Article placement decision system

Abstract

There is a demand for an article placement determination system that can easily increase the possibility of appropriately stowing a plurality of articles on a support member.SOLUTION: An article arrangement determination system for determining an arrangement of a plurality of articles W when the plurality of articles W are stacked on a support member P, the article arrangement determination system comprising: When a plurality of articles W are arranged on the support member P so as to be aligned in the horizontal direction and stacked in the vertical direction Z, the arrangement determining portion determines the arrangement of the plurality of articles W such that, of the gaps between the articles W that are adjacent to each other in the horizontal direction, the smallest gap at each height in the vertical direction Z is defined as a height-based minimum gap S, and the height-based minimum gap S increases as the distance from the support member P increases upward.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to an article placement determination system. [Background technology]

[0002] For example, Japanese Patent Laid-Open Publication No. 3-111337 (Patent Document 1) discloses a technology relating to an article placement determination system. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] The item placement determination system of Patent Document 1 determines the placement of multiple items when multiple types of items with different shapes and dimensions are stacked on a single support 5. This item placement determination system generates multiple placement patterns for each type of item, and combines these multiple placement patterns to determine the placement of multiple items on the support 5. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 3-111337 Summary of the Invention [Problem to be solved by the invention]

[0005] In the item placement determination system of Patent Document 1, multiple placement patterns are generated based on pre-stored item information (information on the shape and dimensions of the items). However, the shape and dimensions of the actual items stacked on the support may differ from the shape and dimension values ​​included in the item information due to factors such as measurement errors and deformation. When another item is stacked on top of such an item on the support, the stacked item may be tilted relative to the horizontal plane. The same applies when another item is stacked on top of an item that is easily deformed under load. If an item is stacked in such a tilted position, even if another item is attempted to be stacked horizontally adjacent to the stacked item, the two items may interfere with each other, resulting in a problem in which the items cannot be stacked properly.

[0006] Therefore, there is a need for an item placement determination system that can easily increase the likelihood that multiple items can be properly stacked on a support. [Means for solving the problem]

[0007] An item placement determination system according to the present disclosure is an item placement determination system that determines the placement of multiple items when multiple items are stacked on a support, and includes: a placement determination unit that determines a placement of the plurality of articles on the support; When arranging the plurality of articles on the support so as to be aligned in the horizontal direction and stacked in the vertical direction, the arrangement determination unit determines the smallest gap between the horizontally adjacent articles at each height in the vertical direction as a minimum gap by height, and increases the minimum gap by height as the articles move away from the support. At the same time, the minimum gap by height does not become smaller up to the top. The arrangement of the plurality of items is determined as follows.

[0008] According to this configuration, even if an unexpected tilt occurs in some of the multiple stacked items because the actual shape and dimensions of the items to be stacked on the support differ from those indicated in the item information due to deformation of the items, measurement errors, etc., it is easy to increase the possibility that other items can be stacked in a position adjacent to the tilted item. Therefore, it is possible to reduce the possibility of a situation in which, when attempting to place other items in a position adjacent to an item that has an unexpected tilt, the adjacent items interfere with each other, making it impossible to stack any more of the remaining items to be stacked. Furthermore, with this configuration, the minimum clearance by height increases with increasing distance from the support, so the density at which multiple items are arranged can be increased on the side closer to the support. Therefore, it is easier to increase the number of items that can be stacked on the support, for example, compared to when the minimum clearance by height is constant regardless of height. In this way, this configuration makes it easier to increase the likelihood that multiple items can be properly stacked on the support body.

[0009] Further, an item placement determination system according to the present disclosure is an item placement determination system that determines a placement of a plurality of items when the plurality of items are stacked on a support, the system comprising: a placement determination unit that determines a placement of the plurality of articles on the support; When arranging the plurality of items on the support so that they are aligned horizontally and stacked vertically, the arrangement determination unit determines the arrangement of the plurality of items so that the smallest gap between the horizontally adjacent items at each height in the vertical direction is a minimum gap by height, and the minimum gap by height increases with increasing distance from the support. death, The ratio of the minimum gap by height to the distance from the support in the vertical direction is set according to the angle of the maximum expected inclination of the article with respect to the vertical. .

