Palletizing pattern creation system, method and program for creating palletizing patterns

Abstract

To provide a palletizing pattern creation system, etc. that allows a user to set a palletizing pattern for workpieces with a high degree of freedom.SOLUTION: A processor 23 is configured to execute the following steps by reading the program. In a first reception step, input of palletizing information including at least one of the size of the workpieces to be placed in the placement area and the size of the placement area is received. In a layout creation step, multiple layout plans are created using multiple pre-registered placement patterns based on the palletizing information. Each of the multiple placement patterns is a two-dimensional arrangement of the workpieces. In a second reception step, selection of a set layout for each stowage layer is received from the multiple layout plans. In a stowage pattern creation step, a three-dimensional stowage pattern of the workpieces is created by combining the set layouts selected for each layer.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a palletizing pattern creation system, a palletizing pattern creation method, and a program. [Background technology]

[0002] As disclosed in Patent Document 1, a technique is known for generating a program including a palletizing pattern (stowage pattern) of workpieces (baggage) in order to have a robot perform palletizing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-70078 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional technology, it is necessary to select an arbitrary palletizing pattern from a plurality of palletizing patterns prepared in advance, and therefore the degree of freedom in setting the palletizing pattern is low.

[0005] In view of the above circumstances, the present invention provides a palletizing pattern creation system and the like that allows a user to set a palletizing pattern for workpieces with a high degree of freedom. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a palletizing pattern creation system. The palletizing pattern creation system includes at least one processor. The processor is configured to execute the following steps by reading a program. In a first receiving step, input of palletizing information including at least one of the size of the workpieces to be placed in the placement area and the size of the placement area is accepted. In a layout creating step, multiple layout plans are created using multiple pre-registered arrangement patterns based on the palletizing information. Each of the multiple arrangement patterns is a two-dimensional arrangement of the workpieces. In a second receiving step, selection of a set layout for each stowage layer is accepted from the multiple layout plans. In a stowage pattern creating step, a three-dimensional stowage pattern of the workpieces is created by combining the set layouts selected for each layer.

[0007] According to this aspect, the user can select a layout plan for each layer from multiple layout plans created based on multiple arrangement patterns. This allows the user to set a palletizing pattern in which a different arrangement pattern is applied to each layer. In other words, the user can set a palletizing pattern for the workpieces with a high degree of freedom. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a configuration diagram illustrating a palletizing pattern creation system 1. [Figure 2] 2 is a block diagram showing the hardware configuration of a server device 2 and a user terminal 3, and the functions realized by the server device 2 (processor 23). FIG. [Figure 3] FIG. 10 is a schematic diagram showing an example of an arrangement pattern. [Figure 4] 10 is a flowchart showing an example of the flow of a layout plan creation process executed by a layout creation unit 233. FIG. [Figure 5] FIG. 10 is a flowchart showing another example of the flow of the layout plan creation process executed by the layout creation unit 233. [Figure 6] 1A and 1B are a flow chart showing an example of the flow of a layout plan creation process executed by the layout creation unit 233, and a flow chart showing an example of the flow of a stowage pattern creation process executed by the processor 23. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the accompanying drawings. Various features shown in the following embodiments can be combined with each other.

[0010] Incidentally, the program for realizing the software appearing in one embodiment may be provided as a non-transitory computer-readable medium, or may be provided so that it can be downloaded from an external server, or may be provided so that the program is started on an external computer and its functions are realized on a client terminal (so-called cloud computing).

[0011] Furthermore, various information processing according to an embodiment may realize input and output corresponding to the input. Here, the form of information referenced in such information processing (hereinafter referred to as reference information) is not limited as long as an output is obtained as a result of the input. The reference information may be, for example, rule-based information such as a database, a lookup table, or a predetermined function (including a decision formula such as a regression formula constructed by a statistical method), a trained model that has previously trained the correlation between input and output, or a large-scale language model that can output a desired result by inputting a prompt.

[0012] In one embodiment, a "unit" may include, for example, a combination of hardware resources implemented by a circuit in the broad sense and software information processing that can be specifically realized by these hardware resources. In one embodiment, various information is handled, and this information is represented, for example, by physical values ​​of signal values ​​representing voltage and current, high and low signal values ​​as a binary bit set consisting of 0 or 1, or quantum superposition (so-called quantum bits), and communication and calculations can be performed on a circuit in the broad sense.

