LOADING DEVICE, CONTROL DEVICE, CONTROL METHOD, PROGRAM, AND STORAGE MEDIUM

Abstract

To provide cargo handling device, a control device, a control method, a program, and a storage medium capable of improving conveyance efficiency.SOLUTION: A cargo handling device according to an embodiment includes a holding part, an imaging part, a distance measuring sensor, and a control part. The holding part holds an article. The imaging part images the article in a first direction. The distance measuring sensor measures a distance to the article in a second direction that intersects with the first direction. The control part controls the holding part. The control part selects the first article to be held based on an imaging result of the imaging part. The control part further calculates, based on a measurement result by the distance measuring sensor, a position of a first surface of the first article intersecting the first direction and a position of a second surface of the first article intersecting the second direction. The control part further operates the holding part according to the calculated positions of the first surface and the second surface to hold the first article.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a loading device, a control device, a control method, a program, and a storage medium. [Background technology]

[0002] There is a loading device that holds and transports objects. There is a demand for improving the transport efficiency of the loading device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-217570 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide a loading / unloading device, a control device, a control method, a program, and a storage medium that are capable of improving transport efficiency. [Means for solving the problem]

[0005] The loading and unloading device according to the embodiment includes a holding unit, an imaging unit, a distance measuring sensor, and a control unit. The holding unit holds an item. The imaging unit captures an image of the item in a first direction. The distance measuring sensor measures a distance to the item in a second direction intersecting the first direction. The control unit controls the holding unit. The control unit selects a first item to be held based on an imaging result by the imaging unit. The control unit further calculates a position of a first surface of the first item intersecting the first direction and a position of a second surface of the first item intersecting the second direction based on a measurement result by the distance measuring sensor. The control unit further operates the holding unit according to the calculated positions of the first surface and the second surface to hold the first item. [Brief description of the drawings]

[0006] [Figure 1] 1 is a schematic diagram showing a general configuration of a loading and unloading device according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a perspective view illustrating a specific configuration of the loading / unloading device according to the embodiment. [Diagram 3] FIG. 2 is a side view showing a part of the cargo handling apparatus according to the first embodiment. [Figure 4] FIG. 2 is a perspective view showing a part of the loading / unloading apparatus according to the embodiment. [Diagram 5] FIG. 2 is a side view showing a part of the cargo handling apparatus according to the first embodiment. [Figure 6] FIG. 4 is a schematic diagram showing a first operation of the cargo handling apparatus according to the first embodiment. [Figure 7] FIG. 4 is a schematic diagram showing a first operation of the cargo handling apparatus according to the first embodiment. [Figure 8] FIG. 4 is a schematic diagram showing a first operation of the cargo handling apparatus according to the first embodiment. [Figure 9] FIG. 6 is a schematic diagram showing a second operation of the cargo handling apparatus according to the first embodiment. [Figure 10] FIG. 6 is a schematic diagram showing a second operation of the cargo handling apparatus according to the first embodiment. [Figure 11] FIG. 6 is a schematic diagram showing a second operation of the cargo handling apparatus according to the first embodiment. [Figure 12] 4 is a flowchart showing a first operation of the cargo handling apparatus according to the embodiment. [Figure 13] 6 is a flowchart showing a second operation of the cargo handling apparatus according to the embodiment. [Figure 14] 11 is a graph showing the relationship between time and the amount of movement of the holding unit and the distance measuring sensor. [Figure 15] FIG. 11 is a control sequence diagram for calculating the height of an article. [Figure 16] 1A is a schematic diagram showing a distance measuring sensor, and FIG. 1B is a schematic plan view showing the vicinity of the distance measuring sensor in the cargo handling apparatus according to the embodiment. [Figure 17] FIG. 2 is a schematic diagram showing a hardware configuration. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the size ratio between parts, etc. are not necessarily the same as those in reality. Even when the same part is shown, the dimensions and ratios of each part may be different depending on the drawing. In this specification and each drawing, elements similar to those already explained are given the same reference numerals and detailed explanations are omitted as appropriate.

[0008] FIG. 1 is a schematic diagram showing a schematic configuration of a loading and unloading apparatus according to an embodiment. A cargo handling apparatus 1 according to the embodiment includes a holding unit 10, an imaging unit 13, a distance measuring sensor 15, and a control unit 60, as shown in FIG.

[0009] The holder 10 holds (stably grips) an object. The holding method is, for example, suction. The holder 10 may hold the object by clamping or jamming.

[0010] The imaging unit 13 captures an image of an object in a first direction and acquires an image. The imaging unit 13 includes at least one selected from an image sensor and a distance image sensor.

[0011] The distance measuring sensor 15 measures the distance to the object in a second direction intersecting with the first direction. The distance measuring sensor 15 emits infrared rays, laser light, or ultrasonic waves toward the object. From the viewpoint of distance measurement accuracy, the distance measuring sensor 15 is preferably a laser range finder (LRF) using laser light.

[0012] The control unit 60 controls the holding unit 10, the imaging unit 13, and the distance measuring sensor 15. The control unit 60 recognizes an article based on an image acquired by the imaging unit 13. The control unit 60 selects an article to be held from the recognized articles. The article has a first surface intersecting with a first direction and a second surface intersecting with a second direction. The control unit 60 calculates the position of the first surface and the position of the second surface of the article based on the measurement result by the distance measuring sensor 15. The control unit 60 operates the holding unit 10 according to the calculated positions of the first surface and the second surface, and holds the article with the holding unit 10. For example, the holding unit 10 holds the first surface of the article. The holding unit 10 may further hold the second surface in addition to the first surface.

[0013] FIG. 2 is a perspective view illustrating a specific configuration of the loading and unloading apparatus according to the embodiment. The loading / unloading apparatus 1 includes a holding unit 10, an imaging unit 13, a distance measuring sensor 15, drive units 21x, 21y, 22x, 22y, and 23z, base plates 30a and 30b, a frame 31, a lift 40, and a control unit 60, as shown in FIG.

[0014] In the example of FIG. 2, the holding unit 10 holds an article by suction. The holding unit 10 includes a first holding unit 11 and a second holding unit 12. The first holding unit 11 is capable of holding a first surface of the article. The second holding unit 12 is capable of holding a second surface of the article. By using both the first holding unit 11 and the second holding unit 12, the article can be held more stably. Alternatively, by using only the first holding unit 11, even if there is another article in front of the article to be held, only the target article can be selectively held.

[0015] For the sake of explanation, the X direction (front-back direction), the Y direction (left-right direction), and the Z direction (up-down direction) are used. The Z direction is parallel to the first direction. The X direction is parallel to the second direction. The Y direction intersects with a plane parallel to the X and Z directions. For example, the X and Y directions are parallel to the horizontal plane. The Z direction is parallel to the vertical direction. The X, Y, and Z directions are perpendicular to each other.

