Information processing apparatus, information processing method, and information processing program

Abstract

To provide an information processing device, an information processing method, and an information processing program capable of improving stability of arrangement of a plurality of articles on a loading place and improving efficiency of conveyance of the articles.SOLUTION: An information processing device, an information processing method, and an information processing program use a controller connected to an input unit and an output unit. The controller acquires, via the input unit, a loading plan indicating an arrangement of the plurality of articles with respect to the loading point, and generates, based on the loading plan, a corrected loading plan indicating a post-change arrangement obtained by changing the arrangement in a direction in which the stability of the arrangement is improved. The corrected stowage plan is output via the output unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device, an information processing method, and an information processing program. [Background technology]

[0002] Patent Document 1 discloses a technique for calculating the loading direction and loading location of various rectangular parallelepiped cargo so as to minimize cargo space. According to this technique, each cargo is placed in the direction that minimizes its height, and the loading direction and loading location of each cargo are calculated to minimize the cargo space by changing only the horizontal direction of the cargo. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 02-282118 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the technology described in Patent Document 1, assistance is provided for loading luggage so that the gaps between items are minimized or extremely small, and the overall loading space is minimized or extremely small, but there is a problem in that no particular consideration is given to the stability of the overall luggage arrangement.

[0005] The present disclosure has been made in view of the above-mentioned problems, and an object of the present disclosure is to provide an information processing device, an information processing method, and an information processing program that can improve the stability of the arrangement of multiple items on a stowage area and improve the efficiency of transporting the items. [Means for solving the problem]

[0006] The information processing device, information processing method, and information processing program according to the present disclosure use a controller connected to an input unit and an output unit. The controller acquires a stowage plan indicating the arrangement of multiple items relative to stowage locations via the input unit, and generates an amended stowage plan indicating a post-alteration arrangement obtained by changing the arrangement in a direction that improves the stability of the arrangement based on the stowage plan. The controller outputs the amended stowage plan via the output unit.

[0007] The controller may be adapted to alter the position or orientation of at least one item relative to the stowage location to generate the altered configuration.

[0008] The controller may be configured to swap the placement locations of at least two items to generate the changed placement.

[0009] The controller may calculate a stability index based on the total contact area between the articles.

[0010] The controller may calculate a larger index as the sum increases.

[0011] The controller may calculate an index of stability based on the distance between the center of gravity of the items relative to the stacking area and the center of the stacking area along at least one of the width, depth, and height directions of the stacking area.

[0012] The controller may calculate a larger index as the distance decreases.

[0013] The stowage method according to the present disclosure may be a method of stowage of goods at stowage locations in a changed arrangement based on the corrected stowage plan obtained by the information processing device described above.

[0014] The stowage robot according to the present disclosure may stow items at stowage locations in a changed arrangement based on the corrected stowage plan output from the information processing device described above. [Effects of the Invention]

[0015] According to the present disclosure, it is possible to provide an information processing device, an information processing method, and an information processing program that can improve the stability of the arrangement of multiple items at a loading location and improve the efficiency of transporting items. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a block diagram illustrating a configuration of an information processing device according to an embodiment of the present disclosure. [Figure 2] 10 is a flowchart showing a processing procedure of the information processing device. [Figure 3] FIG. 10 is a diagram showing an example of an arrangement of items. [Figure 4A] FIG. 10 is a diagram showing a first arrangement for an example of changing the position of an item. [Figure 4B] FIG. 10 is a diagram showing a second arrangement for an example of changing the position of an item. [Figure 4C] FIG. 10 is a diagram showing a third arrangement for an example of changing the position of an item. [Figure 5A] FIG. 10 is a diagram showing a first arrangement of an example of shuffling of items. [Figure 5B] FIG. 10 is a diagram showing a second arrangement of an example of shuffling of items. [Figure 5C] FIG. 10 is a diagram showing a third arrangement of an example of shuffling of items. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, several exemplary embodiments will be described with reference to the drawings. Note that common parts in the drawings are given the same reference numerals, and duplicated explanations will be omitted.

