P2, and the stowage device 10 is located on both the X-direction side and the Y-direction side of the second pallet P2. In the example of FIG. 4, the following sets of objects B that fit within the allowable area AR are extracted: a set of objects B1 and B4, a set of objects B3 and B6, a set of objects B8 and B9, a set of objects B10 and B11, and a set of objects B13 and B14. In this case, because there are no other objects B between the set of objects B3 and B6 and the first pallet P1 or the stowage device 10, the second selection unit 46 selects the set of objects B3 and B6 as the object group Ba. This eliminates the need for the stowage device 10 to interfere with or perform operations to avoid the other objects B when gripping or moving the object group Ba to the first pallet P1 using the stowage device 10, and allows the object group Ba to be stowed appropriately.

[0049] The second selection unit 46 assigns the object groups Ba to be stowed as the scheduled object group Aa in the order indicated in the stowage order of the first stowage information (the order in which the scheduled object group Aa and scheduled object A are stowed). The second selection unit 46 repeats this process to attempt to assign the object group Ba corresponding to each scheduled object group Aa. That is, for the scheduled object group Aa with the earliest stowage order among the scheduled object groups Aa for which the assignment of the object group Ba and object B has not been completed, the second selection unit 46 selects an object group Ba from among the objects B that have not been assigned to the scheduled object group Aa (or scheduled object A) and assigns it to that scheduled object group Aa.

[0050] There may be cases where there is no object group Ba to be assigned to the scheduled object group Aa. For example, if there is no set of objects B that fit within the allowable area AR among the objects B that have not yet been assigned to the scheduled object group Aa (or the scheduled object A), or if there is no set of objects B that do not have other objects B between them and the first pallet P1, then there is no object group Ba to be assigned to the scheduled object group Aa. In this case, the second selection unit 46 assigns to the scheduled object group Aa, among the objects B that have not yet been assigned to the scheduled object group Aa (or the scheduled object A), an object B that does not have other objects B between it and the first pallet P1, i.e., one object B, to the scheduled object group Aa. For example, in FIG. 5, after the set of objects B3 and B6 is selected as the object group Ba, when an attempt is made to select an object group Ba to be assigned to the scheduled object group Aa, there is no other object B between it and the first pallet P1 and there is no set that fits within the allowable area AR, so the object group Ba cannot be assigned. For example, because objects B2 and B5 exist between the set of objects B1 and B4 and the first pallet P1, the set of objects B1 and B4 cannot be included in the object group Ba. Therefore, in this case, objects B2 and B5 are individually selected as objects B to be loaded into the scheduled object group Aa. In this case, objects B2 and B5 are not loaded at the same time, but are loaded separately. Note that a single object B is also assigned in a similar manner to a scheduled object A that is not included in the scheduled object group Aa.

[0051] A specific example of a method for allocating the object group Ba and the object B in this embodiment will be described. Fig. 5 is a schematic diagram for explaining an example of selecting a scheduled object group. In this example, the second selection unit 46 assigns the object group Ba1 of the objects B3 and B6 to the scheduled object group Aa1, assigns the object group Ba1 of the objects B3 and B6 to the scheduled object group Aa1, assigns the objects B2 and B5 to the scheduled object group Aa2, assigns the object group Ba3 of the objects B1 and B4 to the scheduled object group Aa3, assigns the object group Ba4 of the objects B10 and B11 to the scheduled object group Aa4, assigns the object group Ba5 of the objects B8 and B9 to the scheduled object group Aa5, assigns the object group Ba6 of the objects B15 and B16 to the scheduled object group Aa6, assigns the object group Ba7 of the objects B13 and B14 to the scheduled object group Aa7, assigns the object B7 to the scheduled object A11, and assigns the object B12 to the scheduled object A16.

[0052] In addition, if the number of objects B loaded on the second pallet P2 is less than the number of intended objects A on the first pallet P1, the same processing is performed on other second pallets P2 that do not have objects B loaded on them.

[0053] (Setting of second loading information) The second selection unit 46 sets the gripping positions for each object group Ba and object B as the second stowage information. The gripping positions are the positions of the stowage device 10 (gripping unit 14) when gripping the object group Ba or object B. The second selection unit 46 also sets information indicating the assigned scheduled object group Aa or scheduled object A for each object group Ba and object B, that is, information indicating the correspondence between the object group Ba (or object B) and the scheduled object group Aa (or scheduled object A), as the second stowage information.