[0013] Furthermore, a circuit in the broad sense is a circuit realized by at least an appropriate combination of a circuit, circuitry, processor, memory, etc. The processor may be a general-purpose processor or a dedicated circuit. That is, it includes an application specific integrated circuit (ASIC), a programmable logic device (e.g., a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA)), etc.

[0014] 1. Hardware Configuration This section explains the hardware configuration.

[0015] <Palletizing pattern creation system 1> FIG. 1 is a configuration diagram showing a palletizing pattern creation system 1. The palletizing pattern creation system 1 includes a server device 2 (an example of an information processing device), at least one user terminal 3, and a robot 10. The server device 2 and the user terminal 3 are configured to be able to communicate with each other via a network (communication line). In one embodiment, the palletizing pattern creation system 1 is made up of one or more devices or components. These components will be described below.

[0016] <Server device 2> 2 is a block diagram showing the hardware configuration of the server device 2 and the user terminal 3, and the functions realized by the server device 2 (processor 23). As shown in Fig. 2A, the server device 2 includes a communication bus 20, a communication unit 21, a storage unit 22, and a processor 23. The communication unit 21, the storage unit 22, and the processor 23 are electrically connected via the communication bus 20 inside the server device 2.

[0017] <Communications Department 21> The communication unit 21 is preferably a wired communication means such as USB, IEEE1394, Thunderbolt (registered trademark), wired LAN network communication, etc., but may also include wireless LAN network communication, mobile communication such as 3G / LTE / 5G, BLUETOOTH (registered trademark) communication, etc., as necessary. In other words, the server device 2 may communicate various information from the outside via the communication unit 21 and the network.

[0018] <Storage section 22> The storage unit 22 stores various pieces of information defined above. This can be implemented, for example, as a storage device such as a solid state drive (SSD) that stores various programs and the like related to the server device 2 executed by the processor 23, or as a memory such as a random access memory (RAM) that stores temporarily required information (arguments, arrays, etc.) related to the program operations. The storage unit 22 stores various programs, variables, etc. related to the server device 2 executed by the processor 23.

[0019] <Processor 23> The processor 23 processes and controls the overall operations related to the server device 2. The processor 23 is, for example, a central processing unit (CPU). The processor 23 realizes various functions related to the server device 2 by reading out predetermined programs stored in the storage unit 22. These will be described in more detail in the next section. The processor 23 is not limited to being single, and the palletizing pattern creation system 1 may have multiple processors 23 for each single function or multiple functions.

[0020] The server device 2 may be an on-premise type or a cloud type. Examples of the cloud type server device 2 include SaaS (Software as a Service) and cloud computing.

[0021] <User terminal 3> 2B, the user terminal 3 includes a communication bus 30, a communication unit 31, a storage unit 32, a processor 33, a display unit 34, and an input unit 35. The communication unit 31, the storage unit 32, the processor 33, the display unit 34, and the input unit 35 are electrically connected via the communication bus 30 inside the user terminal 3. The description of the communication unit 31, the storage unit 32, and the processor 33 is omitted because they are the same as the description of each unit in the server device 2.

[0022] <Display section 34> The display unit 34 displays a screen of a graphical user interface (GUI) that can be operated by the user. The display unit 34 may be included in the housing of the user terminal 3 or may be attached externally. Specifically, the display unit 34 may be implemented as a display device such as a CRT display, a liquid crystal display, an organic EL display, or a plasma display. It is preferable that these display devices are implemented by selectively using them depending on the type of the user terminal 3.

[0023] <Input section 35> The input unit 35 accepts operation inputs made by the user. The operation inputs are transferred as command signals to the processor 33 via the communication bus 30. The processor 33 can execute predetermined control or calculations based on the transferred command signals as necessary. The input unit 35 may be included in the housing of the user terminal 3 or may be externally attached. For example, the input unit 35 may be implemented as a touch panel integrated with the display unit 34. When the input unit 35 is implemented as a touch panel, the user can input tap operations, swipe operations, etc. to the input unit 35. Instead of a touch panel, a switch button, a mouse, a trackpad, a QWERTY keyboard, etc. can be used as the input unit 35.