[0018] [Configuration of information processing device] 1 is a block diagram showing the configuration of an information processing device according to an embodiment of the present disclosure. The information processing device 20 includes an input unit 21, an output unit 23, and a controller 25. The information processing device 20 may also include an operation unit 27. The controller 25 is connected to the input unit 21, the output unit 23, and the operation unit 27 so as to be able to communicate with them.

[0019] In addition, the input unit 21, the output unit 23, and the operation unit 27 may be provided in the information processing device 20 itself, or may be arranged outside the information processing device 20 and connected to the information processing device 20.

[0020] The input unit 21 acquires a stowage plan that indicates the arrangement of a plurality of items at stowage locations.

[0021] Here, an "item" refers to an object that has width, depth, and height and is the target of transportation, etc. For example, an "item" may be a product, material, etc., or may be a cardboard box, container, individual product box, construction material, bag (such as a bag of rice or a bag of cement), or other container that stores the product, material, etc. An "item" may be anything that can be reasonably approximated as a rectangular parallelepiped. An "item" is not limited to the examples given here.

[0022] A "loading area" is an area with a predetermined size where goods can be placed. For example, a "loading area" is a place where goods are placed, such as a pallet, a basket cart, a folding container, a truck, or a construction material storage area. Alternatively, a "loading area" may be a predetermined compartment, room, warehouse, or loading platform of a vehicle, etc., where goods can be placed. A "loading area" may be a rectangular area, or may also be a circular or elliptical area. A "loading area" is not limited to the examples given here.

[0023] A "stowage plan" indicates the placement of multiple items in a stowage area, and the type of items to be placed may be one type or multiple types. More specifically, the multiple items may be made up of items of the same size, or may be made up of items of multiple different sizes.

[0024] The "stowage plan" includes information on the position and orientation of each item when it is placed at the stowage location. The position when it is placed at the stowage location includes the width, depth, and height of the item relative to a reference position fixed at the stowage location. The "stowage plan" may also include information on the weight of each item.

[0025] Additionally, the "loading plan" may include information regarding loading conditions for each item. For example, the "loading plan" may include, as information regarding loading conditions, "No stacking allowed" information that prohibits placing other items on top of an item, and "No sideways stacking allowed" information that prohibits tilting an item. Furthermore, the "loading plan" may include, as information regarding loading conditions, "No upside down" information that prohibits turning an item upside down.

[0026] The output unit 23 outputs the corrected stowage plan generated by the controller 25, which will be described later.

[0027] The stowage method for stowing items at stowage locations based on the revised arrangement included in the revised stowage plan may be performed by a user or a stowage robot. Furthermore, the stowage procedure for stowing items at stowage locations based on the revised stowage plan may be generated by a predetermined algorithm.

[0028] For example, the output unit 23 may be connected to a display device (not shown) and may present a corrected stowage plan to the user of the information processing device 20 via the display device. Based on the presented corrected stowage plan, the user may stow the goods at the stowage locations in accordance with the changed arrangement included in the corrected stowage plan.

[0029] The output unit 23 may also be connected to a stowage robot (not shown) and output an amended stowage plan to the stowage robot. Based on the amended stowage plan, the stowage robot may stow the goods at the stowage locations in accordance with the changed arrangement included in the amended stowage plan.

[0030] Here, a "stowage robot" is a robot that stacks and unloads goods at a stowage location, and is also called a palletizing robot. For example, a "stowage robot" may be used to automate logistics operations. By using a "stowage robot," the heavy labor of human resources can be reduced and limited manpower can be used efficiently by allocating them to other tasks. The use of a "stowage robot" can promote stacking patterns and automation. Furthermore, it can also lead to improved utilization of storage space and improved safety during loading and transport of goods.