[0016] FIG. 3 is a side view showing a part of the cargo handling apparatus according to the first embodiment. As shown in Fig. 3, the first holding part 11 includes a housing 11a and a suction unit 11b attached to the housing 11a. The housing 11a includes piping, valves, etc. necessary for vacuum suction. The suction unit 11b includes a rod 11c and a suction pad 11d. The rod 11c extends in the Z direction. The suction pad 11d is provided at the tip of the rod 11c and includes a negative pressure sensor (not shown). The suction surface at the tip of the suction pad 11d faces downward.

[0017] Similar to the first holding unit 11, the second holding unit 12 includes a housing 12a and a suction unit 12b attached to the housing 12a. The housing 12a includes piping, valves, etc. required for vacuum suction. The suction unit 12b includes a rod 12c and a suction pad 12d. When the second holding unit 12 holds an article, the rod 12c extends in the X direction. The suction pad 12d is provided at the tip of the rod 12c and includes a negative pressure sensor (not shown). When the second holding unit 12 holds an article, the suction surface at the tip of the suction pad 12d faces forward.

[0018] The internal spaces of the suction units 11b and 12b are provided with pipes and valves provided inside the housings 11a and 12a. Intermediate Then, the adsorption unit 11 and the adsorption unit 12 are connected to an exhaust system (not shown) such as an exhaust device provided outside the first holding part 11 and the second holding part 12. The internal space of the adsorption unit 11b can be exhausted independently of the internal space of the adsorption unit 12b.

[0019] A plurality of suction units 11b and 12b may be provided. In the example of Fig. 2 and Fig. 3, the first holding section 11 includes a plurality of suction units 11b arranged in two directions perpendicular to each other. The second holding section 12 includes a plurality of suction units 12b arranged in one direction.

[0020] FIG. 4 is a perspective view showing a part of the loading / unloading apparatus according to the embodiment. The driving unit 21x moves the first holding unit 11 in the X direction. The driving unit 21y moves the first holding unit 11 in the Y direction.

[0021] For example, as shown in FIG. 4, the driving unit 21x includes an actuator 21a, a pulley 21b, a belt 21c, a bar 21d, and a guide 21e. In this example, the actuator 21a is a motor. The rotation axis of the actuator 21a is parallel to the Y direction. The rotation axis of the actuator 21a is connected to the pulley 21b. Another pulley 21b is provided at a position separated from the pulley 21b in the X direction. The belt 21c is hung on the pair of pulleys 21b. The bar 21d is fixed to the belt 21c. The bar 21d is fitted with a guide 21e extending along the X direction. When the pulley 21b is rotated around the Y direction by the actuator 21a, the belt 21c moves between the pair of pulleys 21b in the X direction. The bar 21d fixed to the belt 21c moves in the X direction along the guide 21e.

[0022] The rod 21f extends along the Y direction and is fixed to the bar 21d. In this example, a pair of rods 21f are provided spaced apart from each other in the X direction. The first holding portion 11 is connected to each of the rods 21f. The rods 21f and the first holding portion 11 move in the X direction in response to the movement of the bar 21d.

[0023] The driving unit 21y moves in the X direction together with the bar 21d. The driving unit 21y includes an actuator 21h, a pulley 21i, and a belt 21j. The actuator 21h is a motor. The rotation shaft of the actuator 21h is connected to the pulley 21i. Another pulley 21i is provided at a position separated from the pulley 21i in the Y direction. The belt 21j is looped around the pair of pulleys 21i.

[0024] The first holding part 11 is connected to the rod 21f so as to be slidable in the Y direction. The first holding part 11 is fixed to the belt 21j. When the pulley 21i is rotated by the actuator 21h, the belt 21j moves in the Y direction between the pair of pulleys 21i. The first holding part 11 fixed to the belt 21j moves in the Y direction.

[0025] The driving unit 22x moves the second holding unit 12 in the X direction. The driving unit 22y moves the second holding unit 12 in the Y direction.

[0026] For example, as shown in FIG. 4, the driving unit 22x includes an actuator 22a, a pulley 22b, a belt 22c, a bar 22d, and a guide 22e. In this example, the actuator 22a is a motor. The rotation axis of the actuator 22a is parallel to the Y direction. The rotation axis of the actuator 22a is connected to the pulley 22b. Another pulley 22b is provided at a position separated from the pulley 22b in the X direction. The belt 22c is hung on the pair of pulleys 22b. The bar 22d is fixed to the belt 22c. The bar 22d is engaged with a guide 22e extending along the X direction. When the pulley 22b is rotated around the Y direction by the actuator 22a, the belt 22c moves between the pair of pulleys 22b in the X direction. The bar 22d fixed to the belt 22c moves in the X direction along the guide 22e.

[0027] Bar 22m is connected to bar 22d via link 22k. Rod 22f extends along the Y direction and is fixed to bar 22m. In this example, a pair of rods 22f spaced apart from each other in the X direction are fixed to bar 22m. A pair of links 22k spaced apart from each other in the X direction are each connected to bar 22m. In response to movement of bar 21d, link 22k, bar 22m, rod 22f, and second holding portion 12 move in the X direction.

[0028] The driving unit 22y moves in the X direction together with the bar 22d. The driving unit 22y includes an actuator 22h, a pulley 22i, and a belt 22j. The actuator 22h is a motor. The rotation shaft of the actuator 22h is connected to the pulley 22i. Another pulley 22i is provided at a position separated from the pulley 22i in the Y direction. The belt 22j is hung on the pair of pulleys 22i. The rotation shaft of the actuator 22h is parallel to the X direction and connected to one of the pulleys 22i.

[0029] The second holding part 12 is connected to the rod 22f so as to be movable in the Y direction. The second holding part 12 is fixed to the belt 22j. When the pulley 22i is rotated by the actuator 22h, the belt 22j moves in the Y direction between the pair of pulleys 22i. The second holding part 12 fixed to the belt 22j moves in the Y direction.

[0030] The base plates 30a and 30b are provided as supports for supporting the first holding unit 11 and the second holding unit 12. As shown in Fig. 2, the base plates 30a and 30b are plate-shaped members extending along the XZ plane and are separated from each other in the Y direction. The base plates 30a and 30b support the first holding unit 11 via the pulley 21b, the belt 21c, the bar 21d, and the rod 21f. The base plates 30a and 30b also support the second holding unit 12 via the pulley 22b, the belt 22c, the bar 22d, the link 22k, the bar 22m, and the rod 22f.

[0031] Pulley 21b, belt 21c, bar 21d, guide 21e, pulley 22b, belt 22c, bar 22d, guide 22e, link 22k, and bar 22m are attached to base plates 30a and 30b, respectively, and are located between base plates 30a and 30b when viewed from the Z direction. Rod 21f is fixed to bar 21d facing each other in the Y direction. Rod 22f is fixed to bar 22d facing each other in the Y direction. Actuators 21a and 22a are attached to base plate 30a. Actuators 21a and 22a may be attached to base plate 30b or to both base plates 30a and 30b.

