Loading System

Abstract

To provide a cargo stowage system capable of stowing cargoes in a preferable packing form.SOLUTION: A cargo packing form determination part 3 determines a packing form of cargoes W at a stowage location H in advance. A stowage order determination part 4 determines stowage order of the cargoes W in the determined packing form after the packing form determination part 3 determines the packing forms. Thus, a cargo stowage system 1 does not simultaneously determine the packing form by the packing form determination part 3 and the stowage order by the stowage order determination part 4, but can perform both through respective independent arithmetic processes. At the next stage, the stowage order determination part 4 can determine the stowage order upon taking priority order, restriction conditions, and the like, accompanying the stowage order so as to achieve stowage in a preferable packing form. Thereby, an operation control part 5 can avoid occurrence of interference between cargoes W in stowage and then control operation of a cargo stowage device to achieve the preferable packing form.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a loading system. [Background technology]

[0002] In order to efficiently load cargo of various sizes, a side-loading type cargo loading device may be adopted, which loads cargo by moving it from the side relative to the loading position. A cargo loading system equipped with such a loading device is described in Patent Document 1. The cargo loading system described in Patent Document 1 controls the cargo loading device based on a calculation logic for loading cargo onto a car dolly, a car truck, or the like. In the calculation logic, the bottom surface of the dolly and the top surface of the cargo are individually set as target areas for a placement calculation called an "empty space map," and the placement of the cargo and the loading order are determined for each target area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 061632 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, when using a side-loading type loading device, when loading luggage at the rear of the loading position, there is a possibility that the luggage may interfere with luggage at the front. Therefore, in the loading system described in the above-mentioned Patent Document 1, after calculating the loading style and loading order for the free space map at the rear side of the loading position, the loading style and loading order may be calculated for the free space map at the front side of the loading position. However, with this calculation method, there are cases where luggage cannot be loaded in a suitable packing style in terms of space efficiency, etc.

[0005] The present invention has been made to solve the above-mentioned problems, and has an object to provide a loading system that can load luggage in a suitable packing form. [Means for solving the problem]

[0006] A loading system according to one aspect of the present invention includes a side-loading loading device that is installed between a supply position where luggage is fed and a loading position where the luggage is loaded, and that loads luggage fed from the supply position by moving it laterally toward the loading position, a loading style determination unit that determines in advance the loading style of the luggage at the loading position, a loading order determination unit that determines the loading order of the luggage in the determined loading style after the loading style is determined by the loading style determination unit, and an operation control unit that controls the operation of the loading device so that the luggage is loaded in the loading order determined by the loading order determination unit.

[0007] This loading system includes a side-stack type loading device that loads cargo delivered from a supply position by moving the cargo laterally relative to the loading position. In contrast, the packing style determination unit predetermines the packing style of the cargo at the loading position. In addition, the loading order determination unit determines the loading order of the cargo in the determined packing style after the packing style is determined by the packing style determination unit. In this way, the loading system does not simultaneously determine the packing style by the packing style determination unit and the loading order by the loading order determination unit, but can perform both as independent calculation processes. Therefore, first, the packing style determination unit can predetermine a suitable packing style in consideration of filling, stability, workability, etc., without once considering the priority order and constraint conditions associated with the loading order. In the next step, the loading order determination unit can determine the loading order in consideration of the priority order and constraint conditions associated with the loading order, in order to realize loading in a suitable packing style. In this way, the operation control unit can control the operation of the loading device so that the cargo is loaded in a suitable shape while avoiding interference between the cargoes during loading. As a result, the loading system can load the cargo in a suitable shape.

[0008] The loading order determination unit determines the loading order according to a predetermined loading rule, and the loading rule may include a condition that, when another piece of luggage exists behind the luggage to be determined within a projection range of the luggage to be determined as seen from the loading device, the other piece of luggage is placed before the luggage to be determined in the loading order. In this case, the loading order determination unit can determine the loading order so as to avoid interference between the luggage at the back and the luggage at the front when loading the luggage at the back.