[0024] <Robot 10> The robot 10 is a vertical articulated robot (robot arm) that can stack workpieces (baggage) in any pattern on a predetermined loading area (specifically, the loading surface of a pallet P). For example, a six-axis robot, a parallel link robot, or the like is used as the robot 10. Furthermore, the robot 10 is not necessarily limited to a vertical articulated robot as long as it is capable of loading workpieces.

[0025] 2. Functional configuration This section describes the functional configuration of this embodiment. Information processing by software stored in the storage unit 22 is specifically realized by the processor 23, which is an example of hardware, and can be executed as each functional unit included in the processor 23 (at least one processor included in the palletizing pattern creation system 1).

[0026] As shown in FIG. 2C, the server device 2 (processor 23) includes a display control unit 231, a first reception unit 232, a layout creation unit 233, a second reception unit 234, a stowage pattern creation unit 235, and a stowage pattern output unit 236.

[0027] <Display control unit 231> The display control unit 231 is configured to display various information on the user terminal 3. For example, the display control unit 231 displays, on the display unit 34 of the user terminal 3, a layout plan created by the layout creation unit 233, a stowage pattern created by the stowage pattern creation unit 235, etc.

[0028] <First Reception Unit 232> The first receiving unit 232 is configured to receive input of palletizing information from a user, the input including at least one of the size of the workpieces to be placed in the placement area and the size of the placement area. The size of the workpieces includes the length (longitudinal size), width (transverse size), and height (vertical size) of one workpiece. The placement area is typically the placement surface (top surface) of the pallet P, but may also be a surface other than the pallet P (for example, the placement surface of a dolly, the ground, etc.). The size of the placement area includes the length of the placement area in the X-axis direction and the length of the placement area in the Y-axis direction.

[0029] The first reception unit 232 may receive input of an allowable gap between workpieces as palletizing information. This increases the degree of freedom in setting a stowage pattern and increases the feasibility of stacking the workpieces according to the set stowage pattern. The first reception unit 232 may also receive input of workpiece weights, workpiece orientations (labeled sides), workpiece spacing, pallet heights (thickness), and the like as palletizing information.

[0030] <Layout Creation Unit 233> The layout creation unit 233 is configured to create a plurality of layout proposals using a plurality of pre-registered arrangement patterns based on the palletizing information received by the first reception unit 232. Each of the plurality of arrangement patterns is a planar arrangement of workpieces, and is an arrangement pattern for one layer of a stowage pattern made up of a plurality of layers. In other words, a stowage pattern is formed by stacking a plurality of arrangement patterns one above the other.

[0031] Specifically, the multiple layout patterns should include at least two of pinhole masonry, window masonry, brick masonry, and block masonry. Furthermore, the multiple layout patterns should include all of pinhole masonry, window masonry, brick masonry, and block masonry (these patterns should be pre-registered). This increases the degree of freedom in setting stacking patterns.

[0032] FIG. 3 is a schematic diagram showing an example of an arrangement pattern. FIGS. 3A and 3B are examples of pinhole stacking. Pinhole stacking is a method of arranging workpieces in a circumferential pattern so that a gap (hole) is formed in the center. FIG. 3C is an example of a modified pinhole stacking method (block pinhole stacking) in which workpieces are arranged double, inside and outside, surrounding the gap. FIG. 3D is an example of a modified pinhole stacking method (double pinhole stacking) in which two gaps are formed.

[0033] 3E and 3F are examples of window stacking. Window stacking is an arrangement in which the workpieces are stacked in a first row, in which the longitudinal direction of the workpieces is parallel to the X-axis of the placement area, and in a second row, in which the transverse direction of the workpieces is parallel to the X-axis, and the first and second rows are connected in the X-axis direction. There may be multiple first rows or multiple second rows, and window stacking with multiple second rows, as in FIG. 3E, is also called large window stacking.

[0034] 3G and 3H show examples of brickwork. The brickwork includes a first row in which the longitudinal direction of the workpieces is parallel to the X-axis, and a second row in which the lateral direction of the workpieces is parallel to the X-axis, and the first and second rows are connected in the Y-axis direction. As shown in FIG. 3H, there may be multiple first rows or multiple second rows.

[0035] Figure 3I shows an example of block stacking, in which all workpieces are arranged facing the same direction.