[0032] The front pulley 21b of the base plate 30a and the front pulley 21b of the base plate 30b are connected to each other by a rod 30c extending in the Y direction. The driving force of the actuator 21a attached to the base plate 30a is transmitted to the pulley 21b of the base plate 30b by the rod 30c. The pair of pulleys 21b of the base plate 30b rotate in synchronization with the pair of pulleys 21b of the base plate 30a. As a result, the bar 21d of the base plate 30b moves in the X direction in synchronization with the bar 21d of the base plate 30a.

[0033] The front pulley 22b of the base plate 30a and the front pulley 22b of the base plate 30b are connected to each other by a rod 30d extending in the Y direction. The driving force of the actuator 22a attached to the base plate 30a is transmitted to the pulley 22b of the base plate 30b by the rod 30d. The pair of pulleys 22b of the base plate 30b rotate in synchronization with the pair of pulleys 22b of the base plate 30a. As a result, the bar 22m of the base plate 30b moves in the X direction in synchronization with the bar 22m of the base plate 30a.

[0034] By bridging the rods 21f, 22f, 30c, and 30d across the base plates 30a and 30b, it is possible to more stably support the first holding part 11 and the second holding part 12. For example, it is possible to more stabilize the positions of the first holding part 11 and the second holding part 12 in the Z direction.

[0035] 2, a plurality of driving units 23z are provided in the Y direction. The pair of driving units 23z move the base plates 30a and 30b in the Z direction. The first holding unit 11 and the second holding unit 12 move in the Z direction due to the operation of the driving units 23z.

[0036] For example, each driving unit 23z includes an actuator 23a, a pair of pulleys 23b, a belt 23c, a block 23d, and a guide 23e. The actuator 23a is a motor. The rotation shaft of the actuator 23a is parallel to the Y direction. The rotation shaft of the actuator 23a is connected to one of the pulleys 23b. The pair of pulleys 23b are separated from each other in the Z direction. The belt 23c is hung on the pair of pulleys 23b.

[0037] A block 23d is fixed to each of the side surfaces of the base plates 30a and 30b. The block 23d is fixed to the belt 23c. Each of the base plates 30a and 30b is fitted into a guide 23e. When the actuator 23a rotates, the pulley 23b rotates in the Y direction, and the belt 23c moves between the pair of pulleys 23b in the Z direction. As a result, the base plates 30a and 30b fixed to the belt 23c move in the Z direction.

[0038] The drive unit 23z is attached to the frame 31. The first holding unit 11 and the second holding unit 12 are movable relative to the frame 31 in the X direction, Y direction, and Z direction by the drive units 21x, 21y, 22x, 22y, and 23z.

[0039] The distance measuring sensor 15 is attached to the frame 31 via a driving unit 15z. The driving unit 15z includes an actuator 15a and a guide 15b. The guide 15b extends along the Z direction. The actuator 15a moves the distance measuring sensor 15 in the Z direction along the guide 15b. The distance measuring sensor 15 measures the distance to an article located diagonally forward.

[0040] The imaging unit 13 is located above the pallet P, and is fixed to the frame 31 via a fixture (not shown). The imaging unit 13 captures an image of the items loaded on the pallet P, and acquires the image.

[0041] For example, the frame 31 includes vertical frames 31a to 31d and horizontal frames 31e to 31k. The vertical frames 31a and 31b are separated in the X direction. The vertical frames 31c and 31d are separated in the X direction. The vertical frames 31a and 31b face the vertical frames 31c and 31d in the Y direction. The horizontal frames 31e and 31f connect the lower ends and upper ends of the vertical frames 31a and 31b. The horizontal frames 31g and 31h connect the lower ends and upper ends of the vertical frames 31c and 31d. The horizontal frames 31i and 31j connect the lower ends and upper ends of the vertical frames 31b and 31d. The horizontal frame 31k connects the upper ends of the vertical frames 31a and 31c. The guide 15b is attached to the vertical frame 31a. The guide 23e is attached to each of the vertical frames 31a and 31c.

[0042] The lift 40 is provided inside the frame 31. That is, when viewed from the Z direction, the lift 40 is located within a rectangular area surrounded by the vertical frames 31a to 31d. The upper surface of the lift 40 is parallel to the X direction and the Y direction. The lift 40 moves in the Z direction by a driving unit (not shown).

[0043] As shown in Fig. 2, the lift 40 includes a pair of rollers 40a and a belt 40b. The pair of rollers 40a are spaced apart from each other in the X direction. The belt 40b is hung on the pair of rollers 40a. The rotation axis of the rollers 40a is parallel to the Y direction. When the rollers 40a are rotated by a motor (not shown), the belt 40b moves between the pair of rollers 40a in the X direction.

[0044] A conveyor C is provided on the outside of the frame 31. The drive unit of the lift 40 sets the lift 40 to a state where the lift 40 is at the same height as the conveyor C, a state where the lift 40 is at a lower position than the conveyor C, or a state where the lift 40 is at a higher position than the conveyor C.

[0045] When a pallet P loaded with articles is placed in front of the loading device 1, the loading device 1 sequentially transports the articles to the lift 40. The lift 40 is set to the same height as the conveyor C. After that, the articles placed on the lift 40 are transported onto the conveyor C.

[0046] The control unit 60 is connected to and controls each drive unit, exhaust device, imaging unit 13, and distance measurement sensor 15 of the loading / unloading apparatus 1. The control unit 60 also processes data required for holding and transporting the article A. The control unit 60 includes a processing circuit including a central processing unit, a memory in which a program is stored, and the like.

[0047] 5(a) and 5(b) are side views showing a part of the cargo handling apparatus according to the first embodiment. The control unit 60 can switch the position of the second holding unit 12 between the holding position and the retracted position. When the second holding unit 12 holds an item, the position of the second holding unit 12 is set to the holding position. When the second holding unit 12 does not hold an item, the position of the second holding unit 12 is set to the retracted position.

[0048] FIG. 5(a) shows the state when the second holding unit 12 is in the holding position. FIG. 5(b) shows the state when the second holding unit 12 is in the retracted position. For example, the position of the second holding unit 12 is switched between the holding position and the retracted position by the driving unit 22x moving the second holding unit 12 in the X direction. The distance between the first holding unit 11 and the second holding unit 12 when the second holding unit 12 is in the retracted position shown in FIG. 5(b) is longer than the distance between the first holding unit 11 and the second holding unit 12 when the second holding unit 12 is in the holding position shown in FIG. 5(a).