[0054] The second selection unit 46 sets the position on the second pallet P2 of the planned object group Aa or the planned object A to which the object group Ba or object B is assigned as the gripping position. The second selection unit 46 calculates the position of the object group Ba from the position of the object B included in the object group Ba identified from the detection results, and sets this as the gripping position of the object group Ba. In this case, for example, the second selection unit 46 may set a position within an area surrounded by the periphery of the object group Ba in a top view as the gripping position of the object group Ba. Furthermore, the second selection unit 46 may set the position of the object B identified from the detection results as the gripping position of the object group Ba.

[0055] (Setting loading plans) The second selection unit 46 sets the first stowage information (information indicating the stowage positions and the stowage order) set by the first selection unit 42 and the second stowage information (information indicating the gripping positions and the assigned scheduled object group Aa) set by the second selection unit 46 as a stowage plan. That is, the second selection unit 46 sets the gripping positions of the object group Ba or the object B set in the second stowage information as the positions where the gripping unit 14 will grip, sets the stowage positions set in the first stowage information for the scheduled object group Aa (or the scheduled object A) assigned to the second stowage information as the positions where the object group Ba or the object B will be stowed, and sets the stowage order set in the first stowage information as the order in which to perform gripping and stowage. For example, in the example of Figure 5, the second selection unit 46 sets the gripping position of the target group Ba1 assigned to the scheduled target group Aa1, which is first in the stacking order, as the position at which the gripping unit 14 grasps the target group Ba1, and sets the stacking position of the scheduled target group Aa1 as the position at which the target group Ba1 is stacked.

[0056] (Loading plan output) The output control unit 48 outputs the stowage plan set by the second selection unit 46. For example, in this embodiment, the output control unit 48 controls the stowage apparatus 10 in accordance with the stowage plan. In this case, for example, the stowage apparatus 10 grips the object group Ba1 at the gripping position of the object group Ba1 and releases the grip at the stowage position of the scheduled object group Aa1, thereby stowing the objects B3 and B6 included in the object group Ba1 at the positions of the scheduled objects A1 and A4 of the scheduled object group Aa1. Note that when the control device 30 does not control the stowage apparatus 10, the output control unit 48 outputs the stowage plan to a control device that controls the stowage apparatus 10 and causes the control device to control the stowage apparatus 10 in accordance with the stowage plan.

[0057] (Processing flow) Next, the process flow for setting the stowage plan described above will be explained. Fig. 7 is a flowchart illustrating the process flow for setting the stowage plan. The control device 30 acquires, via the position acquisition unit 40, placement information indicating the stowage position of the scheduled object A (step S10), selects, via the first selection unit 42, a scheduled object group Aa based on the placement information (step S12), and sets first stowage information indicating the stowage position (step S14). The control device 30 acquires, via the position acquisition unit 40, detection results (captured images in this example) of the object B placed on the second pallet P2 (step S16), selects, via the second selection unit 46, object group Ba from the detection results (captured images in this example), and sets second stowage information indicating gripping positions for the object group Ba and object B (step S18). The second selection unit 46 sets the first stowage information and the second stowage information as a stowage plan, and if the process does not end (step S20; No), the process returns to step S18 and selects an object group Ba or object B to be assigned to the next scheduled object group Aa or scheduled object A in the stowage order. If the process is to end (step S20; Yes), the stowage plan setting process ends.

[0058] In the above processing flow, the object group Ba or object B is assigned to all scheduled object groups Aa or scheduled objects A, and then the stowage process is performed by the stowage device 10. However, this is not limited to this, and once a scheduled object group Aa or scheduled object A is assigned to one scheduled object group Aa or scheduled object A in step S18, the stowage process for that scheduled object group Aa or scheduled object A can be repeatedly performed.