[0036] The layout creation unit 233 creates a work layout plan using pinhole stacking, window stacking, brick stacking, and block stacking based on the work size, placement area size, etc. included in the palletizing information. The layout plan includes information indicating the type of placement pattern and the number of workpieces to be placed (for example, a combination of the number of workpieces to be placed in the X-axis direction (number of rows) and the number of workpieces to be placed in the Y-axis direction).

[0037] FIG. 4 is a flow diagram showing an example of the flow of a layout plan creation process executed by the layout creation unit 233. In this process, the layout creation unit 233 first sets the initial value of a variable LP to 0 and executes each step in a first loop L1, whose continuation condition is that the variable LP is less than the total number PN of registered placement patterns. The variable LP is incremented by 1 each time the end of the first loop L1 is reached. The placement patterns used by the layout creation unit 233 are each assigned a corresponding code (a number from 0 to PN-1). The types of placement patterns also include patterns obtained by flipping a placement pattern horizontally or vertically. For example, block masonry, brick masonry, window masonry, pinhole masonry, block-pinhole masonry, double-pinhole masonry, and their respective flipped patterns (a total of 12 placement patterns) are registered as placement patterns used by the layout creation unit 233.

[0038] In the first loop L1, the layout creation unit 233 first calculates the maximum number of workpieces that can be stacked in the X-axis direction and the maximum number of workpieces that can be stacked in the Y-axis direction based on the size of the workpieces and the size of the placement area in the placement pattern corresponding to the variable LP (step S10). Next, the layout creation unit 233 tentatively determines the placement (position and orientation) of the workpieces based on the maximum number of workpieces that can be stacked in each of the X-axis direction and the Y-axis direction (step S20). After tentatively determining the placement, the layout creation unit 233 creates a layout proposal by adjusting the position and orientation of the workpieces so that the label of each workpiece is on the outside (so that it is visible) (step S30). Furthermore, the layout creation unit 233 registers the created layout proposal in a layout proposal list (step S40). Steps S10 to S40 are repeated by the first loop L1 as many times as the number of placement patterns.

[0039] Another example of the layout creation procedure will be described below. The layout creation unit 233 may calculate a first number of workpieces, which is the maximum number of workpieces in the X-axis direction in pinhole stacking, and a second number of workpieces, which is the maximum number of workpieces in the Y-axis direction in pinhole stacking, based on the palletizing information, and create a layout plan using one of a plurality of arrangement patterns using the first number of workpieces and the second number of workpieces. This makes it possible to efficiently create layout plans based on each arrangement pattern.

[0040] FIG. 5 is a flow chart showing another example of the flow of the layout plan creation process executed by the layout creation unit 233. In this process, as shown in FIG. 5A, first, the layout creation unit 233 calculates the maximum number of workpieces Nmax that can theoretically be placed in the placement area (step S110). The maximum number of workpieces Nmax is calculated by multiplying the larger of the X-axis and Y-axis sizes of the placement area by the work length (or, if workpiece spacing has been input, the work length plus the spacing) by the smaller of the X-axis and Y-axis sizes of the placement area by the work width (or, if workpiece spacing has been input, the work width plus the spacing). Next, the layout creation unit 233 calculates the first number of workpieces PXmax, which is the maximum number of workpieces to be placed in the X-axis direction in one layer in pinhole stacking, and the second number of workpieces PYmax, which is the maximum number of workpieces to be placed in the Y-axis direction (step S120). Next, the layout creation unit 233 sets the initial value of the variable n to the maximum number of workpieces Nmax, and executes each step in the second loop L2, whose continuation condition is that the variable n is 1 or greater. Note that the variable n is decremented by 1 each time the end of the second loop L2 is reached. In the second loop L2, the layout creation unit 233 first creates a layout plan for pinhole stacking (step S130).

[0041] As shown in FIG. 5B, in the process of creating a layout plan for pinhole stacking, the layout creation unit 233 first determines whether the current variable n is a predetermined number (for example, a multiple of 4, such as 16) (step S131). If the variable n is the predetermined number (S131: YES), the layout creation unit 233 sets the arrangement pattern of the layout plan to "block pinhole stacking" (i.e., a pattern in which the workpieces in FIG. 3C are arranged double) (step S132). On the other hand, if the variable n is not the predetermined number (S131: NO), the layout creation unit 233 sets the arrangement pattern to normal pinhole stacking, which does not involve doubling the workpieces, rather than "block pinhole stacking."