[0049] The loading and unloading apparatus 1 performs a first operation when transporting items in a first array. In the first operation, the position of the second holding section 12 is set to the retracted position. The loading and unloading apparatus 1 performs a second operation when transporting items in a second array. In the second operation, the position of the second holding section 12 is set to the holding position. In the first array, items of different sizes are lined up in the X direction and the Y direction and loaded in the Z direction. In the second array, items of approximately the same size are lined up in the X direction and the Y direction and loaded in the Z direction.

[0050] The data indicating the arrangement of the articles A on the pallet P may be input by a user or may be transmitted to the control unit 60 by a communication means. For example, the control unit 60 receives the data indicating the arrangement. The control unit 60 switches the position of the second holding unit 12 based on the received data.

[0051] Figures 6(a), 6(b), 7(a), 7(b), 8(a), and 8(b) are schematic diagrams showing a first operation of the loading apparatus according to the first embodiment. Figures 9(a), 9(b), 10(a), 10(b), 11(a), and 11(b) are schematic diagrams showing a second operation of the loading apparatus according to the first embodiment.

[0052] When transporting the first array of articles, the loading and unloading device 1 transports the articles in order starting from the article with the highest upper surface. To transport the first array of articles, it is not necessary to use the second holding unit 12. For this reason, the second holding unit 12 is omitted in Figs. 6(a) to 8(b).

[0053] First, the imaging unit 13 captures an image of multiple objects A on a pallet P from above. The control unit 60 selects the object A (first object) whose top surface is located at the highest position from the captured image as the object to be held. The control unit 60 also calculates the position of the top surface of the selected object A from the captured image. As shown in FIG. 6(a), the distance measuring sensor 15 measures the distance (first distance) to the selected object A. The control unit 60 calculates the position of the top surface US and the side surface SS of the object A based on the measurement result. The side surface SS is a surface facing either the X direction or the Y direction. The side surface SS may be oriented obliquely with respect to the X direction and the Y direction.

[0054] For example, the driving unit 15z positions the distance measuring sensor 15 slightly above the position of the upper surface US calculated from the imaging result. While the distance measuring sensor 15 repeats distance measurement, the driving unit 15z lowers the distance measuring sensor 15. The measured distance changes at the position of the upper surface US. Specifically, the measured distance is relatively long above the upper surface US. The measured distance is relatively short at the same height as the upper surface US and below the upper surface US. The control unit 60 acquires the position where the measured distance changes significantly as the position of the upper surface US. The control unit 60 also calculates the position of the side surface SS based on the position of the distance measuring sensor 15 on the XY plane and the measured distance.

[0055] The control unit 60 determines the position of the first holding unit 11 in the XY plane based on the calculated position of the side surface SS, and moves the first holding unit 11 to that position. The control unit 60 lowers the first holding unit 11 to the calculated position of the upper surface US. For example, the control unit 60 lowers the first holding unit 11 at a first speed at a position away from the upper surface US. The control unit 60 lowers the first holding unit 11 at a second speed at a position closer to the upper surface US. The second speed is slower than the first speed.

[0056] As shown in Fig. 6(b), the control unit 60 presses the first holding unit 11 against the top surface of the article A. The control unit 60 operates the exhaust system to make the pressure inside the suction unit 11b lower than atmospheric pressure. This causes the first holding unit 11 to hold the top surface of the article A. At this time, the distance measuring sensor 15 waits at a position higher than the held article A.

[0057] As shown in Fig. 7(a), the control unit 60 raises the first holding unit 11. While the first holding unit 11 is rising, the distance measuring sensor 15 descends while repeatedly measuring distance. For example, the distance measuring sensor 15 descends while repeatedly measuring distance until the bottom surface LS of the held item A is detected. The control unit 60 calculates the height of the item A (dimension in the Z direction) from the amount of rise of the first holding unit 11 and the amount of descent of the distance measuring sensor 15 from when the top surface US is detected until the bottom surface LS is detected.

[0058] The control unit 60 moves the first holding unit 11 above the lift 40. As shown in FIG. 7(b), the control unit 60 lowers the first holding unit 11 toward the lift 40. The amount of descent of the first holding unit 11 is calculated based on the position of the lift 40, the calculated height of the article A, and the amount of rise of the first holding unit 11 after holding. For example, the control unit 60 lowers the first holding unit 11 at a third speed at a position away from the lift 40. The control unit 60 lowers the first holding unit 11 at a fourth speed at a position closer to the lift 40. The fourth speed is slower than the third speed.

[0059] The control unit 60 increases the pressure inside the suction unit 11b to weaken the suction force of the first holding unit 11. For example, the control unit 60 opens the inside of the suction unit 11b to the atmosphere. This causes the first holding unit 11 to release the suction of the item A. The item A is placed on the lift 40. As shown in FIG. 8(a), the control unit 60 raises the first holding unit 11 to move the first holding unit 11 away from the item A.

[0060] Thereafter, the article A is dispensed by the lift 40 and the conveyor C. Specifically, the control unit 60 positions the upper surface of the lift 40 at the same height as the upper surface of the conveyor C. As shown in FIG. 8(b), the control unit 60 operates the lift 40 to transport the article A onto the conveyor C. The conveyor C transports the article A to another location. The loading and unloading device 1 repeats the first operation shown in FIG. 6(a) to FIG. 8(b) until all the articles A placed on the pallet P have been dispensed.

[0061] When transporting the second array of articles, the control unit 60 positions the second holding unit 12 in the holding position as shown in Fig. 9(a). The control unit 60 positions the upper surface of the lift 40 at the same height as the upper surfaces of the articles A to be transported. When transporting the second array of articles, the loading and unloading device 1 transports the articles in order starting from the article whose upper surface is at the highest position and which is located at the front.

[0062] First, the imaging unit 13 captures images of multiple objects A on the pallet P from above. From the imaging results, the control unit 60 selects the object A whose top surface is at the highest position and whose distance from the lift 40 in the X direction is shortest. The control unit 60 also calculates the position of the top surface of the selected object A from the imaging results. The distance measuring sensor 15 measures the distance to the selected object A. The control unit 60 calculates the position of the top surface US and the side surface SS of the object A based on the measurement result.

[0063] The control unit 60 determines the position of the first holding unit 11 in the XY plane based on the calculated position of the side surface SS, and moves the first holding unit 11 to that position. The control unit 60 lowers the first holding unit 11 to the calculated position of the upper surface US. For example, the control unit 60 lowers the first holding unit 11 at a first speed at a position away from the upper surface US. The control unit 60 lowers the first holding unit 11 at a second speed at a position closer to the upper surface US.

[0064] As shown in Fig. 9(b), the control unit 60 presses the first holding unit 11 against the upper surface US of the article A. The rod 11c is displaced, and the suction pad 11d is deformed according to the shape of the upper surface US. The control unit 60 operates the exhaust system to make the pressure inside the suction unit 11b lower than atmospheric pressure. This causes the first holding unit 11 to hold the upper surface US.