[0009] The loading order determination unit may adopt a loading rule that prioritizes loading of lower cargo in a loading position. In this case, the loading order determination unit can determine a loading order that allows highly stable loading by completing loading from the lower position and gradually loading cargo at higher positions.

[0010] The loading order determination unit may adopt a loading rule that prioritizes loading of cargo at the back side at a loading position. In this case, the loading order determination unit can determine a loading order that enables optimal loading when loading needs to be completed from the back side.

[0011] The loading device may have a base section, a lifting section capable of raising and lowering relative to the base section, a pair of support members provided on the lifting section and supporting the underside of the cargo sent from the supply position, a gap adjustment mechanism for adjusting the gap between the pair of support members in accordance with the size of the cargo, and an advancing / retracting mechanism for advancing and retracting the pair of support members relative to the loading position. In this case, the loading device can perform side loading with small gaps between the cargo at each loading position. Effect of the Invention

[0012] According to the present invention, a loading system is provided that can load luggage in a suitable packing form. [Brief description of the drawings]

[0013] [Figure 1] 1 is a block diagram showing a loading system according to an embodiment of the present invention; [Diagram 2] FIG. [Diagram 3] FIG. 2 is a side view of the loading device as seen from the loading position side. [Figure 4] FIG. 4 is an enlarged view showing the configuration in the vicinity of the fork. [Diagram 5] FIG. 2 is a perspective view showing a configuration in the vicinity of a fork. [Figure 6] FIG. 2 is a diagram showing a system configuration of a stowage control device. [Figure 7] FIG. 2 is a schematic diagram for explaining the packing style and stowage order. [Figure 8] FIG. 11 is a schematic diagram for explaining a projection area. [Figure 9] 4 is a flowchart showing the operation of the stowage control device. [Figure 10] 13 is a flowchart showing details of a packaging style determination process. [Figure 11] 13 is a flowchart showing details of a stowage order determination process. [Figure 12] FIG. 13 is a schematic diagram for explaining how a packing style within a stowage object is determined. [Figure 13] FIG. 13 is a schematic diagram showing an example of a loading device according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of a loading system according to one aspect of the present invention will be described in detail with reference to the drawings.

[0015] 1 is a block diagram showing a loading system 1 according to an embodiment of the present invention. As shown in FIG. 1, the loading system 1 includes a loading control device 2, a supply device 11, and a loading device 10.

[0016] The supply device 11 is a device that supplies luggage to the loading device 10. The loading device 10 is a device that is installed between the loading device 11 and a loading position where luggage is loaded, and loads luggage sent from the supply position at the loading position. In this embodiment, a side-loading type loading device 10 that loads luggage by moving it from the side is used as the loading device 10. The side-loading type loading device 10 is a device that loads luggage at a loading location by moving the luggage horizontally, rather than loading the luggage by lowering it from above.

[0017] An example of a specific configuration of the loading device 10 will be described with reference to Figs. 2 to 5. Fig. 2 is a plan view of the loading device 10. Fig. 3 is a side view of the loading device 10 seen from the loading position side. Fig. 4 is an enlarged view showing the configuration around the forks. Fig. 5 is a perspective view showing the configuration around the forks. As shown in Fig. 2, the loading device 10 is installed between the supply device 11 and the object to be loaded 12. The supply device 11 is a device that supplies the luggage W to be loaded to the loading device 10. The supply device 11 is, for example, a roller conveyor that can transport the luggage W in one direction, and transports various types of luggage W of different sizes. An end 13 of the supply device 11 corresponds to a supply position G where the luggage W is sent to the loading device 10. The end 13 of the supply device 11 is provided with a feed mechanism 14 that feeds the luggage W in a direction intersecting the transport direction of the luggage W in the supply device 11. The feed mechanism 14 feeds the luggage W to the loading device 10. The cargo W is a cardboard box, a collapsible container box, or the like.