[0042] Next, the layout creation unit 233 executes steps in a third loop L3, in which the initial value of variable i is the first workpiece number PXmax and the continuation condition is that variable i is 1 or greater, and in a fourth loop L4, in which the initial value of variable j is the second workpiece number PYmax and the continuation condition is that variable j is 1 or greater. Note that variables i and j are decremented by 1 each time the end of the third loop L3 or the fourth loop L4 is reached. In the third loop L3 and the fourth loop L4, the layout creation unit 233 determines whether the sum of twice variable i and twice variable j matches the current variable n (step S133). If the sum matches variable n (S133: YES), the layout creation unit 233 creates a pinhole stacking layout plan in which the number of workpieces in the X-axis direction is the value of variable i and the number of workpieces in the Y-axis direction is the value of variable j, and registers the layout plan in the layout plan list (step S134). On the other hand, if the sum does not match the variable n (S133: NO), the layout creation unit 233 does not register the pinhole stacking layout plan based on the current variables i and j. Steps S133 and S134 are repeated a predetermined number of times by the third loop L3 and the fourth loop L4.

[0043] After creating the layout plan for pinhole stacking, the layout creation unit 233 determines whether the variable n is the same as the number of workpieces for large window stacking (step S140). Specifically, the layout creation unit 233 determines whether large window stacking (FIG. 3E) can be configured with the number of workpieces of variable n. If the variable n is the same as the number of workpieces for large window stacking (S140: YES), the layout creation unit 233 creates a layout plan for large window stacking in which the number of workpieces of variable n is arranged, and registers it in the layout plan list (step S150). On the other hand, if the variable n is different from the number of workpieces for large window stacking (S140: NO), the layout creation unit 233 does not register the layout plan for large window stacking.

[0044] In this embodiment, whether a certain arrangement pattern can be configured may be determined by considering whether the conditions for the orientation of the workpieces can be met (for example, whether the labels can be arranged facing outward). Also, if a gap tolerance is input, it is determined whether the workpieces can be arranged so that the gap between the workpieces is equal to or less than the tolerance.

[0045] Next, the layout creation unit 233 determines whether the variable n is the same as the number of workpieces in the window laying (step S160). Specifically, the layout creation unit 233 determines whether a normal window laying (FIG. 3F) can be configured with the number of workpieces of the variable n. If the variable n is the same as the number of workpieces in the window laying (S160: YES), the layout creation unit 233 creates a window laying layout plan in which the number of workpieces of the variable n is arranged, and registers it in the layout plan list (step S170). On the other hand, if the variable n is different from the number of workpieces in the window laying (S160: NO), the layout creation unit 233 does not register the window laying layout plan.

[0046] Next, the layout creation unit 233 determines whether the variable n is the same as the number of workpieces in the brickwork (step S180). Specifically, the layout creation unit 233 determines whether the brickwork (FIG. 3G) can be configured with the number of workpieces of the variable n. If the variable n is the same as the number of workpieces in the brickwork (S180: YES), the layout creation unit 233 creates a layout plan for the brickwork in which the number of workpieces of the variable n is arranged, and registers it in the layout plan list (step S190). On the other hand, if the variable n is different from the number of workpieces in the brickwork (S180: NO), the layout creation unit 233 does not register the layout plan for the brickwork.

[0047] Next, the layout creation unit 233 creates a layout plan for block building (step S200). FIG. 6 is a flow diagram showing an example of the flow of a layout plan creation process executed by the layout creation unit 233, and a flow diagram showing an example of the flow of a stowage pattern creation process executed by the processor 23. As shown in FIG. 6A, in the process of creating a layout plan for block building, the layout creation unit 233 executes steps in a fifth loop L5, in which the initial value of variable i is the first number of workpieces PXmax and the continuation condition is that variable i is 1 or greater, and a sixth loop L6, in which the initial value of variable j is the second number of workpieces PYmax and the continuation condition is that variable j is 1 or greater. Note that the variables i and j are decremented by 1 each time the end of the fifth loop L5 or the sixth loop L6 is reached. In the fifth loop L5 and the sixth loop L6, the layout creation unit 233 determines whether the product of variable i and variable j matches the current variable n (step S201). If the above product matches the variable n (S201: YES), the layout creation unit 233 creates a block-building layout plan in which the number of works in the X-axis direction is the value of variable i and the number of works in the Y-axis direction is the value of variable j, and registers this in the layout plan list (step S202). On the other hand, if the above product does not match the variable n (S202: NO), the layout creation unit 233 does not register the block-building layout plan based on the current variables i and j. Steps S201 and S202 are repeated a predetermined number of times by a fifth loop L5 and a sixth loop L6.