[0065] As shown in Fig. 10(a), the control unit 60 moves the second holding unit 12 forward and presses the second holding unit 12 against the side surface SS of the article A. The rod 12c is displaced, and the suction pad 12d is deformed according to the shape of the side surface SS. The control unit 60 operates the exhaust system to lower the pressure inside the suction unit 12b below atmospheric pressure. This causes the second holding unit 12 to hold the side surface SS.

[0066] 10(b), the control unit 60 moves the first holding unit 11 and the second holding unit 12 backward to transport the item A from the pallet P onto the lift 40. When the item A is transported onto the lift 40, the control unit 60 releases the holding by the first holding unit 11 and the second holding unit 12. In other words, the control unit 60 increases the pressure inside the suction unit 11b and the pressure inside the suction unit 12b to weaken the suction force by the first holding unit 11 and the second holding unit 12.

[0067] As shown in FIG. 11(a), the control unit 60 moves the first holding unit 11 and the second holding unit 12 away from the article A. The control unit 60 positions the upper surface of the lift 40 at the same height as the upper surface of the conveyor C. As shown in FIG. 11(b), the lift 40 is operated to transport the article A onto the conveyor C. The conveyor C transports the article A to another location. The loading and unloading device 1 repeats the second operation shown in FIG. 9(a) to FIG. 11(b) until all the articles A placed on the pallet P have been removed.

[0068] FIG. 12 is a flowchart showing a first operation of the cargo handling apparatus according to the embodiment. The imaging unit 13 captures images of multiple objects A on the pallet P (step St11). The control unit 60 selects the object whose top surface is located at the highest position from the imaging result (step St12). The control unit 60 calculates the position of the top surface of the selected object A from the imaging result (step St13). The distance measuring sensor 15 measures the distance to the selected object A (step St14). The control unit 60 calculates the position of the top surface and the position of the side of the object A from the measurement result (step St15). The control unit 60 holds the object A with the first holding unit 11 and raises the first holding unit 11 (step St16). At this time, the distance measuring sensor 15 descends while measuring the distance. The control unit 60 calculates the height of the object A from the measurement result (step St17). The control unit 60 transports the object A (step St18). In the transport, the control unit 60 raises the holding unit 10, moves it in the XY plane, and lowers it toward the lift 40. The height calculation result is used when placing the article A. The article A is delivered by the lift 40 and the conveyor C (step St19).

[0069] FIG. 13 is a flowchart showing a second operation of the cargo handling apparatus according to this embodiment. The imaging unit 13 captures images of multiple items A on the pallet P (step St21). The control unit 60 selects an item whose top surface is at the highest position and is closest to the lift 40 from the imaging results (step St22). The control unit 60 calculates the position of the top surface of the selected item A from the imaging results (step St23). The distance measuring sensor 15 measures the distance to the selected item (step St24). The control unit 60 calculates the position of the top surface and the position of the side of the item A from the measurement results (step St25). The control unit 60 holds the item A with the first holding unit 11 and the second holding unit 12, and transports the item A (step St26). In the transport, the control unit 60 moves the holding unit 10 toward the lift 40. The item A is dispensed by the lift 40 and the conveyor C (step St27).

[0070] The above describes a preferred operation of the loading and unloading apparatus 1 according to the embodiment. The operation of the loading and unloading apparatus 1 is not limited to the above-mentioned example. For example, when transporting the second array of items, the items may be transported in order starting from the item A whose upper surface is at the highest position and is located farthest from the lift 40. In this case, the loading and unloading apparatus 1 holds the item A using only the first holding unit 11, as in the first operation. When the first holding unit 11 rises, the distance measurement by the distance measuring sensor 15 and the calculation of the height of the item A may be performed as described above.

[0071] Advantages of the embodiment will be described. The loading and unloading device 1 is required to be able to transport more items in a shorter time. In other words, there is a demand for improved transport efficiency. For example, by speeding up the movement of the holding unit 10, the transport time of the items can be shortened. However, if the movement of the holding unit 10 is speeded up too much while the items are being held, the items may fall. For this reason, it is preferable to speed up the movement of the holding unit 10 when the items are not being held. On the other hand, if an item comes into contact with the holding unit 10 moving at high speed, the item will be damaged. If the movement of the holding unit 10 is slowed down to prevent damage to the items, the movement time of the holding unit 10 will be extended and the transport efficiency will decrease.

[0072] To address this issue, a method of calculating in advance the position of the top surface of the article to be held can be considered. When the holding unit 10 is at a position away from the top surface, it is moved at a first speed. After moving at the first speed, when the holding unit 10 is at a position closer to the top surface, it is moved at a second speed. The second speed is slower than the first speed. This can reduce the movement time of the holding unit 10 while reducing the possibility of the holding unit 10 coming into contact with the article at high speed.

[0073] In the above-mentioned method, the more accurately the position of the upper surface is calculated, the more the conveying efficiency can be improved. If there is a large error in the calculated position of the upper surface, there is a possibility that the holding unit 10 will come into contact with an article while moving at the first speed. The higher the accuracy, the longer the distance that the holding unit 10 can move at the first speed when it descends, and the shorter the movement time can be.

[0074] In the loading and unloading apparatus 1 according to the embodiment, the control unit 60 selects an article to be held based on the imaging results by the imaging unit 13. Then, the control unit 60 calculates the position of the top surface of the article based on the measurement results by the distance measurement sensor 15. By using the measurement results by the distance measurement sensor 15, the position of the top surface can be calculated with higher accuracy than when the imaging results are used. By operating the holding unit 10 according to the calculated position of the top surface, the possibility of the holding unit 10 coming into contact with the article at high speed can be reduced, and the movement time can be further shortened.

[0075] Furthermore, in the loading and unloading device 1, the control unit 60 calculates the position of the side of the article using the measurement results of the distance measurement sensor 15. When articles in the first arrangement are transported, the improved accuracy of the side position can prevent the first holding unit 11 from shifting from the top surface of the article. As a result, the articles can be held more stably. When articles in the second arrangement are transported, the improved accuracy of the side position can prevent the second holding unit 12 from interfering with the held article or other articles. The possibility of damage to the articles can be reduced.

[0076] In order to shorten the transport time and prevent damage to the article, it is preferable to also calculate the height of the held article. The height of the article is referred to when placing the article. For example, the control unit 60 lowers the holding unit 10 at a third speed at a position away from the placement location. After the descent at the third speed, the control unit 60 lowers the holding unit 10 at a fourth speed at a position close to the placement location. The fourth speed is slower than the third speed. This makes it possible to shorten the transport time of the holding unit 10 while reducing the possibility of the article coming into contact with the placement location at high speed.