[0059] As described above, the control device 30 of this embodiment selects a group of planned objects Aa to be stowed simultaneously from the planned objects A to be loaded onto the first pallet P1. Then, the control device 30 selects a group of objects Ba to be stowed as the planned group of objects Aa onto the first pallet P1 from the multiple objects B loaded onto the second pallet P2. By setting a stowage plan in this manner, it is possible to appropriately select multiple objects B to be grasped simultaneously, taking into consideration the loading plan for the first pallet P1 and the loading status on the second pallet P2, and it is possible to appropriately stow multiple objects B simultaneously.

[0060] (Other examples) FIG. 8 is a schematic diagram showing another example. In the above explanation, an example was given in which one type of object B (scheduled object A) is stowed on the first pallet P1, but multiple types of objects B may be stowed on the first pallet P1. In this case, a stowage plan is set for each type of object B using the method described above. That is, in the example of FIG. 8, the control device 30 sets a stowage plan for scheduled objects A1 and A2 on the first pallet P1 using the second pallet P2 on which objects B of the same type as the scheduled objects A1 and A2 are loaded. Then, the control device 30 sets a stowage plan for scheduled objects C1 and C2 on the first pallet P1 using the second pallet P2 on which objects D (D1 to D4) of the same type as the scheduled objects C1 and C2 are loaded using the method described above.

[0061] (gripping position) 9 and 10 are schematic diagrams illustrating examples of gripping positions. In the above-described embodiment, a position within the area surrounded by the periphery of the object group Ba is set as the gripping position of the object group Ba. Specific examples of gripping positions will be described below.

[0062] In the example of FIG. 9 , the suction surface of the gripper 14 (in this example, the upper surface gripper 14A) is divided into multiple regions, allowing suction control for each region. Although the example of FIG. 9 shows the suction surface divided into three regions 14A1, 14A2, and 14A3, the number of regions may be arbitrary. As shown in FIG. 9 , if the area of ​​the suction surface of the gripper 14 is larger than the area of ​​the object group Ba (two objects B) to be gripped in a top view, the second selector 46 sets the gripping position so that the vertices of the object group Ba (the vertices on the side where no other objects B exist, i.e., the side closer to the first pallet P1) overlap with the vertices of the suction surface of the gripper 14 in a plan view. When gripping the object group Ba, the second selector 46 includes information in the stowage plan indicating that the suction surface of the gripper 14 will grip the regions that overlap with the upper surface of the object group Ba, but will not grip the regions that do not overlap with the upper surface of the object group Ba. As a result, the stowage device 10 grips the object group Ba by adsorbing the object group Ba in the region overlapping the upper surface of the object group Ba, with the vertices of the object group Ba and the vertices of the suction surface of the gripping unit 14 overlapping in a top view. That is, in the example of Fig. 9, the gripping position is set so that the vertex of object B on the opposite side of the X direction of object group Ba in the X direction overlaps with the vertex of region 14A1 on the opposite side of the X direction, and adsorption is performed in regions 14A1 and 14A2 that overlap with object B, but not in region 14A3 that does not overlap with object B. By setting the gripping position and adsorption in this manner, it is possible to prevent an object B that is not a target for gripping and that is adjacent to the target for gripping from being adsorbed at the same time.

[0063] 10, when the area of ​​the suction surface of the gripping unit 14 is smaller than the area of ​​the object group Ba to be gripped in a top view, the second selector 46 sets the gripping position so that the center position of the object group Ba (two objects B) overlaps with the center position of the suction surface of the gripping unit 14 in a plan view. As a result, the stowage device 10 sucks and grips the object group Ba in a state where the center position of the object group Ba overlaps with the center position of the suction surface of the gripping unit 14 in a top view. By setting the gripping position in this manner, multiple objects B can be properly gripped even if the suction surface of the gripping unit 14 is small.

[0064] (effect) As described above, the control device 30 according to the first aspect of the present disclosure includes a position acquisition unit 40, a first selection unit 42, an image acquisition unit 44, and a second selection unit 46. The position acquisition unit 40 acquires placement information indicating the placement position on the first pallet P1 of a planned object A, which is an object B scheduled to be stowed on the first pallet P1 as a destination. Based on the placement information, the first selection unit 42 selects, from among the planned objects A, a plurality of adjacent planned objects A as a planned object group Aa to be stowed simultaneously. The image acquisition unit 44 acquires a detection result obtained by detecting from above the second pallet P2, from which the objects B are to be stowed, with the objects B loaded thereon. Based on the detection result, the second selection unit 46 selects, from among the objects B loaded on the second pallet P2, a plurality of adjacent objects B as an object group Ba to be stowed as the planned object group Aa. According to the present disclosure, by taking into consideration the loading plan on the first pallet P1 and the loading situation on the second pallet P2, it is possible to appropriately select multiple objects B to be grasped simultaneously, making it possible to appropriately stack multiple objects B at the same time.