[0048] Steps S130 to S200 are repeated a predetermined number of times by a second loop L2.

[0049] The layout creation unit 233 registers the layout plans in the layout plan list in the order in which they were created according to the above-described flow. As a result, the layout plans are registered in descending order of the number of workpieces that can be placed. The layout creation unit 233 may also create or register layout plans in an order other than the above, and then sort the layout plans in descending order of the number of workpieces. Note that the order in which the placement patterns are considered in the above-described flow (the order in which the layout plans are created) is an example, and the order in which they are considered can be changed as appropriate.

[0050] The layout creation unit 233 presents the layout proposals to the user, for example, in the order in which they are registered in the layout proposal list. Furthermore, the layout creation unit 233 receives an operation from the user and sequentially reads out the layout proposals from the layout proposal list, thereby switching the layout proposals to be displayed on the user terminal 3 (presented to the user).

[0051] <Second Reception Unit 234> The second receiving unit 234 is configured to receive from the user a selection of a set layout for each stowage layer from among the multiple layout proposals created by the layout creation unit 233. For example, when creating a three-layer stowage pattern, the second receiving unit 234 receives input of set layouts for the first, second, and third layers from the user terminal 3. Note that the second receiving unit 234 may present an inverted layout in which each layout proposal is inverted about the X-axis or Y-axis, and receive selection of the inverted layout as the set layout.

[0052] <Loading Pattern Creation Unit 235> The stowage pattern creation unit 235 is configured to create a three-dimensional stowage pattern of the workpieces by combining the set layouts selected for each layer in the second reception unit 234. The stowage pattern creation unit 235 may automatically generate a stowage pattern in which one set layout selected in the second reception unit 234 and an inverted layout obtained by inverting the set layout about the X-axis or Y-axis are alternately stacked up to a predetermined height (maximum stackable height).

[0053] <Loading pattern output unit 236> The stowage pattern output unit 236 is configured to output the stowage pattern created by the stowage pattern creation unit 235 to the user terminal 3 and / or the robot 10.

[0054] When outputting a stowage pattern to the user terminal 3, the stowage pattern output unit 236, for example, transmits data of the stowage pattern to the user terminal 3, thereby outputting a three-dimensional model of the stowage pattern to the display unit 34. The stowage pattern output unit 236 may immediately display or update the model when the user selects or changes the setting layout.

[0055] When outputting a stowage pattern to the robot 10, the stowage pattern output unit 236 converts the stowage pattern into a program including operation instructions for the robot 10, and transmits the program to the robot 10.

[0056] 3. Information Processing Method This section describes an information processing method of the server device 2. This information processing method is executed by a computer with each unit of the server device 2 acting as each step.

[0057] This information processing includes a first receiving step, a layout creating step, a second receiving step, and a stowage pattern creating step. In the first receiving step, input of palletizing information including at least one of the size of the workpieces to be placed in the placement area and the size of the placement area is accepted. In the layout creating step, multiple layout proposals are created using multiple arrangement patterns registered in advance based on the palletizing information. In the second receiving step, selection of a set layout for each stowage layer is accepted from the multiple layout proposals. In the stowage pattern creating step, a three-dimensional stowage pattern of the workpieces is created by combining the set layouts selected for each layer.

[0058] As shown in FIG. 6B, in this information processing, first, the server device 2 accepts input of palletizing information from the user terminal 3 (step S310). The server device 2 creates a layout plan based on the palletizing information and displays it on the user terminal 3 (step S320). Next, the server device 2 accepts selection of a set layout for each layer of the stowage pattern from the user terminal 3 (step S330). The server device 2 creates a stowage pattern based on the selected set layout (step S340). After creating the stowage pattern, the server device 2 outputs the stowage pattern to the user terminal 3 and / or the robot 10 (step S350).

[0059] 4. Effect The operation of this embodiment can be summarized as follows. That is, the user can select a layout plan for each layer from multiple layout plans created based on multiple arrangement patterns. This allows the user to set a palletizing pattern in which a different arrangement pattern is applied to each layer. In other words, the user can set a palletizing pattern for workpieces with a high degree of freedom.