[0077] It is also preferable that the calculated height has high accuracy. In the loading and unloading device 1, while the holder 10 holding the article is ascending, the control unit 60 calculates the height of the article based on the measurement result by the distance measuring sensor 15. By using the measurement result by the distance measuring sensor 15 to calculate the height, the accuracy of the height can be improved. When the holder 10 is descending, the distance that the holder 10 can move at the third speed can be set longer, and the conveying time can be shortened.

[0078] Furthermore, in the loading and unloading device 1, while the holder 10 holding the article is rising, the distance measuring sensor 15 descends while measuring the distance. This shortens the time from when the top surface of the article is detected to when the bottom surface of the article is detected, and the timing at which the height is calculated can be accelerated. Control according to the calculated height can be started earlier. This shortens the transport time.

[0079] To further improve the accuracy of the height of the object, it is desirable to also take into consideration the communication time between the distance measuring sensor 15 and the control unit 60. This is because a slight error occurs in the calculated height due to the communication time. Below, a method for reducing the error due to the communication time will be described.

[0080] FIG. 14 is a graph showing the relationship between time and the amount of movement of the holder and the distance measuring sensor. 14, the horizontal axis represents time T. The vertical axis represents the movement amount M of each of the holding unit 10 and the distance measuring sensor 15. The thick solid line represents the change in the movement amount over time of the holding unit 10 and the distance measuring sensor 15. In this example, the movement amount of the holding unit 10 over time is the same as the movement amount of the distance measuring sensor 15 over time.

[0081] For example, the control unit 60 includes an overall control unit and a monitoring unit. The overall control unit controls the entire loading and unloading device 1. The monitoring unit detects the top, side, bottom, etc. of the article A based on the measurement results by the distance measurement sensor 15. The monitoring unit is provided together with the distance measurement sensor 15, for example.

[0082] As an example, the monitoring unit detects the bottom surface of the rising object A at time T1. The monitoring unit transmits the detection result of the bottom surface to the overall control unit. The overall control unit receives the detection result at time T2. In the method according to the reference example, the overall control unit calculates the height of the object based on the movement amount Z2 of the holding unit 10 and the distance measuring sensor 15 from when the holding unit 10 starts to rise to time T2. In reality, at time T1 when the bottom surface is detected, the movement amount of the holding unit 10 and the distance measuring sensor 15 is movement amount Z1. In the method according to the reference example, an error occurs in the height of the object A according to the difference between the movement amounts Z1 and Z2 due to the time required for communication.

[0083] To reduce errors, the loading / unloading device 1 records movement data of the holding unit 10 and movement data of the distance measurement sensor. The movement data of the holding unit 10 indicates the movement amount of the holding unit 10 per unit time while the holding unit 10 is ascending. The movement data of the distance measurement sensor 15 indicates the movement amount of the distance measurement sensor 15 per unit time while the distance measurement sensor 15 is descending. The movement amount per unit time is recorded regardless of detection of the lower surface. For example, as shown in FIG. 14, movement amounts z1 to z12 at times t1 to t12, respectively, are recorded.

[0084] When the monitoring unit detects the bottom surface, it generates a timestamp for time t6 that is closest to time T1 when the bottom surface is detected. The monitoring unit transmits the bottom surface detection result and the timestamp to the overall control unit. The overall control unit calculates the height of the article A from the timestamp indicating the timing of detection of the bottom surface, the movement data of the holding unit 10, and the movement data of the distance measurement sensor 15. Specifically, the overall control unit refers to the movement amount z6 at time t6 for each of the holding unit 10 and the distance measurement sensor 15, and calculates the height of the article A based on the movement amount z6. An error occurs in the height of the article A according to the difference between the movement amounts Z1 and z6. This error can be made smaller than the error according to the difference between the movement amounts Z1 and Z2 described above.

[0085] FIG. 15 is a control sequence diagram for calculating the height of an article. 15, the control unit 60 includes an overall control unit 61, a monitoring unit 62, a drive control unit 63, a drive control unit 64, and a sensor control unit 65. The drive control unit 63 controls each drive unit for moving the holding unit 10. The drive control unit 64 controls a drive unit 15z for moving the distance measuring sensor 15. The sensor control unit 65 controls the operation of the distance measuring sensor 15.

[0086] The overall control unit 61 sends a monitoring start request S1 to the monitoring unit 62. Upon receiving the monitoring start request S1, the monitoring unit 62 sends a continuous scan start request S2 to the sensor control unit 65. Upon receiving the continuous scan start request S2, the sensor control unit 65 starts continuous scanning (repeated distance measurement). During the continuous scan, the sensor control unit 65 sends a scan result response S3 to the monitoring unit 62 every time a scan result is obtained. Upon receiving the first scan result response S3, the monitoring unit 62 sends a monitoring start response S4 to the overall control unit 61. The monitoring start response S4 indicates that the monitoring unit 62 has started monitoring for underside detection.

[0087] Upon receiving the monitoring start response S4, the overall control unit 61 transmits an ascent request S5 to the drive control unit 63. Upon receiving the ascent request S5, the drive control unit 63 raises the holding unit 10. The drive control unit 63 records the amount of movement per hour during the ascent. Furthermore, upon receiving the monitoring start response S4, the overall control unit 61 transmits a descent request S6 to the drive control unit 64. Upon receiving the descent request S6, the drive control unit 64 lowers the distance measuring sensor 15. During the descent, the drive control unit 64 records the amount of movement per hour.

[0088] During continuous scanning, the monitoring unit 62 monitors detection of the bottom surface of an article based on the scan result response S3. When the monitoring unit 62 detects the bottom surface, it transmits a detection notification S7 to the overall control unit 61. The detection notification S7 indicates that the bottom surface has been detected and includes a timestamp indicating the timing of the bottom surface detection. When the overall control unit 61 receives the detection notification S7, it transmits stop requests S8 and S9 to the drive control units 63 and 64, respectively.

[0089] When the drive control unit 63 receives the stop request S8, it transmits an ascent result response S10 to the overall control unit 61. The ascent result response S10 includes movement data of the holding unit 10 during ascent. When the drive control unit 64 receives the stop request S9, it transmits a descent result response S11 to the overall control unit 61. The descent result response S11 includes movement data of the distance measuring sensor 15 during descent.

[0090] When the overall control unit 61 receives the increase result response S10 and the decrease result response S11, it transmits a monitoring end request S12 to the monitoring unit 62. When the monitoring unit 62 receives the monitoring end request S12, it transmits a continuous scan end request S13 to the sensor control unit 65. When the sensor control unit 65 receives the continuous scan end request S13, it terminates the continuous scan. The sensor control unit 65 transmits a continuous scan end response S14 to the monitoring unit 62. The continuous scan end response S14 indicates that the continuous scan has ended.