[0031] There are various types of "stowage robots," such as an orthogonal type with few supports and suitable for saving space, an articulated type that moves like a human arm, and a mechanical device type with an integrated conveyor. In addition, the "stowage robot" may be a portal robot, a gantry robot, etc. The "stowage robot" that executes the corrected stowage plan output by the output unit 23 is not limited to the examples given here.

[0032] The operation unit 27 is an input device that can be operated by a user of the information processing device 20. For example, the operation unit 27 is a keyboard, a mouse, a trackball, a touch panel, or the like. The operation unit 27 is not limited to the examples given here. The content of the user's operation input via the operation unit 27 is transmitted to the controller 25.

[0033] Additionally, the operation unit 27 may acquire a stowage plan based on a user operation. Also, the operation unit 27 may add, delete, or change information about items included in the stowage plan based on a user operation.

[0034] The controller 25 is a general-purpose computer equipped with a CPU (Central Processing Unit), a memory, and an input / output unit. A computer program (information processing program) for functioning as the information processing device 20 is installed in the controller 25. By executing the computer program, the controller 25 functions as a plurality of information processing circuits (251, 253, 255, 257) equipped in the information processing device 20.

[0035] In this disclosure, an example is shown in which multiple information processing circuits (251, 253, 255, 257) are realized by software. However, it is also possible to configure the information processing circuits (251, 253, 255, 257) by preparing dedicated hardware for executing each of the information processes described below. Also, the multiple information processing circuits (251, 253, 255, 257) may be configured by individual hardware.

[0036] As shown in FIG. 1, the controller 25 includes a stowage plan acquisition unit 251, an index calculation unit 253, a correction unit 255, and an output generation unit 257 as a plurality of information processing circuits (251, 253, 255, 257).

[0037] In addition, in the explanation of the processing of the controller 25, expressions such as "changing the position or orientation" and "changing the placement location" appear, but these only mean "changing the position or orientation" and "changing the placement location" in the simulation space by the controller 25. Therefore, it should be noted that the physical position or orientation of the item is not actually changed, and the placement location of the item is not actually changed.

[0038] The stowage plan acquisition unit 251 acquires, via the input unit 21, a stowage plan that indicates the arrangement of a plurality of items at stowage locations.

[0039] FIG. 3 is a diagram showing an example of the arrangement of goods. FIG. 3 shows goods LA to LE arranged at the stowage point PT as viewed from above the stowage point PT. For example, the stowage plan includes information on the positions and orientations of the goods LA to LE when arranging them at the stowage point PT. FIG. 3 also shows the width direction WD and depth direction DD of the stowage point PT. In addition, FIG. 3 shows the center CP of the stowage point PT. The center CP is located at the center position in the width direction WD of the stowage point PT and the center position in the depth direction DD of the stowage point PT.

[0040] The arrangement of items according to the stowage plan shown in Fig. 3 is merely an example, and the arrangement of items according to the stowage plan acquired by the stowage plan acquisition unit 251 is not limited to the example given here.

[0041] The index calculation unit 253 calculates an index indicating the stability of the arrangement of the items. For example, the stability of the arrangement of the items can be evaluated based on the contact area between the items and the center of gravity of the items. Alternatively, the index calculation unit 253 may perform a stability analysis in which small fluctuations are numerically applied to the arrangement of the items and whether or not the small fluctuations increase, thereby calculating an index indicating stability.

[0042] The index calculation unit 253 may calculate an index indicating stability based on the sum of the contact areas between the articles. The index calculation unit 253 may calculate a larger index as the sum increases. More specifically, this will be described with reference to FIGS. 4A to 4C and 5A to 5C.

[0043] The index calculation unit 253 may also calculate an index indicating stability based on the distance between the center of gravity of the items with respect to the stacking area and the center of the stacking area along at least one of the width direction, depth direction, and height direction of the stacking area. The index calculation unit 253 may also calculate a larger index as the distance decreases.