[0010] Further features and advantages of the item location determination system will become apparent from the following description of exemplary, non-limiting embodiments that refer to the drawings. [Brief explanation of the drawings]

[0011] [Figure 1] A front view showing an example of a conveying facility [Figure 2] Control Block Diagram [Figure 3] A plan cross-sectional view schematically showing the arrangement of multiple items in the horizontal direction. [Figure 4] A plan cross-sectional view schematically showing the arrangement of multiple items in the horizontal direction. [Figure 5] FIG. 10 is a plan cross-sectional view schematically illustrating the determination of the arrangement of multiple items in the horizontal direction. [Figure 6] FIG. 1 is a front view showing the arrangement of multiple items on a support; [Figure 7] A front view showing the angle of the maximum expected tilt of an object relative to the vertical. [Figure 8] Graph showing the relationship between minimum clearance by height and each position in the vertical direction [Figure 9] FIG. 10 is a front view showing another example of the arrangement of multiple items on a support; [Figure 10] Control Flow Diagram [Figure 11] Control Flow Diagram [Figure 12] FIG. 10 is a front view showing another example of the arrangement of multiple items on a support; DETAILED DESCRIPTION OF THE INVENTION

[0012] [First embodiment] The first embodiment of the item placement determination system 1 will be described with reference to the drawings, where the system is applied to a transport facility 100.

[0013] As shown in Figures 1 and 2, the conveying facility 100 includes a first conveying device 61, a second conveying device 62, a stowage device 8, an item placement determination system 1, an automated warehouse 63 (Figure 2), and a control device C (Figure 2). The control device C controls each of the first conveying device 61, the second conveying device 62, the stowage device 8, and the automated warehouse 63. The control device C is also configured to realize the functions of the item placement determination system 1. The control device C includes, for example, a processor such as a microcomputer, peripheral circuits such as memory, and the like. Each function is realized by cooperation between this hardware and a program executed on the processor of a computer or the like.

[0014] A plurality of items W are stored in the automated warehouse 63. In this embodiment, the plurality of items W includes a plurality of types of items W that differ from one another in at least one of shape and size. In this manner, a plurality of types of items W that differ from one another in at least one of shape and size are stored in the automated warehouse 63. A first conveying device 61 is connected to the automated warehouse 63. The first conveying device 61 conveys the plurality of types of items W that are delivered from the automated warehouse 63 to a stacking position 70 (FIG. 1). In addition to the first conveying device 61, a stacking device 8 and a second conveying device 62 are arranged at the stacking position 70. The stacking device 8 sequentially stacks the items W transported from the automated warehouse 63 by the first conveying device 61 onto supports P (here, pallets) arranged on the second conveying device 62. In the example of FIG. 1, the first conveying device 61 and the second conveying device 62 are arranged at the stacking position 70 so as to sandwich the stacking device 8 therebetween. Here, the first transport device 61 and the second transport device 62 are conveyors.

[0015] In this example, the first conveying device 61 sequentially conveys multiple types of items W delivered from the automated warehouse 63 to a stacking position 70 based on order information. At the stacking position 70, the stacking device 8 stacks the items W placed on the conveying surface of the first conveying device 61 onto the support P of the second conveying device 62 according to the placement information D2 acquired from the item placement determination system 1. When the stacking operation by the stacking device 8 is completed, the second conveying device 62 transports the support P on which the multiple types of items W are loaded to a predetermined location (for example, a location where a shipping truck is located). In this way, different types of items W are loaded onto the support P. In this example, the items W are containers (more specifically, cartons). The items W contain, for example, merchandise sold in a store. Here, there are multiple types of cartons that differ from each other in at least one of shape and size depending on the type and number of products to be stored. In the illustrated example, the cartons are shaped like quadrangular prisms (rectangular parallelepipeds or cubes). Therefore, the item information D1 includes the dimensions of the width, depth, and height of the carton container. Note that the carton container may be a polygonal prism shape other than a rectangular prism, or may be a cylindrical shape, etc. Here, the placement information D2 is information indicating the placement of multiple items W to be stacked on the support body P. Hereinafter, the group of items stacked on the support body P by the stacking device 8 may be referred to as the "group of items to be shipped 10."

[0016] As shown in FIG. 1, the stacking device 8 includes a base 81 provided on the floor surface, an arm 82 including a plurality of articulated arms, a holding unit 83 that holds an article W, and a drive mechanism (not shown) that drives the arm 82 and the holding unit 83. The arm 82 is provided on the base 81. The arm 82 is configured to be rotatable about an axis along the vertical direction Z relative to the base 81. The holding unit 83 is attached to the tip of the arm 82. The holding unit 83 includes a plurality of suction pads 84. The plurality of suction pads 84 are configured to be switchable between a suction state in which the article W can be suctioned and a suction-released state in which the article W is not suctioned. With this configuration, the stacking device 8 can stack an article W placed on the conveying surface of the first conveying device 61 onto a support P on the conveying surface of the second conveying device 62 at the stacking position 70. The stowage device 8 performs stowage work of the goods W in accordance with the placement information D2 acquired from the goods placement determination system 1.