[0091] When the monitoring unit 62 receives the continuous scan end response S14, it transmits a monitoring end response S15 to the overall control unit 61. When the overall control unit 61 receives the monitoring end response S15, it calculates the height of the article from the timestamp included in the detection notification S7, the movement data included in the ascent result response S10, and the movement data included in the descent result response S11.

[0092] Fig. 16(a) is a schematic diagram showing a distance measuring sensor, and Fig. 16(b) is a schematic plan view showing the vicinity of the distance measuring sensor in the cargo handling apparatus according to the embodiment. It is preferable to use a laser beam for the distance measuring sensor 15. Laser beams have less diffusion and higher directivity than normal beams. By using laser beams, the accuracy of distance measurement can be improved.

[0093] Generally, the spread of laser light changes depending on the orientation of the distance measurement sensor 15. For example, as shown in Fig. 16(a), in the front direction D1 of the distance measurement sensor 15, the spread of the light L in one direction is small, and the spread of the light L in the direction perpendicular to the one direction is large. In the side direction D2 of the distance measurement sensor 15, the spread of the light L in the one direction is large, and the spread of the light L in the perpendicular direction is small.

[0094] In the loading / unloading apparatus 1, the top and bottom surfaces of an article are detected from the measurement results of the distance measuring sensor 15. In order to improve the detection accuracy, it is preferable that the spread of the light irradiated toward the article in the vertical direction is small. In the loading / unloading apparatus 1, the distance measuring sensor 15 is attached so that the one direction is parallel to the vertical direction. Also, as shown in FIG. 16(b), the angle θ of the front direction D1 of the distance measuring sensor 15 with respect to the X direction and the horizontal direction is set to 45 degrees. That is, as shown in FIG. 16(a) and FIG. 16(b), the light L in the range R of approximately +40 degrees to -40 degrees with respect to the front direction D1 is irradiated toward the article. This allows the light L with a small spread in the vertical direction to be irradiated toward the article.

[0095] In other words, when the irradiation range of the laser light includes a first range having a relatively small spread in the vertical direction and a second range having a relatively large spread in the vertical direction, it is preferable that the distance measurement sensor 15 irradiates the object with the laser light of the first range.

[0096] FIG. 17 is a schematic diagram showing a hardware configuration. The control unit 60 includes, for example, the hardware configuration shown in Fig. 17. The processing device 90 shown in Fig. 17 includes a CPU 91, a ROM 92, a RAM 93, a storage device 94, an input interface 95, an output interface 96, and a communication interface 97.

[0097] The ROM 92 stores a program for controlling the operation of the computer. The ROM 92 stores programs necessary for the computer to realize each of the above-mentioned processes. The RAM 93 functions as a storage area in which the programs stored in the ROM 92 are expanded.

[0098] The CPU 91 includes a processing circuit. The CPU 91 uses a RAM 93 as a working memory and executes a program stored in at least one of a ROM 92 and a storage device 94. During execution of the program, the CPU 91 controls each component via a system bus 98 and executes various processes.

[0099] The storage device 94 stores data necessary for executing the programs and data obtained by executing the programs.

[0100] The input interface (I / F) 95 connects the processing device 90 and the input device 95a. The input I / F 95 is, for example, a serial bus interface such as USB. The CPU 91 can read various data from the input device 95a via the input I / F 95.

[0101] The output interface (I / F) 96 connects the processing device 90 and the display device 96a. The output I / F 96 is, for example, a video output interface such as a Digital Visual Interface (DVI) or a High-Definition Multimedia Interface (HDMI (registered trademark)). The CPU 91 can transmit data to the display device 96a via the output I / F 96 and cause the display device 96a to display an image.

[0102] The communication interface (I / F) 97 connects the processing device 90 to a server 97a external to the processing device 90. The communication I / F 97 is, for example, a network card such as a LAN card. The CPU 91 can read various data from the server 97a via the communication I / F 97. The camera 99a photographs an object and stores the image in the server 97a. The camera 99a functions as the imaging unit 13. The LRF 99b measures distance and stores the measurement results in the server 97a. The LRF 99b functions as the distance measuring sensor 15.

[0103] The storage device 94 includes one or more selected from a hard disk drive (HDD) and a solid state drive (SSD). The input device 95a includes one or more selected from a mouse, a keyboard, a microphone (audio input), and a touch pad. The display device 96a includes one or more selected from a monitor and a projector. A device having both the functions of the input device 95a and the display device 96a, such as a touch panel, may be used.

[0104] The various data processing described above may be recorded as a program that can be executed by a computer on a magnetic disk (such as a flexible disk or a hard disk), an optical disk (such as a CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW), a semiconductor memory, or other non-transitory computer-readable storage medium.

[0105] For example, information recorded on a recording medium can be read by a computer (or an embedded system). The recording medium may have any recording format (storage format). For example, the computer reads a program from the recording medium and causes a CPU to execute instructions described in the program based on the program. The computer may acquire (or read) the program via a network.

[0106] In the embodiment exemplified above, the first direction is parallel to the vertical direction. The embodiment is not limited to this example, and the first direction may be parallel to the horizontal direction. In either case, the positions of different surfaces of the article can be calculated from the imaging results by the imaging unit 13 and the measurement results by the distance measuring sensor 15. Furthermore, when the article is moved in the first direction by the holding unit 10, the distance measuring sensor 15 is moved in the opposite direction to the holding unit 10, so that the length of the article in the first direction can be calculated at an earlier timing. Control according to the length of the article in the first direction can be started earlier.

[0107] According to the embodiment described above, the loading / unloading apparatus 1 is provided, which can improve the conveying efficiency. Moreover, according to the above-mentioned control unit 60 (control device) or the control method thereof, it is possible to improve the conveying efficiency of the loading / unloading apparatus 1. The same effect can be obtained by using a program for causing a computer to execute the above-mentioned control method.