[0044] Figure 4A is a diagram showing a first arrangement of an example of changing the position of an item, Figure 4B is a diagram showing a second arrangement of an example of changing the position of an item, and Figure 4C is a diagram showing a third arrangement of an example of changing the position of an item.

[0045] Compared to the arrangement shown in Fig. 3, in the arrangement shown in Fig. 4A, the articles LB and LD have moved in the width direction WD. As a result, the contact area between the articles LB and LD and the article LE has increased. For example, if the total contact area in the arrangement shown in Fig. 4A is greater than the total contact area in the arrangement shown in Fig. 3, the index calculation unit 253 calculates an index so that the index in the arrangement shown in Fig. 4A is greater than the index in the arrangement shown in Fig. 3.

[0046] Compared to the arrangement shown in Fig. 4A, the item LC has moved in the arrangement shown in Fig. 4B. As a result, the center of gravity of the item LC is closer to the center CP. Therefore, the index calculation unit 253 calculates the index so that the index related to the arrangement shown in Fig. 4B is larger than the index related to the arrangement shown in Fig. 4A.

[0047] Compared to the arrangement shown in Fig. 4B, in the arrangement shown in Fig. 4C, the article LA has moved in the width direction WD. As a result, the contact area between the article LA and the articles LB and LE has increased. Therefore, the index calculation unit 253 calculates the index so that the index for the arrangement shown in Fig. 4C is larger than the index for the arrangement shown in Fig. 4B.

[0048] Next, Fig. 5A is a diagram showing a first arrangement of an example of swapping the locations of items, Fig. 5B is a diagram showing a second arrangement of an example of swapping the locations of items, and Fig. 5C is a diagram showing a third arrangement of an example of swapping the locations of items.

[0049] Compared to the arrangement shown in Fig. 3, in the arrangement shown in Fig. 5A, the position of item LE and the positions of items LA-LD are swapped in the width direction WD. For example, suppose that the weighted average of the distances between the centers of gravity of items and the center CP in the arrangement shown in Fig. 5A is shorter than the weighted average of the distances between the centers of gravity of items and the center CP in the arrangement shown in Fig. 3. Here, the "weighted average" refers to the average of the distances between the items and the center CP weighted by the weight of the items. The index calculation unit 253 may calculate a larger index as the "weighted average" calculated in this manner becomes smaller.

[0050] In this case, the index calculation unit 253 calculates the index so that the index related to the arrangement shown in FIG. 5A is greater than the index related to the arrangement shown in FIG.

[0051] 5A, in the arrangement shown in FIG. 5B, the positions of items LA to LD are swapped in the width direction WD. For example, item LA is positioned closer to the center CP, and item LB is positioned farther from the center CP. If item LA is heavier than item LB, the "weighted average" described above will be a smaller value.

[0052] In this case, the index calculation unit 253 calculates the index so that the index related to the arrangement shown in FIG. 5B is greater than the index related to the arrangement shown in FIG. 5A.

[0053] Compared to the arrangement shown in Fig. 5B, the item LC has moved in the arrangement shown in Fig. 5C. As a result, the contact area between the item LC and other items has increased. Therefore, the index calculation unit 253 calculates the index so that the index for the arrangement shown in Fig. 5C is larger than the index for the arrangement shown in Fig. 5B.

[0054] The above describes an example of an index that is calculated to be larger as the total sum of contact areas increases. Note that the index calculation unit 253 is not limited to calculating an index that is larger as the total sum of contact areas increases. For example, when the conditions for pinhole stacking of items are met, the index calculation unit 253 may calculate an index other than an index that is calculated to be larger as the total sum of contact areas increases.

[0055] Here, "pinhole stacking" refers to a method of stacking rectangular items by combining the vertical and horizontal directions in the shape of a windmill. "Pinhole stacking" is also called windmill stacking or windmill-shaped stacking. With pinhole stacking, the orientation of the items is reversed for each layer, so it tends to be resistant to lateral swaying and vibration. With pinhole stacking, gaps can occur near the center of the stacking area, so the stability of the item arrangement cannot always be evaluated by the size of the total contact area.