[0017] The item placement determination system 1 determines the placement of multiple items W when multiple items W are stacked on a support P. In this embodiment, the item placement determination system 1 determines the placement of each item W when multiple types of items W are stacked on a support P. Naturally, the item placement determination system 1 can also determine the placement of each item W when only items W of the same type are stacked on the support P. In this example, the item placement determination system 1 determines the placement of all items W that make up a group of items 10 to be shipped on the support P. The item placement determination system 1 stores the determined placement of the items W as placement information D2. The item placement determination system 1 also transmits the placement information D2 to the stowage device 8. As shown in FIG. 2 , the item placement determination system 1 includes a placement determination unit 2 that determines the placement of multiple items W on the support P. In this embodiment, the item placement determination system 1 further includes an item information acquisition unit 3 that acquires item information D1 that indicates the shape and dimensions of each of the multiple items W. In this example, the item placement determination system 1 also includes a correction unit 4, a memory unit 5, and a measuring device 9. The placement determination unit 2, the item information acquisition unit 3, the correction unit 4, and the memory unit 5 are each provided in the control device C.

[0018] The measuring device 9 measures the shape and dimensions of the item W. In this example, the measuring device 9 measures the shape and dimensions of each of multiple items W delivered from the automated warehouse 63 in accordance with order information. Here, the measuring device 9 is equipped with multiple light-emitting units, light-receiving units, and a conveyor. The measuring device 9 performs the above measurement while transporting the item W on the conveyor. Here, light is irradiated onto the item W on the conveyor from multiple light-emitting units arranged above and horizontally outward. The shape and dimensions of the item W are then measured based on the position where the light is blocked by the presence of the item W. For this reason, the measuring device 9 is installed midway along the transport path of the first conveying device 61. The measuring device 9 performs the above measurement on all items W transported to the stacking position 70 by the first conveying device 61. The measuring device 9 is configured to be able to communicate with the control device C and transmits the measurement results of each item W to the control device C. The item information acquisition unit 3 acquires the measurement results of each item W as item information D1, associating them with the type of item W. The article information D1 is stored in the storage unit 5. The shape and dimensions of the article W may be measured by image recognition using a camera.

[0019] In the following description, the X direction is defined as a direction along a horizontal plane and along one of the four sides of the periphery of the support P (here, a pallet) when viewed in the vertical Z direction, and the Y direction is defined as a direction perpendicular to the X direction when viewed in the vertical Z direction. In the example of Fig. 1, the X direction is the same as the direction in which the stowage device 8 and the support P on which the group of articles to be shipped 10 is placed are aligned.

[0020] As shown in FIGS. 1, 3, and 4, when arranging a plurality of items W on a support P so that they are lined up horizontally and stacked in the vertical direction Z, the arrangement determination unit 2 determines the arrangement of the plurality of items W so that the smallest gap between horizontally adjacent items at each height in the vertical direction Z is set as the minimum gap by height S, and the minimum gap by height S increases with increasing distance from the support P. In this embodiment, even if the upper surface (loading surface) of the support P is inclined, as long as the items W stacked on the loading surface are lined up horizontally, this is included in "arranging a plurality of items W horizontally." Furthermore, even if some or all of the stacked items W are inclined, as long as adjacent items W are lined up horizontally, this is included in "arranging a plurality of items W horizontally." In this example, the arrangement determination unit 2 performs a tentative arrangement determination process to tentatively determine the arrangement of each item W to be stacked on the support P based on order information. The placement determination unit 2 provisionally determines the number of layers (tiers) of the items W to be stacked on the support P and the positions of the multiple items W to be placed on each layer (tier) based on order information (types of items W to be stacked on the support P and the number of items W for each type) and size information (master data) for each type of item W previously stored in the memory unit 5. As shown in Figures 1 and 6, the placement of the items W can also be determined so that multiple items W are stacked in the vertical direction Z on one layer. Here, in the group of items to be shipped 10, the bottom layer is referred to as the first layer L1, the layer one layer above that is referred to as the second layer L2, the layer one layer above the second layer L2 is referred to as the third layer L3, etc. In this example, a "layer (tier)" refers to a spatial region in which multiple items W stacked on the support P are arranged, and if the regions in the vertical direction Z overlap each other when viewed horizontally and the dimension of the overlapping portion in the vertical direction Z is, for example, 80% or more of the vertical direction Z of each item, then these items W can be considered to be one layer. Furthermore, multiple items W can also be arranged side by side in the vertical direction Z in a partial region of one layer formed by multiple items W in this way. Note that the definition of such a "layer" can be changed as appropriate.For example, if most of the items W stacked on the support P are boxes or the like with small dimensions in the vertical direction Z, multiple items W (e.g., 10 items) lined up in the vertical direction Z may be treated as one layer.