[0060] Although the embodiment of the present invention has been described above, the present invention is not limited to this and can be modified as appropriate within the scope of the technical idea of ​​the invention.

[0061] 5.Other In the above embodiment, the server device 2 performs various storage and control functions. However, a plurality of external devices may be used instead of the server device 2. That is, various information and programs may be stored in a distributed manner in a plurality of external devices using block chain technology or the like. Furthermore, the palletizing pattern creation system 1 does not necessarily have to include the server device 2. That is, the processor 33 of the user terminal 3 may have each functional unit (the display control unit 231, the first reception unit 232, the layout creation unit 233, the second reception unit 234, the stowage pattern creation unit 235, and the stowage pattern output unit 236) instead of the processor 23 of the server device 2.

[0062] The palletizing pattern creation system 1 does not necessarily have to include the robot 10. For example, the palletizing pattern creation system 1 may be used for the purpose of simulating a stowage pattern.

[0063] The aspect of this embodiment is not limited to the palletizing pattern creation system 1, and may be an information processing method or a program. The job search support method includes steps executed by the palletizing pattern creation system 1. The program causes a computer to execute the steps of the palletizing pattern creation system 1.

[0064] It may be provided in the following manner.

[0065] (1) A palletizing pattern creation system comprising at least one processor, the processor being configured to execute each of the following steps by reading a program: a first receiving step receiving input of palletizing information including at least one of the size of the workpieces to be placed in a placement area and the size of the placement area; a layout creating step creating a plurality of layout plans using a plurality of pre-registered arrangement patterns based on the palletizing information, wherein each of the plurality of arrangement patterns is a two-dimensional arrangement of the workpieces; a second receiving step receiving selection of a set layout for each layer of stowage from the plurality of layout plans; and a stowage pattern creating step creating a three-dimensional stowage pattern of the workpieces by combining the set layouts selected for each layer.

[0066] (2) In the palletizing pattern creation system described in (1) above, the plurality of arrangement patterns include at least two of pinhole laying, window laying, brick laying, and block laying.

[0067] (3) A palletizing pattern creating method, comprising the steps executed by the palletizing pattern creating system described in (1) or (2) above.

[0068] (4) A program for causing a computer to execute each step of the palletizing pattern creation system described in (1) or (2) above. Of course, this is not the case.

[0069] Finally, while various embodiments of the present disclosure have been described, they are presented as examples and are not intended to limit the scope of the invention. The novel embodiments may be embodied in various other forms, and various omissions, substitutions, and modifications may be made without departing from the spirit of the invention. Such embodiments and modifications are intended to be included within the scope and spirit of the invention, as well as within the scope of the inventions and their equivalents as defined in the claims. [Explanation of symbols]

[0070] 1: Palletizing pattern creation system 2: Server device 3: User terminal 10: Robot 20: Communication bus 21: Communications Department 22: Storage section 23: Processor 30: Communication bus 31: Communications Department 32: Storage section 33: Processor 34:Display section 35: Input section 231: Display control unit 232: First Reception Section 233: Layout Creation Department 234: Second Reception Department 235: Loading pattern creation section 236: Loading pattern output section

Claims

1. A palletizing pattern creation system, at least one processor; The processor is configured to execute the following steps by reading the program: In the first receiving step, input of palletizing information including at least one of the size of the workpiece to be placed in the placement area and the size of the placement area is received; In the layout creation step, a plurality of layout plans are created using a plurality of pre-registered arrangement patterns based on the palletizing information, and the plurality of arrangement patterns are ways of arranging the workpieces in a plane, respectively; In the second accepting step, a selection of a set layout for each stowage layer is accepted from the plurality of layout plans, In the stowage pattern creation step, a palletizing pattern creation system creates a three-dimensional stowage pattern of the workpieces by combining the set layouts selected for each layer.

2. 2. The palletizing pattern creation system according to claim 1, A palletizing pattern creation system, wherein the plurality of arrangement patterns include at least two of pinhole laying, window laying, brick laying, and block laying.

3. A palletizing pattern creation method, comprising: A palletizing pattern creating method comprising the steps executed by the palletizing pattern creating system according to claim 1 or 2.

4. A program, A program for causing a computer to execute each step of the palletizing pattern creation system according to claim 1 or 2.

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