[0056] For example, the index calculation unit 253 may determine whether one of the width and depth of the item is an integer multiple of the other. If it is determined that the width and depth are an integer multiple, the index calculation unit 253 may determine that the items can be stacked using pinhole stacking. If it is determined that the items can be stacked using pinhole stacking, the index calculation unit 253 may calculate a separate index for pinhole stacking.

[0057] The correction unit 255 generates a corrected stowage plan based on the stowage plan acquired by the stowage plan acquisition unit 251, which indicates a post-change arrangement obtained by changing the arrangement in a direction that improves the stability of the arrangement of the items.

[0058] For example, the correction unit 255 may select an item whose position or orientation can be changed or at least two items whose placement locations can be swapped in the placement of items specified by the stowage plan, and then may change the position or orientation or swap the placement locations of the selected items to generate a post-change placement.

[0059] Additionally, the correction unit 255 may generate a modified arrangement by changing the position or orientation of the selected items, or by swapping the placement locations, within a range that satisfies the loading conditions for each item.

[0060] The processing of the correction unit 255 will be described in more detail using the previously described Fig. 3, Fig. 4A to 4C, and Fig. 5A to 5C. For example, the correction unit 255 selects items LB and LD whose positions can be changed in the arrangement shown in Fig. 3. Then, the positions of the selected items LB and LD may be changed to generate the arrangement shown in Fig. 4A as a changed arrangement.

[0061] The correction unit 255 selects an item LC whose position can be changed in the arrangement shown in Fig. 4A, and may change the position of the selected item LC to generate the arrangement shown in Fig. 4B as a changed arrangement.

[0062] The correction unit 255 selects an item LA whose position can be changed in the arrangement shown in Fig. 4B, and may change the position of the selected item LA to generate the arrangement shown in Fig. 4C as a changed arrangement.

[0063] Furthermore, the correction unit 255 selects the items LA to LE whose placement locations can be swapped in the placement shown in Fig. 3. Then, the placement locations of the selected items LA to LE are swapped, and the placement shown in Fig. 5A may be generated as a changed placement.

[0064] The correction unit 255 selects the items LA to LD whose placement locations can be swapped in the placement shown in Fig. 5A, and may then swap the placement locations of the selected items LA to LD to generate the placement shown in Fig. 5B as a changed placement.

[0065] The correction unit 255 selects items LC whose placement locations can be swapped in the placement shown in Fig. 5B. Then, the placement locations of the selected items LC may be swapped to generate the placement shown in Fig. 5C as a changed placement. However, the change from the placement shown in Fig. 5B to the placement shown in Fig. 5C may be treated as a change in the position of the items LC, or as a swap of the placement locations of the items LC.

[0066] The correction unit 255 then compares the indicators relating to the allocation before the change with the indicators relating to the allocation after the change, and if the indicators have increased, generates a corrected stowage plan indicating the allocation after the change.

[0067] If the termination condition is not satisfied, the correction unit 255 may update the stowage plan with the corrected stowage plan. Here, "the termination condition is satisfied" may be any of various conditions. For example, it may be a case where a further change to the post-change allocation is not possible, a case where the number of times post-change allocations have been generated exceeds a predetermined number, or a case where processing by the information processing device 20 exceeds a predetermined time.

[0068] The correction unit 255 may then generate a corrected stowage plan that indicates a changed arrangement obtained by changing the arrangement in a direction that improves the stability of the item arrangement, based on the updated stowage plan.

[0069] The output generation unit 257 outputs the corrected stowage plan via the output unit 23. The output corrected stowage plan may be presented to a user via a display device (not shown). The output corrected stowage plan may also be transmitted to a stowage robot and processed by the stowage robot.

[0070] [Processing procedure of information processing device] FIG. 2 is a flowchart showing the processing procedure of the information processing device.