[0021] The arrangement of multiple items W determined in the temporary arrangement determination process is the number of items W of each type to be arranged on each floor, and the position and posture of each item W to be arranged on each floor. In the temporary arrangement determination process, the position and posture of the items W on each floor may be approximate. In the temporary arrangement determination process, the minimum gap S by height is not set. The determination of the arrangement of items W on each floor taking into account the minimum gap S by height is performed in the arrangement determination process described below. In this example, the size information is information indicating the shape and dimensions of each type of item W that is input into the control device C by a worker or the like and stored in the memory unit 5.

[0022] In the temporary placement determination process, the placement determination unit 2 further determines the order in which the items W are to be stacked on the support P based on the provisionally determined placement of the multiple items W. The memory unit 5 associates information regarding the provisionally determined placement of the multiple items W and information regarding the order in which the multiple items W are to be stacked with the size information (master data) and stores the information as temporary placement information D3. The control device C controls the automated warehouse 63 and the first conveying device 61 to sequentially transport the items W from the automated warehouse 63 to the stacking position 70 based on the temporary placement information D3. In this embodiment, as shown in FIG. 2 , the placement determination unit 2 determines the placement of the multiple items based on item information D1 acquired by the item information acquisition unit 3. As described above, for each item W transported to the stacking position 70 by the first conveying device 61, measurements are sequentially performed by the measuring device 9 along the transport route. The placement determination unit 2 performs a placement determination process to determine the placement of all items W to be stacked on the support P based on the item information D1 acquired by measurement by the measuring device 9 and the provisional placement information D3. In this way, in this example, the placement determination unit 2 is configured to perform the placement determination process (S02) after performing the temporary placement determination process (S01) (FIG. 10).

[0023] As shown in FIGS. 4 and 6, the placement determination unit 2 can prioritize placement of multiple items W along a virtual perimeter Q virtually set on each layer during placement determination processing. The virtual perimeter Q is the perimeter (here, a rectangular perimeter) of the area in which all items W can be placed on the lowest layer (first layer L1), and is a virtual perimeter obtained by translating the perimeter along a horizontal plane to each layer above. In the example shown in FIGS. 4 and 6, one of the multiple items W is designated as a priority item Wa on the second layer L2, and the priority item Wa is placed along the virtual perimeter Q rather than inside the virtual perimeter Q in the X direction. As a result, the distance (priority distance t) between the priority item Wa and the item W adjacent to it in the X direction is larger than the distance between other items W on the same layer. In this way, the placement determination unit 2 does not need to maintain a uniform distance between all adjacent items W on the same layer. By arranging the priority items Wa along the virtual periphery Q, the arrangement of the items W in the layers above can be stabilized.

[0024] As shown in FIGS. 3 to 6, the placement determination unit 2 sets a minimum gap S for each height on each floor during the placement determination process. The minimum gap S for each height is set as the smallest gap between horizontally adjacent items W on each floor (X and Y directions). For example, as shown in FIGS. 4 and 6, the spacing between items W on each floor is generally set based on the minimum gap S for each height. However, when placing a priority item Wa, the placement determination unit 2 can set the spacing between horizontally adjacent items W to be larger than the minimum gap S for each height. In the examples of FIGS. 4 and 6, the spacing between the priority item Wa and the horizontally adjacent item W is set as a priority gap t, and the priority gap t is set to be larger than the minimum gap S for each height. In contrast, the priority gap t is never set to be smaller than the minimum gap S for each height.

[0025] As shown in FIGS. 3 to 6 , the value (dimension) of the minimum height-specific gap S set for one layer is the same in the X and Y directions. In this example, the placement determination unit 2 first sets the minimum height-specific gap S for the bottom layer (first layer L1). For example, the placement determination unit 2 extracts the item W with the largest dimension in either the X or Y direction from among multiple items W placed on the bottom layer. The placement determination unit 2 can then set the length of the extracted item W that is N% (e.g., N=1) of the largest dimension in either the X or Y direction as the minimum height-specific gap S for the bottom layer. The placement determination unit 2 can also set the minimum height-specific gap S for the bottom layer to N mm (e.g., N=5). The value substituted for N is determined appropriately by an operator, etc. In this way, the value of the minimum height-specific gap S for the bottom layer can be appropriately set and changed as needed.