[0065] A control device 30 according to a second aspect of the present disclosure is the control device 30 according to the first aspect, in which the target B is rectangular in top view, and the first selector 42 selects, as a planned target group Aa, from among the planned targets A, multiple planned targets A whose long sides are adjacent to each other in top view and whose distance from each other is equal to or less than a predetermined distance. According to the present disclosure, by selecting the planned target group Aa in this manner, it is possible to select multiple targets B to be grasped simultaneously, in appropriate consideration of the loading plan on the first pallet P1.

[0066] A control device 30 according to a third aspect of the present disclosure is the control device 30 according to the first or second aspect, in which the second selector 46 sets an allowable area AR in a top view based on the size of the planned object group Aa in a top view, and selects, as an object group Ba, a plurality of objects B that are within the allowable area AR in a top view from among a plurality of adjacent objects B on the second pallet P2. By selecting the object group Ba in this manner, it is possible to select a plurality of objects B to be grasped simultaneously, taking into appropriate consideration the mounting status on the second pallet P2.

[0067] A control device 30 according to a fourth aspect of the present disclosure is the control device 30 according to the first to third aspects, in which the second selector 46 selects, as an object group Ba, a plurality of objects B that are adjacent to each other on the second pallet P2 and that have no other objects B between them and the first pallet P1. By selecting the object group Ba in this way, it is possible to select a plurality of objects B to be simultaneously gripped, taking into appropriate consideration the mounting status on the second pallet P2.

[0068] A control device 30 according to a fifth aspect of the present disclosure is the control device 30 according to the first to fourth aspects, in which the first selector 42 sets first stowage information indicating the order in which each of the scheduled objects A is to be stowed onto the first pallet P1 based on information about the scheduled object group Aa. According to the present disclosure, the objects B can be transported in the appropriate order.

[0069] A control device 30 according to a sixth aspect of the present disclosure is the control device 30 according to the fifth aspect, in which the second selection unit 46 selects the object group Ba corresponding to the scheduled object group Aa in order of stowing, starting with the scheduled object group Aa that is earliest in the stowing order. According to the present disclosure, the objects B can be transported in an appropriate order.

[0070] A control device 30 according to a seventh aspect of the present disclosure is the control device 30 according to the first to sixth aspects, in which the first selection unit 42 does not set a planned target group Aa when the arrangement pattern of the planned objects A on the first pallet P1 is a predetermined pattern. According to the present disclosure, whether to carry multiple objects can be set according to the arrangement pattern, so that stable stacking can be performed according to the arrangement pattern.

[0071] A control device 30 according to an eighth aspect of the present disclosure is the control device 30 according to the first to seventh aspects, in which the second selection unit 46 individually assigns multiple objects B to the scheduled object group Aa when there is no object group Ba to assign to the scheduled object group Aa. According to the present disclosure, whether to carry multiple objects can be set according to the arrangement pattern, allowing for stable stacking according to the arrangement pattern. According to the present disclosure, even if there are no objects B that can be carried in multiple quantities on the second pallet side, by switching to carrying one object, processing can be continued appropriately without stopping.

[0072] A control method according to a ninth aspect of the present disclosure includes the steps of: acquiring location information indicating the stacking position on the first pallet P1 of a planned object A, which is an object B scheduled to be stacked on the first pallet P1 as a destination; selecting, based on the location information, a plurality of adjacent planned objects A from among the planned objects A as a planned object group Aa to be stacked simultaneously; acquiring a detection result obtained by detecting the second pallet P2 from which the objects B are to be stacked from above while they are loaded; and selecting, based on the detection result, a plurality of adjacent objects B from among the objects B loaded on the second pallet P2 as an object group Ba to be stacked as the planned object group Aa. According to the present disclosure, it is possible to appropriately stack a plurality of objects B simultaneously.