[0018] The loading object 12 is capable of loading luggage W and moving the loaded luggage W. Examples of the loading object 12 include a pallet and a dolly. The loading object 12 waits at a loading position H where luggage W is loaded from the loading device 10, and does not move from the loading position H until loading of the luggage W is completed. Once the luggage W is loaded, the loading object 12 is moved from the loading position H by an operator. The moving direction of the loading object 12 is parallel to the luggage conveying direction of the supply device 11 and perpendicular to the sending direction of the luggage W sent by the sending mechanism 14.

[0019] As shown in FIG. 3, the loading device 10 includes a base unit 20. The base unit 20 is supported by a pair of reciprocating guide rails 21 arranged parallel to the load conveying direction of the supply device 11, and reciprocates on the reciprocating guide rails 21. The base unit 20 includes a flat base 22 and a wall body 23 standing upright from the base 22. A base unit side slider 24 guided by the reciprocating guide rails 21 is provided on the back surface of the base 22. The base unit 22 includes a reciprocating drive motor 25 for reciprocating the base unit 20. The reciprocating mechanism 19 includes the drive motor 25 and a mechanism (such as a rack and pinion mechanism) that converts the driving force of the drive motor 25 into reciprocating movement of the base unit 20. The wall body 23 includes a pair of lifting guide rails 29 for guiding the lifting unit 30 described next.

[0020] The loading device 10 includes a lifting unit 30 that moves up and down relative to the base unit 20. The lifting unit 30 includes a lifting frame 31 that can move up and down along the wall 23 of the base unit 20. The lifting frame 31 is provided with a pair of forks 32 (support members) that support the cargo W sent from the supply position G. As shown in FIG. 4, the lifting frame 31 has a vertical part 33 and a horizontal part 34 that extends horizontally from the lower part of the vertical part 33. A lifting unit side slider 35 guided by a lifting guide rail 29 is provided on the surface of the vertical part 33 that faces the wall 23. The base unit 20 is provided with a lifting drive motor, belt, and pulley (not shown) for lifting the lifting unit 30. The lifting unit 30 is lifted by the drive of the lifting drive motor. The lifting guide rail 29, the lifting unit side slider 35, the lifting drive motor, the belt, and the pulley constitute a lifting mechanism 27.

[0021] 2 and 5, the pair of forks 32 are provided horizontally so as to be parallel to each other. The longitudinal direction of the forks 32 is the same as the direction perpendicular to the reciprocating direction of the base unit 20. The pair of forks 32 are rectangular columnar members, and support the luggage W by contacting the lower surface of the luggage W. The pair of forks 32 are advanced and retreated in the direction perpendicular to the reciprocating direction of the base unit 20 by an advancing and retreating mechanism 40 provided on the horizontal portion 34 of the lifting frame 31.

[0022] The advance / retract mechanism 40 has a fork advance / retract section 41 that advances / retracts the fork 32 of the pair of forks 32 that is far from the vertical section 33 of the lifting frame 31, and a fork advance / retract section 42 that advances / retracts the fork 32 that is closer to the vertical section 33 than the fork advance / retract section 41. The fork advance / retract section 41 includes a fixed base member 43, a fork support arm member 44, and a drive motor 47. The fork advance / retract section 42 includes a movable base member 53, a fork support arm member 54, and a drive motor 57. The fork support arm members 44, 54 advance / retract relative to the base members 43, 53 by the driving force of the drive motors 47, 57, and the fork 32 advances / retracts relative to the fork support arm members 44, 54 in conjunction with the advance / retraction of the fork support arm members 44, 54 relative to the base members 43, 53. In other words, the fork 32 and the fork support arm members 44, 54 form a mechanism that expands and contracts in multiple stages.