[0026] As shown in FIGS. 3, 4, and 6, the placement determination unit 2 sets the value of the minimum gap S for each height to increase toward higher layers. In this example, the minimum gap S for each height is set so that the rate of change is constant. Specifically, as shown in FIG. 8, the relationship between the minimum gap S for each height and each layer is a linear function. In this way, the minimum gap S for each height is a value that increases at a constant rate of change toward higher layers. Here, as shown in FIGS. 6 and 7, in this embodiment, the ratio of the minimum gap S for each height to the distance from the support P in the vertical direction Z is set according to the angle θ of the assumed maximum inclination of the article W with respect to the vertical. In this example, the relationship between the height (distance from the support P) of each layer virtually arranged in the vertical direction Z and the number of layers can be set to a proportional relationship in calculation. The relationship between the height position (position in the vertical direction Z) of each layer thus calculated and the minimum gap S for each height is a linear function relationship as shown in FIG. 8. Furthermore, in FIG. 8, the value of the inclination a, i.e., the rate of change, is set according to the angle θ of the expected maximum inclination of the article W relative to the vertical. For example, as shown in FIG. 7, the value of p / q calculated based on the value of the expected maximum angle θ is set as the value of the inclination a shown in FIG. 8 (a = p / q). The value of the angle θ of the maximum inclination of the article W relative to the vertical can be changed as appropriate. For ease of understanding, FIG. 7 has been used to explain that the value of the inclination a is set according to the angle θ of the maximum inclination of the inclined article Wu relative to the vertical when viewed in the Y direction. However, this is not necessarily limited to this example. The value of the inclination a may also be determined according to the angle θ of the inclined article Wu when viewed in the X direction. Furthermore, the value of the inclination a may also be set taking into account the angle θ of the inclined article Wu when viewed in a horizontal direction different from both the X and Y directions. In this way, the value of the inclination a can be set as appropriate depending on the inclined posture of the inclined article Wu. As an example of the maximum inclination of the item W, Fig. 6 shows an example in which an item W (inclined item Wu) stacked on top of an error item Wt is in an inclined position. In the example shown, the actual dimension of the error item Wt in the vertical direction Z is smaller than the measured value due to a measurement error of the measuring device 9, which causes a step.Such a measurement error may be set to a maximum of 5%, for example, and the angle θ may be calculated based on this. The error item Wt may be based not only on the measurement error of the measuring device 9 as described above, but also on the difference between the value measured by the measuring device 9 and pre-stored size information (master data). As shown in FIG. 9, the error item Wt may be assumed to be deformed at its upper portion due to the weight of the item W (inclined item Wu) placed on top of it. For ease of understanding, FIGS. 6 and 9 exaggerate the error portion of the error item Wt. Such errors may be based on distortions or deflections on the surface of the item W, in addition to the illustrated example. Therefore, examples of the error item Wt include items W that have relatively low rigidity and are easily deformed, or items that are overcrowded inside the item W as a container. The angle θ may also be calculated based on a combination of multiple expected error items Wt. The control device C may have a database containing information on various expected errors for calculating the angle θ.

[0027] In FIG. 8, once the value of the slope a and the value of the minimum height gap S for the lowest layer (first layer L1), i.e., the value of the intercept b, are determined, the value of the minimum height gap S for each layer is calculated by substituting the calculated height of each layer (e.g., Z=1 for the second layer L2, Z=2 for the third layer L3) into the relational expression S=aZ+b. Depending on the characteristics of the item W (e.g., an item W with relatively low rigidity and prone to deformation, as described above), the calculated value of the minimum height gap S may be further increased by adding or multiplying a specified number. This allows the value of the minimum height gap S to be set even larger. The relationship between the minimum height gap S and each layer is not limited to a linear relationship in a linear function as shown in FIG. 8, but may also be a quadratic or cubic curve. In this example, an upper limit can be set for the minimum height gap S. For all layers whose minimum height gap S exceeds this upper limit, the value of the minimum height gap S can be set to a constant value. The fixed value can be a set upper limit value. Furthermore, if the calculation results in a value (approximate value) that is less than the upper limit value and closest to the upper limit value for a specific floor, the fixed value can also be set to that approximate value. In this way, for floors that exceed the upper limit value of the minimum gap S by height, the setting of the minimum gap S by height can be changed as appropriate. Naturally, for floors that exceed the upper limit value of the minimum gap S by height, a value smaller than the upper limit value can also be set as the value of the minimum gap S by height as appropriate.

[0028] In the placement determination process, the placement determination unit 2 determines the placement of multiple items W on each floor based on the set minimum gap S for each floor. In this example, as shown in FIG. 5, the placement determination unit 2 enlarges the dimensions (here, the dimensions in the X and Y directions) of each item W to be placed on each floor to a size that takes into account the minimum gap S for each floor. The placement determination unit 2 then determines the placement of each item W by treating the enlarged item W as a virtual enlarged item Wh (shown by the dashed-dotted line in FIG. 5) and arranging multiple virtual enlarged items Wh inside the virtual perimeter Q. For example, as shown in FIG. 5, the placement of each item W can be determined based on a virtual enlarged item Wh obtained by enlarging each of the dimensions of the item W in the X and Y directions by half (S / 2) of the set minimum gap S for each floor. Naturally, the placement determination unit 2 can also take into account the placement of priority items Wa, etc., when making this determination. When the placement determination process by the placement determination unit 2 is completed, the storage unit 5 acquires and stores placement information D2, which is information on the determination, from the placement determination unit 2. Furthermore, the control device C controls the stacking device 8 to stack the items W on the support body P based on the placement information D2. As shown in FIG. 5, when the placement determination unit 2 determines the placement of each item W on each layer based on the virtual enlarged items Wh taking into account the minimum gap S by height, if it becomes clear that some of the items W provisionally determined in the provisional placement determination process cannot be placed on the layer where they are to be placed, the item W can be stacked on the top layer. In that case, it is preferable to place a temporary placement table or the like around the stacking device 8 on which the item W is temporarily placed.