[0071] In step S101, the stowage plan acquisition unit 251 acquires a stowage plan indicating the arrangement of a plurality of items at stowage locations.

[0072] In step S103, the index calculation unit 253 calculates an index indicating the stability of the arrangement of the items.

[0073] In step S105, the correction unit 255 selects items to be changed. More specifically, the correction unit 255 selects items whose positions or orientations can be changed, or at least two items whose placement locations can be swapped, in the arrangement of items specified by the stowage plan.

[0074] In step S107, the correction unit 255 generates a post-change arrangement.

[0075] In step S109, the index calculation unit 253 calculates an index related to the post-change arrangement.

[0076] In step S111, the correction unit 255 determines whether or not the indexes relating to the post-change arrangement have increased compared to the indexes relating to the pre-change arrangement.

[0077] If the index relating to the post-change placement has not increased (NO in step S111), the process returns to step S 105. Then, the correction unit 255 selects an item to be changed from among the unselected items.

[0078] If the index related to the changed allocation has increased (YES in step S111), in step S113, the corrector 255 generates a corrected stowage plan indicating the changed allocation.

[0079] In step S115, the correction unit 255 determines whether or not the termination condition is satisfied.

[0080] If the termination condition is not satisfied (NO in step S115), the corrector 255 updates the stowage plan with the corrected stowage plan in step S117, and then returns to step S105.

[0081] If the termination condition is met (YES in step S115), the output generation unit 257 outputs the corrected stowage plan in step S119, and then terminates the processing shown in FIG.

[0082] [Effects of the embodiment] As described above in detail, the information processing device, information processing method, and information processing program according to the present disclosure use a controller connected to an input unit and an output unit. The controller acquires a stowage plan indicating the arrangement of multiple items relative to stowage locations via the input unit, and generates an amended stowage plan indicating a post-alteration arrangement obtained by changing the arrangement in a direction that improves the stability of the arrangement based on the stowage plan. The controller outputs the amended stowage plan via the output unit.

[0083] This improves the stability of the arrangement of multiple items on the stowage area, and improves the efficiency of transporting items. For example, it reduces the possibility of items collapsing during transport. In addition, it improves the efficiency of loading items onto the stowage area.

[0084] The controller may generate a changed arrangement by changing the position or orientation of at least one item relative to the stowage area. This can improve the stability of the arrangement of multiple items on the stowage area and improve the efficiency of transporting the items. In particular, the stability of the arrangement of items can be improved based on changes in the position or orientation of the items, which do not require a large calculation load.

[0085] The controller may generate the changed arrangement by swapping the placement locations of at least two items. This can improve the stability of the placement of multiple items at the stowage location and improve the efficiency of transporting items. Since the controller focuses on items whose placement locations can be swapped among all items included in the stowage plan, it can also reduce the calculation load required to generate the changed arrangement.

[0086] The controller may calculate a stability index based on the sum of contact areas between the items. This reduces gaps between the items on the loading area and improves space utilization during loading. As a result, the efficiency of loading items onto the loading area is improved.

[0087] The controller may calculate a larger index for larger sums, thereby improving efficiency when stowing items at stowage locations.

[0088] The controller may calculate a stability index based on the distance between the center of gravity of the items relative to the stacking area and the center of the stacking area along at least one of the width, depth, and height directions of the stacking area. This can improve the stability of the arrangement of multiple items on the stacking area and improve the efficiency of transporting the items. For example, it can reduce the possibility of items collapsing during transport.

[0089] The controller may calculate a larger index as the distance decreases, thereby improving the stability of the arrangement of the plurality of items on the stowage area.

[0090] The stowage method according to the present disclosure may stow items at a stowage location in a modified arrangement based on the corrected stowage plan obtained by the information processing device. This can improve the stability of the arrangement of multiple items at the stowage location and improve the efficiency of transporting the items. For example, it can reduce the possibility of items collapsing during transport. In addition, the efficiency of stowage of items at a stowage location can be improved.