[0023] As shown in Figures 2, 4 and 5, the loading device 10 is provided with a distance adjustment mechanism 65 that adjusts the distance between the pair of forks 32. As shown in Figure 5, the fork advancement / retraction section 42 of the advancement / retraction mechanism 40 is movably supported on a pair of guide rails 52 and can move toward or away from the fork advancement / retraction section 41 fixed to the lifting frame 31. The distance between the pair of forks 32 is adjusted by the fork advancement / retraction section 42 moving toward or away from the fork advancement / retraction section 41. The distance adjustment mechanism 65 is provided with a drive motor 66 that reciprocates the fork advancement / retraction section 42 via a transmission mechanism such as a pulley.

[0024] As shown in Figures 4 and 5, the loading device 10 is equipped with a load retraction mechanism 70 that retracts the load W sent from the supply position G to the pair of forks 32 to a preset position. The load retraction mechanism 70 has a retraction belt section 71 provided on the fixed base member 43 and a retraction belt section 72 provided on the movable base member 53. The retraction belt section 71 has a drive motor 73 for driving the belt, a belt pulley 74, a belt pulley 75, and a feed belt 76. The retraction belt section 72 has a drive motor 83 for driving the belt, a belt pulley 84, a belt pulley 85, and a feed belt 86.

[0025] 2 and 4, the loading device 10 has a load positioning mechanism 90 that restricts the backward movement of the load W when the pair of forks 32 retreat from the loading position H and positions the load W at the loading position H. The load positioning mechanism 90 has a load positioning part 91 provided on the fixed base member 43 and a load positioning part 92 provided on the movable base member 53. The load positioning part 92 advances and retreats along the forks 32 by the driving force of drive motors 97, 107. When the forks 32 are removed from the load W, the load positioning part 92 restricts the backward movement of the load W with stopper members 94, 104 at the tips, and drops the load W at a desired position.

[0026] With the above configuration, the loading device 10 adjusts the interval by the interval adjustment mechanism 65 according to the size of the luggage W sent from the sending mechanism 14, and the luggage drawing mechanism 70 draws the luggage W and clamps it between the pair of forks 32. Next, the base unit 20 moves on the reciprocating guide rail 21 according to the loading position H of the luggage W on the loading object 12 where the luggage W is to be loaded, and the lifting unit 30 is raised and lowered according to the height of the placement surface of the loading object 12. Next, the advancing and retreating mechanism 40 is operated. The forks 32 move forward according to the loading position H of the luggage W on the loading object 12. When the luggage W moves to the desired position, the loading device 10 retracts the forks 32 by the advancing and retreating mechanism 40 in a state where the luggage W is positioned by the luggage positioning mechanism 90. As a result, the luggage W is loaded at the desired position.

[0027] Returning to Fig. 1, the stowage control device 2 determines the packing style and stowage sequence of the stowage by the stowage device 10, and controls the supply device 11 and the stowage device 10 so that the stowage work is performed according to the determined content. The stowage control device 2 includes a packing style determination unit 3, a stowage sequence determination unit 4, and an operation control unit 5.

[0028] The packing style determination unit 3 determines in advance the packing style of the luggage W at the stowage position H. For example, when the upper surface of the loading object 12 is set as the calculation target area E as shown in FIG. 7(a), the packing style determination unit 3 determines a packing style indicating how the luggage W is to be stowed within the calculation target area E. The packing style determination unit 3 includes an information acquisition unit 6 and a packing style calculation unit 7.

[0029] The information acquisition unit 6 acquires luggage information necessary to determine the packing style. Such luggage information includes, for example, a list of items of luggage W to be loaded. The luggage information also includes, for example, information regarding the type, number, dimensions, and weight of luggage W. The dimensions of luggage W include the length, width, and height of luggage W. As an example, the information acquisition unit 6 may acquire delivery information by accepting an operation of an input device by a user.