[0029] The stacking device 8 stacks items W on the support P according to the placement information D2. Here, in the arrangement determination process, the minimum height-specific clearance S set for each layer is set to increase toward the upper layer. Therefore, as shown in FIG. 6, even if an inclined item Wu is present on the fourth layer L4 and a new item W is stacked on top of the inclined item Wu on the fifth layer L5 (shown by the two-dot chain line in FIG. 6), the minimum height-specific clearance S for each of the fourth layer L4 and the fifth layer L5 is set sufficiently large, allowing the stacking device 8 to stack another item W horizontally adjacent to these items W. Also, in the example of FIG. 9, two items W are stacked on top of the inclined item Wu, but the minimum height-specific clearance S set for each layer is set sufficiently large, allowing the stacking device 8 to stack another item W horizontally adjacent to these items W. Note that, as a result of all items W being stacked on the support P according to the placement information D2, a clearance smaller than the set minimum height-specific clearance S may be formed in at least one layer. For example, if the load of the stacked items W causes the sides of the items W below to bend, or if the position of the items W shifts from the position included in the placement information D2, a gap smaller than the minimum gap S by height may be formed.

[0030] In this example, as shown in FIG. 11 , when the stowage device 8 stows items W based on the arrangement information D2, if horizontally adjacent items W interfere with each other, the correction unit 4 can perform a correction process to correct the arrangement information D2. In the correction process, the correction unit 4 acquires the arrangement information D2 from the storage unit 5 or the stowage device 8 (S11). Then, the correction unit 4 performs a reset process to reset the arrangement of multiple items W on the layer where the interference occurred and on layers above that (S12). In the reset process, the correction unit 4 increases the minimum height-specific gap S for the layer where the interference occurred and on layers above that. Note that the correction process may be performed by an operator or the like inputting it into the control device C, or may be performed automatically when the stowage device 8 detects interference between the items W. The stowage device 8 receives the arrangement information D2 corrected by the correction process and resumes the stowage work. At this time, it is preferable that the operator or the like has returned all of the items W on the layer where the interference occurred onto the first conveyor device 61 at the stowage position 70. The corrector 4 may perform a resetting process to increase the value of the slope a (FIG. 8) to increase the minimum gap S by height for each of the layers other than the bottom layer.

[0031] Second Embodiment A second embodiment of the item placement determination system 1 will be described with reference to the drawings. The following description will focus on the differences between the transport vehicle of this embodiment and the first embodiment. Points that are not specifically mentioned are the same as those of the first embodiment, and the same reference numerals will be used to omit detailed description.

[0032] In this embodiment, as shown in Fig. 12, in the placement determination process, the placement determination unit 2 sets the minimum gap S by height according to the position in the vertical direction Z of the items W stacked on the support P. Specifically, for each of the multiple items W, the minimum gap S by height is set according to the position in the vertical direction Z at which the items are placed. In this example, the minimum gap S by height is set according to the position in the vertical direction Z of the bottom surface of each of the multiple items W.

[0033] As shown in FIG. 12, the placement determination unit 2 performs placement determination processing such that the height-specific minimum gap S increases as the position of the bottom surface of the item W in the vertical direction Z increases from the upper surface (placement surface) of the support P. In this example, the placement determination unit 2 first sets the height-specific minimum gap S of the first item W1, with the multiple items W placed directly on the placement surface of the support P (closest to the support P) as the first item W1. In the illustrated example, the placement determination unit 2 sets the height-specific minimum gap S of the first item W1 as the position in the vertical direction Z of the bottom surface of the first item W1 (hereinafter simply referred to as the "bottom height H"). The placement determination unit 2 can appropriately set the height-specific minimum gap S of the first item W1, i.e., the height-specific minimum gap S of the item W placed closest to the support P, as in the first embodiment. In this example, the height-specific minimum gap S (first minimum gap S1) of each first item W1 is set to the same value. The placement determination unit 2 then determines the item W that is placed at one end in the X and Y directions (one of the four corners of the support body P) of the multiple items W stacked on top of these first items W1 as the second item W2, and sets a height-based minimum gap S (second minimum gap S2) according to the bottom height H of the second item W2.