[0108] Although some embodiments of the present invention have been illustrated above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, modifications, etc. can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims. In addition, the above-mentioned embodiments can be implemented in combination with each other. [Explanation of symbols]

[0109] 1: cargo handling device, 10: holding section, 11: first holding section, 11a: housing, 11b: suction unit, 11c: rod, 11d: suction pad, 12: second holding section, 12a: housing, 12b: suction unit, 12c: rod, 12d: suction pad, 13: imaging section, 15: distance measuring sensor, 15a: actuator, 15b: guide, 15z: drive section, 21a: actuator, 21b: pulley, 21c: belt, 21d: bar, 21e: guide, 21f: rod, 21h: actuator, 21i: pulley, 21j: belt, 21x, 21y: drive section, 22a: actuator, 22b: pulley, 22c: belt, 22d: bar, 22e: guide, 22f: rod, 22h: actuator, 22i: pulley, 22j: belt, 22k: link, 22m: bar, 22x, 22y: drive unit, 23a: actuator, 23b: pulley, 23c: belt, 23d: block, 23e: guide, 23z: drive unit, 30a, 30b: base plate, 30c, 30d: rod, 31: frame, 31a-31d: vertical frame, 31e-31k: horizontal frame, 40: lift, 40a: roller, 40b: belt, 60: control unit, 61: overall control unit, 62: monitoring unit, 63, 64: drive control unit, 65: sensor control unit, 90: processing device, 91: CPU, 92: ROM, 93: RAM, 94: storage device, 95: input interface, 95a: input device, 96: output interface, 96a: display device, 97: communication interface, 97a: server, 98: system bus, 99a: camera, 99b: LRF, A: item, C: conveyor, D1: front direction, D2: side direction, L: light, LS: bottom surface, M: movement amount, P: pallet, R: range, SS: side surface, US: top surface, θ: angle

Claims

1. A holding portion for holding an article; An imaging unit that images the article in a first direction; a distance measuring sensor that measures a distance to the article in a second direction intersecting the first direction; a drive unit that drives the distance measuring sensor along the first direction; A control unit that controls the holding unit; Equipped with The control unit is selecting a first article to be held based on an imaging result by the imaging unit; Calculating a position of a first surface of the first article intersecting with the first direction and a position of a second surface of the first article intersecting with the second direction based on a measurement result by the distance measuring sensor; operating the holding unit in accordance with the calculated position of the first surface and the calculated position of the second surface to hold the first article; A loading device comprising: During the movement of the holding unit holding the first article in the first direction, the drive unit moves the distance measuring sensor in a direction opposite to the holding unit along the first direction from the position on the first surface to a position on a third surface opposite to the first surface, A loading and unloading device, wherein the control unit calculates the length of the first item in the first direction based on the measurement result of the first distance to the first item by the distance measuring sensor during the movement of the holding unit.

2. 2. The loading device according to claim 1, wherein, when holding the first item, the control unit moves the holding portion in the first direction toward the first item at a first speed, and then moves the holding portion in the first direction at a second speed slower than the first speed.

3. 2. The loading and unloading apparatus according to claim 1, wherein the first direction is parallel to a vertical direction.

4. 3. The loading device according to claim 1 or 2, wherein, when holding the first item, the control unit lowers the holding unit toward the first item at a first speed, and then lowers the holding unit at a second speed slower than the first speed.

5. The control unit is acquiring a movement amount of the holding part for each time period during the movement of the holding part in the first direction; acquiring a movement amount of the distance measuring sensor for each time while the distance measuring sensor is moving in the first direction; acquiring a detection timing of an end of the first article in the first direction by the distance measuring sensor; calculating the length of the first article from the movement amount of the holding part and the movement amount of the distance measuring sensor at the detection timing; 5. The loading and unloading apparatus according to claim 4.

6. A loading and unloading device according to any one of claims 3 to 5, wherein the control unit operates the holding unit in accordance with the measured length of the first item when the first item is placed.

7. The loading device according to claim 5, wherein when placing the first item, the control unit moves the holding portion toward a placement location at a third speed, and then moves the holding portion at a fourth speed slower than the third speed.

8. A holding portion for holding an article; An imaging unit that images the article in a first direction; a distance measuring sensor that measures a distance to the article in a second direction intersecting the first direction; Equipped with A loading and unloading device in which, after an image is captured by the imaging unit and the distance to one of the items is measured by the ranging sensor, the holding unit holds the one item and moves in the first direction, while the ranging sensor measures the distance to the one item while moving in the opposite direction from the holding unit from the position of a first surface of the one item that intersects with the first direction to the position of a third surface opposite the first surface.

9. The loading and unloading apparatus according to claim 8, wherein the first direction is parallel to a vertical direction.

10. The distance measuring sensor measures the distance using a laser light, the irradiation range of the laser light includes a first range having a relatively small spread in the first direction and a second range having a relatively large spread in the first direction, 10. The loading and unloading apparatus according to claim 1, wherein the distance measuring sensor irradiates the laser light in the first range onto the article.

11. A control device for controlling a loading and unloading device, the control device including: a holding unit for holding an item; an imaging unit for imaging the item in a first direction; a distance measuring sensor for measuring a distance to the item in a second direction intersecting the first direction; and a drive unit for driving the distance measuring sensor along the first direction, selecting a first article to be held based on an imaging result by the imaging unit, calculating a position of a first surface of the first article intersecting with the first direction and a position of a second surface of the first article intersecting with the second direction based on a measurement result by the distance measuring sensor, and having the holding unit hold the first article according to the calculated positions of the first surface and the second surface; while the holding unit holding the first article is moving in the first direction, the driving unit moves the distance measuring sensor from the position on the first surface to a position on a third surface opposite to the first surface in a direction opposite to the holding unit along the first direction; A control device that calculates the length of the first item in the first direction based on the measurement result of the first distance to the first item by the distance measuring sensor during the movement of the holding part.

12. acquiring a movement amount of the holding part for each time period during the movement of the holding part in the first direction; acquiring a movement amount of the distance measuring sensor for each time while the distance measuring sensor is moving in the first direction; acquiring a detection timing of an end of the first article in the first direction by the distance measuring sensor; The control device according to claim 11 , further comprising: a controller configured to calculate the length of the first article from the amount of movement of the holding portion and the amount of movement of the distance measuring sensor at the detection timing.

13. 1. A control method for a loading / unloading device including a holding unit that holds an item, an imaging unit that images the item in a first direction, a distance measuring sensor that measures a distance to the item in a second direction intersecting the first direction, and a drive unit that drives the distance measuring sensor along the first direction, selecting a first article to be held based on an imaging result by the imaging unit, calculating a position of a first surface of the first article intersecting with the first direction and a position of a second surface of the first article intersecting with the second direction based on a measurement result by the distance measuring sensor, and having the holding unit hold the first article according to the calculated positions of the first surface and the second surface; while the holding unit holding the first article is moving in the first direction, the driving unit moves the distance measuring sensor from the position on the first surface to a position on a third surface opposite to the first surface in a direction opposite to the holding unit along the first direction; A control method for calculating the length of the first item in the first direction based on the measurement result of a first distance between the first item and the holding part by the distance measuring sensor during the movement of the holding part.

14. acquiring a movement amount of the holding part for each time period during the movement of the holding part in the first direction; acquiring a movement amount of the distance measuring sensor for each time while the distance measuring sensor is moving in the first direction; acquiring a detection timing of an end of the first article in the first direction by the distance measuring sensor; The control method according to claim 13 , further comprising the step of calculating the length of the first article from the amount of movement of the holding portion and the amount of movement of the distance measuring sensor at the detection timing.

15. A program for causing a computer to execute the control method according to claim 13 or 14.

16. A storage medium storing a program for causing a computer to execute the control method according to claim 13 or 14.

Images