[0073] A program according to a tenth aspect of the present disclosure causes a computer to execute the following steps: acquiring location information indicating the stacking position on the first pallet P1 of a planned object A, which is an object B scheduled to be stacked on the first pallet P1 as a destination; selecting, based on the location information, multiple adjacent planned objects A from among the planned objects A as a planned object group Aa to be stacked simultaneously; acquiring a detection result obtained by detecting the second pallet P2, which is the source of the stacking, from above with the objects B loaded thereon; and selecting, based on the detection result, multiple adjacent objects B from among the objects B loaded on the second pallet P2 as an object group Ba to be stacked as the planned object group Aa. According to the present disclosure, multiple objects B can be stacked appropriately simultaneously.

[0074] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of these embodiments. Furthermore, the above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the above-described embodiments. [Explanation of symbols]

[0075] 10 Loading equipment 20 Detection device 30 Control device 40 Position acquisition part 42 First Selection Section 44 Image acquisition unit 46 Second Selection Section A. Scheduled Object Aa Target group B. Object Ba subject group P1 First Pallet P2 Second Pallet

Claims

1. a position acquisition unit that acquires placement information indicating a loading position on a first pallet for a scheduled object that is scheduled to be loaded on the first pallet at the loading destination; a first selection unit that selects, from among the scheduled objects based on the placement information, a plurality of adjacent scheduled objects as a group of scheduled objects to be loaded simultaneously; an image acquisition unit that acquires a detection result obtained by detecting a second pallet, which is a loading source, from above with the object loaded thereon; a second selection unit that selects, based on the detection result, a plurality of adjacent objects from among the objects loaded on the second pallet as an object group to be stowed as the scheduled object group; Including, Control device.

2. The object has a rectangular shape in a top view, the first selection unit selects, from the predetermined objects, a plurality of the predetermined objects whose long sides are adjacent to each other in a top view and whose distance from each other is equal to or less than a predetermined distance, as the predetermined object group; The control device according to claim 1 .

3. The second selection unit sets an allowable area in a top view based on the size of the planned group of objects in a top view, and selects, as the group of objects, a plurality of objects that are within the allowable area in a top view from among a plurality of objects adjacent to each other on the second pallet. The control device according to claim 1 or 2.

4. the second selection unit selects, from among the plurality of objects adjacent to each other on the second pallet, a plurality of objects that have no other objects between them and the first pallet, as the object group; The control device according to claim 1 or 2.

5. the first selection unit sets first stowage information indicating a stowage order of the respective scheduled objects onto the first pallet based on information about the group of scheduled objects; The control device according to claim 1 or 2.

6. the second selection unit selects the object group corresponding to the scheduled object group in order from the earliest in the loading order; The control device according to claim 5 .

7. the first selection unit does not set the group of scheduled objects when an arrangement pattern of the scheduled objects in the first pallet is a predetermined pattern; The control device according to claim 1 or 2.

8. When there is no object group to be assigned to the scheduled object group, the second selection unit assigns the plurality of objects individually to the scheduled object group. The control device according to claim 1 or 2.

9. acquiring placement information indicating a loading position on a first pallet for a scheduled object that is scheduled to be loaded on the first pallet at the loading destination; selecting, from among the scheduled objects based on the placement information, a plurality of adjacent scheduled objects as a group of scheduled objects to be loaded simultaneously; a step of detecting a second pallet from above with the object loaded thereon and acquiring a detection result; a step of selecting, based on the detection result, a plurality of adjacent objects from among the objects loaded on the second pallet as a group of objects to be loaded as the scheduled group of objects; Including, Control method.

10. acquiring placement information indicating a loading position on a first pallet for a scheduled object that is scheduled to be loaded on the first pallet at the loading destination; selecting, from among the scheduled objects based on the placement information, a plurality of adjacent scheduled objects as a group of scheduled objects to be loaded simultaneously; a step of detecting a second pallet from above with the object loaded thereon and acquiring a detection result; a step of selecting, based on the detection result, a plurality of adjacent objects from among the objects loaded on the second pallet as a group of objects to be loaded as the scheduled group of objects; to the computer, program.

Images