[0034] The placement determination unit 2 then sets the minimum gap S by height for each item W arranged horizontally relative to the second item W2, radially in order starting from the item W adjacent to the second item W2, and determines the placement of the items W in each direction. In the example of Fig. 12, the item W arranged adjacent to the second item W2 on the other side in the X direction is the third item W3, the item W arranged adjacent to the third item W3 on the other side in the X direction is the fourth item W4, and the item W arranged adjacent to the fourth item W4 on the other side in the X direction is the fifth item W5. Then, the placement determination unit 2 sets the minimum gap S by height (third minimum gap S3, fourth minimum gap S4, fifth minimum gap S5) for the third item W3, fourth item W4, and fifth item W5 in the listed order based on the bottom height H of each item W. Then, the placement of each item W (third item W3, fourth item W4, fifth item W5) is determined so that the horizontal gap between each item W is equal to or greater than the respective minimum gap S by height (third minimum gap S3, fourth minimum gap S4, fifth minimum gap S5). Similarly, the placement determination unit 2 sets the minimum gap S by height (sixth minimum gap S6, seventh minimum gap S7, eighth minimum gap S8) in the order listed for each of the sixth item W6, seventh item W7, and eighth item W8, which are placed in that order from the other side in the X direction, and determines the placement of each item W.

[0035] In this embodiment, the relationship between the minimum gap S by height and the bottom height H is a linear function relationship, as shown in Fig. 12. In Fig. 12, the slope (rate of change) of the graph of the linear function is set according to the angle θ (Fig. 7) of the expected maximum slope of the article W with respect to the vertical, as in the first embodiment.

[0036] In this example, the placement determination unit 2 determines the placement of the items W on the support P, starting from the first item W1, and sets the corresponding minimum gaps S by height in order. In this example, the minimum gaps S by height are set according to the bottom height H of each item W, as described above. In other words, the minimum gaps S by height are set regardless of the shape and dimensions of the items W to be placed. For this reason, the placement determination unit 2 can perform processing to select the shape and dimensions of the items W to be placed at each position so that the minimum gaps S by height set between horizontally adjacent items W can be secured by placing a specified item W.

[0037] In the example of FIG. 12, the distance between each item W and another item W adjacent thereto in the X direction is equal to or greater than the set minimum gap S by height. The values ​​of the minimum gap S by height increase in the listed order of the first minimum gap S1, the third minimum gap S3, the fourth minimum gap S4, the second minimum gap S2, the fifth minimum gap S5, the seventh minimum gap S7, the eighth minimum gap S8, and the sixth minimum gap S6, and the corresponding bottom height H increases in this listed order. In the illustrated example, the distances between multiple items W adjacent to a third item W3 in the X direction are set to be the third minimum gap S3, the second minimum gap S2, the fourth minimum gap S4, and the seventh minimum gap S7. The second minimum gap S2, the fourth minimum gap S4, and the seventh minimum gap S7 are larger than the third minimum gap S3.

[0038] The placement determination unit 2 can also set the minimum gap S by height in order of the item W with the lowest bottom surface height H. In the example of FIG. 12, the placement determination unit 2 sets the first minimum gap S1 for the first item W1, then sets the third minimum gap S3 for the third item W3, and then sets the fourth minimum gap S4 for the fourth item W4. In the placement determination process, the placement determination unit 2 can also set the minimum gap S by height according to the top surface height, which is the position in the vertical direction Z, of the top surface of each item W. For example, in FIG. 12, the placement determination unit 2 can set the minimum gap S by height for multiple items W to be stacked on each first item W1 according to the respective top surface heights of the multiple first items W1 placed directly on the mounting surface of the support P. In addition, for example, in FIG. 12, the placement determination unit 2 can set the minimum gap S by height for the item W to be stacked on the second item W2 according to the top surface height of the second item W2. This allows the placement determination unit 2 to first set the minimum gap S by height, and then select an item W with a shape and dimensions that will ensure the minimum gap S by height between horizontally adjacent items W. The placement determination unit 2 can also set the minimum gap S by height according to a position other than the bottom or top surface of the corresponding item W. In this way, the placement determination unit 2 can appropriately change the setting details of the minimum gap S by height and the details for determining the placement of each item W.

[0039] Other Embodiments (1) In the above embodiment, the support body P is a pallet, and the stowage device 8 stows the goods W, which are carton containers, on the pallet. However, the present invention is not limited to this. The support body P may be, for example, a conveying surface of the second conveying device 62, and the goods W may be containers such as containers. Alternatively, the support body P may be a container such as a container, and the stowage device 8 may stow the goods W inside the support body P. In this case, it is preferable that the goods W are products or the like to be stored in the container.