[0030] The packing style calculation unit 7 calculates the packing style of the luggage W in the calculation target area E based on the luggage information. The packing style calculation unit 7 calculates the packing style of the luggage W. The packing style calculation unit 7 may calculate the packing style of the luggage W in the stowage object 12 by using various known methods. The packing style calculation unit 7 calculates the packing style of the luggage W in the stowage object 12 for each type of luggage W and each position in the stowage object 12. The packing style calculation unit 7 may calculate the packing style based on an evaluation value of the packing style of the luggage W in the stowage object 12. More specifically, the packing style calculation unit 7 calculates an evaluation value of the packing style based on a predetermined evaluation index. The packing style calculation unit 7 calculates multiple packing styles and adopts the packing style with the maximum evaluation value.

[0031] After the packing style is determined by the packing style determination unit 3, the loading order determination unit 4 determines the loading order of the luggage W in the determined packing style. For example, when the packing style shown in FIG. 7(a) is determined by the packing style determination unit 3, the loading order determination unit 4 calculates and determines in what loading order each luggage W should be loaded to create the packing style. The circled numbers attached to each luggage W in FIG. 7(a) and (b) indicate the loading order among the luggage W1 to W5 shown in the figure. The loading order in the width direction FIG. 7(a) is determined in the order in which the luggage is arranged. The loading order in FIG. 7(b) is determined by the loading order determination unit 4. The loading order determination unit 4 includes a determined packing style acquisition unit 8 and a loading order calculation unit 9.

[0032] The determined packing style acquisition unit 8 acquires information on the packing style determined by the packing style determination unit 3. The determined packing style acquisition unit 8 also acquires various information required to calculate the order of the determined packing styles. Such information includes stowage rules that indicate the order of priority and the rules under which the cargo W is stowed.

[0033] The stowage rule includes a priority order for the direction in which the luggage W should be stowed in the height, width, and depth directions. For example, the stowage order determination unit 4 may adopt a stowage rule that prioritizes loading luggage W that is lower in the stowage position. In the stowage rule, the first priority order may be "give priority to the lower side in the height direction," the second priority order may be "give priority to the right side in the width direction," and the third priority order may be "give priority to the back side in the depth direction." As a result, after all the luggage W in the first layer, which is the lowest layer, is loaded, the luggage W in the second layer is loaded. Note that the second priority order and the third priority order may be interchanged.

[0034] The stacking order determination unit 4 may also adopt a stacking rule that prioritizes stacking the luggage W at the back in the stacking position. In this stacking rule, the first priority may be "prioritize the back side in the depth direction," the second priority may be "prioritize the lower side in the height direction," and the third priority may be "prioritize the right side in the width direction." As a result, the luggage W at the back is stacked first up to the top shelf, and then the luggage W at the second back is stacked.

[0035] The stowage rules also include restrictive conditions due to the loading mode of the side-stowage loading device 10. That is, if the luggage W3 in Fig. 7(a) is loaded first, the luggage W5 will interfere with the luggage W3 when the forks 32 move the luggage W5 in the loading direction D1 from the front to the back. Therefore, the stowage rules include a condition that the luggage W5 on the back side is loaded first before the luggage W3 that interferes with the other luggage.

[0036] Specifically, as shown in Fig. 8, the stowage rule has a condition that if, as viewed from the loading device 10, within a projection range PE of the luggage WX to be determined, there is another luggage WY located further back than the luggage WX to be determined, the other luggage WY is placed before the luggage WX to be determined. The projection range PE is a range that is set by projecting the luggage WX onto a virtual plane that extends in the height and width directions. In Fig. 8, the projection range PE is hatched. In the following description, such a condition may be referred to as a "constraint condition."

[0037] The operation control unit 5 controls the operation of the loading device 1 so as to load the luggage W in the loading order determined by the loading order determination unit 4. The operation control unit 5 controls the supply device 11 and the loading device 10 so as to load the luggage W in the packing style determined by the packing style determination unit 3 and in the packing order determined by the packing order determination unit 4.