[0091] The stowage robot according to the present disclosure may stow items in a stowage location in a revised arrangement based on the revised stowage plan output from the information processing device. This allows the automation of the work of stacking and unloading items in the stowage location. By using the "stowage robot," the heavy labor of personnel can be reduced and the limited manpower can be efficiently utilized by allocating them to other tasks. Furthermore, it is possible to improve the utilization efficiency of storage space and improve safety during the loading and transport of items.

[0092] Each function described in the above embodiments may be implemented by one or more processing circuits, including programmed processors, electrical circuits, and even devices such as application specific integrated circuits (ASICs), or circuit components arranged to perform the described functions.

[0093] According to the present disclosure, it is possible to improve the stability of the arrangement of multiple items at the loading area, thereby improving the efficiency of transporting items. As a result, the labor productivity of users involved in the transport is improved. Therefore, it is possible to contribute to, for example, Goal 8 of the Sustainable Development Goals (SDGs) led by the United Nations, "Promote inclusive and sustainable economic growth, full and productive employment and decent work for all."

[0094] Although several embodiments have been described, the embodiments can be modified or varied based on the above disclosure. All components of the above embodiments and all features described in the claims may be individually extracted and combined, unless they contradict each other. [Explanation of symbols]

[0095] 20 Information processing equipment 21 Input section 23 Output section 25 Controller 27 Control section 251 Loading Plan Acquisition Department 253 Indicator calculation section 255 Correction Unit 257 Output Generation Unit CP Center CP DD Depth direction DD LA~LE Goods PT Loading point PT WD Width direction WD

Claims

1. An information processing device comprising an input unit, an output unit, and a controller, The controller acquiring, via the input unit, a stowage plan indicating the arrangement of a plurality of items relative to a stowage location; generating a corrected stowage plan based on the stowage plan, which indicates a post-change arrangement obtained by changing the arrangement in a direction that improves the stability of the arrangement; outputting the corrected stowage plan via the output unit; Information processing device.

2. The information processing device according to claim 1 , wherein the controller generates the changed arrangement by changing a position or an orientation of at least one of the items relative to the stowage location.

3. The information processing apparatus according to claim 1 , wherein the controller generates the changed arrangement by swapping the arrangement locations of at least two of the items.

4. The information processing apparatus according to claim 1 , wherein the controller calculates the index indicating the stability based on a sum of contact areas between the articles.

5. The information processing device according to claim 4 , wherein the controller calculates the index to be larger as the sum is larger.

6. 2. The information processing device according to claim 1, wherein the controller calculates the index indicating stability based on a distance between a center of gravity of the items relative to the stacking area and a center of the stacking area along at least one direction of the width direction, depth direction, and height direction of the stacking area.

7. The information processing device according to claim 6 , wherein the controller calculates the index to be larger as the distance becomes smaller.

8. A stowage method comprising: stowing the goods at the stowage locations in the changed arrangement based on the corrected stowage plan obtained by the information processing device according to any one of claims 1 to 7.

9. A stowage robot that stows the items at the stowage locations in the changed arrangement based on the corrected stowage plan output from the information processing device according to any one of claims 1 to 7.

10. An information processing method for controlling a controller connected to an input unit and an output unit, The controller acquiring, via the input unit, a stowage plan indicating the arrangement of a plurality of items relative to a stowage location; generating a corrected stowage plan based on the stowage plan, which indicates a post-change arrangement obtained by changing the arrangement in a direction that improves the stability of the arrangement; outputting the corrected stowage plan via the output unit; Information processing methods.

11. An information processing program to be executed in a controller connected to an input unit and an output unit, The controller acquiring, via the input unit, a stowage plan indicating an arrangement of a plurality of items relative to a stowage location; generating a corrected stowage plan based on the stowage plan, which indicates a post-change configuration obtained by changing the configuration in a direction that improves the stability of the configuration; outputting the corrected stowage plan via the output unit; An information processing program including:

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