[0040] (2) In the above embodiment, the arrangement determination unit 2 has been described as arranging a plurality of items W on the support P in the X direction and the Y direction and stacking them in the vertical direction Z, but this is not limiting. The arrangement determination unit 2 may also arrange a plurality of items W on the support P, for example, in either the X direction or the Y direction and stacking them in the vertical direction Z.

[0041] (3) In the above embodiment, the placement determination unit 2 determines the placement of multiple items W based on item information D1 acquired by measurement by the measuring device 9 during the placement determination process, but this is not limited to this. During the placement determination process, the placement determination unit 2 may determine the placement of multiple items W based on size information (master data) stored in advance in the memory unit 5. In this case, the item placement determination system 1 may not be equipped with a measuring device 9. Not providing a measuring device 9 in the conveyance facility 100 can reduce costs.

[0042] (4) In the above embodiment, the ratio of the minimum gap S by height to the distance from the support P in the vertical direction Z is set according to the angle θ of the maximum tilt of the expected article W relative to the vertical, but this is not limited to this. The ratio of the minimum gap S by height to the distance from the support P in the vertical direction Z may be set regardless of the expected tilt of the article W.

[0043] (5) Note that the configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments (including combinations of embodiments described as other embodiments) as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0044] Summary of the above embodiment The above-described item placement determination system will now be summarized.

[0045] An item placement determination system according to the present disclosure is an item placement determination system that determines the placement of multiple items when multiple items are stacked on a support, and includes: a placement determination unit that determines a placement of the plurality of articles on the support; When arranging multiple items on the support so that they are lined up horizontally and stacked vertically, the placement determination unit determines the placement of the multiple items so that the smallest gap between horizontally adjacent items at each vertical height is the minimum gap by height, and the minimum gap by height increases as the items move away from the support.

[0046] According to this configuration, even if an unexpected tilt occurs in some of the multiple stacked items because the actual shape and dimensions of the items to be stacked on the support differ from those indicated in the item information due to deformation of the items, measurement errors, etc., it is easy to increase the possibility that other items can be stacked in a position adjacent to the tilted item. Therefore, it is possible to reduce the possibility of a situation in which, when attempting to place other items in a position adjacent to an item that has an unexpected tilt, the adjacent items interfere with each other, making it impossible to stack any more of the remaining items to be stacked. Furthermore, with this configuration, the minimum clearance by height increases with increasing distance from the support, so the density at which multiple items are arranged can be increased on the side closer to the support. Therefore, it is easier to increase the number of items that can be stacked on the support, for example, compared to when the minimum clearance by height is constant regardless of height. In this way, this configuration makes it easier to increase the likelihood that multiple items can be properly stacked on the support body.

[0047] The system further includes an article information acquisition unit that acquires article information indicating the shape and dimensions of each of the plurality of articles, The plurality of articles include a plurality of types of articles that are different from each other in at least one of shape and size, It is preferable that the placement determination unit determines the placement of the plurality of items based on the item information acquired by the item information acquisition unit.

[0048] According to this configuration, there are multiple types of items that can be stacked on the support, and each type has a different shape and size. Therefore, compared to when there is only one type of item, the items stacked on the support are more likely to tilt. However, by determining the arrangement of the multiple items as described above, it is easier to increase the likelihood that the multiple items can be properly stacked on the support, even in such cases.

[0049] It is also preferable that the ratio of the minimum gap by height to the distance from the support in the vertical direction is set according to the angle of the expected maximum inclination of the article with respect to the vertical.

[0050] This configuration makes it easier to increase the likelihood that multiple items can be properly stacked on the support, even if some of the items stacked vertically on the support are tilted at the maximum expected tilt.

[0051] The item placement determination system according to the present disclosure may have at least one of the above-described effects. [Explanation of symbols]

[0052] 1: Product placement decision system 2: Placement determination section 3: Product information acquisition department D1: Goods information P:Support S: Minimum gap by height Z: Vertical direction θ: angle

Claims

1. An article placement determination system that determines a placement of a plurality of articles when the plurality of articles are stacked on a support, comprising: a placement determination unit that determines a placement of the plurality of articles on the support; The placement determination unit determines the placement of the multiple items so that, when the multiple items are placed on the support so that they are lined up horizontally and stacked vertically, the smallest gap between horizontally adjacent items at each vertical height is set as the minimum gap by height, and the minimum gap by height increases as the items move away from the support.

2. further comprising an article information acquisition unit that acquires article information indicating the shape and dimensions of each of the plurality of articles; The plurality of articles include a plurality of types of articles that are different from each other in at least one of shape and size, The product placement determination system according to claim 1 , wherein the placement determination unit determines a placement of the plurality of products based on the product information acquired by the product information acquisition unit.

3. 3. The item placement determination system according to claim 1, wherein the ratio of the minimum gap by height to the distance from the support in the vertical direction is set according to the angle of the maximum expected inclination of the item with respect to the vertical.

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