[0038] As shown in Fig. 6, the stowage control device 2 may be physically configured as a computer system including one or more control units 110 as a processor, one or more ROMs (Read Only Memory) 111, one or more RAMs (Random Access Memory) 112 as a main storage device, an HDD (Hard Disk Drive) 113 as an auxiliary storage device, and a communication unit 114 such as a communication interface for communicating with the outside. For example, the control unit 110 reads out programs (packing style determination program P1, stowage order determination program P2) stored in advance in the HDD 113 into the RAM 112 and executes them, whereby each piece of hardware operates under the control of the control unit 110, and data is read and written in the ROM 111, the RAM 112, and the HDD 113. In this way, each function of the stowage control device 2 shown in Fig. 1 is realized. In addition to the hardware configuration shown in Fig. 6, the stowage control device 2 may include, for example, input devices such as a mouse and a keyboard, and output devices such as a display and a speaker.

[0039] Next, the contents of the control process of the stowage control device 2 will be described with reference to Figs. 9 to 11. Fig. 9 is a flowchart showing the operation of the stowage control device 2. As shown in Fig. 9, first, the stowage control device 2 executes step S10. In step S10, the packing style determination unit 3 executes a process of determining in advance the packing style of the luggage W at the stowage position. Next, the stowage control device 2 executes step S20. In step S20, the stowage order determination unit 4 executes a process of determining the stowage order of the luggage W in the packing style determined by the packing style determination unit 3. Next, the stowage control device 2 executes step S30. In step S30, the operation control unit 5 controls the operation of the stowage device 10 so that the luggage W is stowed in the stowage order determined in step S20. With the above, the control process shown in Fig. 9 is completed.

[0040] Next, details of the packaging style determination process in step S10 will be described with reference to Fig. 10. Fig. 10 is a flowchart showing details of the packaging style determination process. As shown in Fig. 10, first, the packaging style determination unit 3 executes step S40. In step S40, the information acquisition unit 6 acquires an item list including information about the luggage W. Next, the packaging style determination unit 3 executes step S50. In step S50, the information acquisition unit 6 generates luggage information regarding dimensions and weight according to the type of luggage W included in the acquired item list.

[0041] Next, the packaging style determination unit 3 executes step S60. In step S60, the packaging style calculation unit 7 calculates the packaging style of the luggage W in the stowage object 12 based on the luggage information. The packaging style calculation unit 7 calculates the packaging style of the luggage W in the stowage object 12 for each type of luggage W and its position in the stowage object 12. Next, the packaging style determination unit 3 executes step S70. In step S70, the packaging style calculation unit 7 obtains an evaluation value for each packaging style based on the evaluation index. Next, the packaging style determination unit 3 executes step S80. In step S80, the packaging style calculation unit 7 obtains two packaging styles having the top two evaluation values.

[0042] Through the above-mentioned steps S60 to S80, the packing style determination unit 3 first acquires two packing styles having the top two evaluation values ​​for one piece of luggage W (step S80). Next, in a state where one piece of luggage W is placed in the stowage object 12, the packing style determination unit 3 calculates the packing style in the stowage object 12 for each type and position of the luggage W to be calculated (step S60), and acquires an evaluation value for each packing style (step S70). Furthermore, the packing style determination unit 3 acquires two packing styles having the top two evaluation values ​​by comparing each evaluation value (step S80). Therefore, by repeating such steps S60 to S80, the packing style determination unit 3 can acquire two packing styles having the top evaluation values ​​for the stowage object 12 where stowage has been completed.

[0043] In this embodiment, after acquiring the packing style in step S80, if it is possible to load further luggage W onto the stowage object 12, the packing style determination unit 3 executes step S60 again. Also, if it is not possible to load further luggage W onto the stowage object 12, the packing style determination unit 3 executes step S06. Here, a case in which it is not possible to load further luggage W onto the stowage object 12 is, for example, a case in which there is no luggage W remaining to be loaded onto the stowage object 12. In this case, the packing style determination unit 3 may determine whether or not there is any luggage W remaining to be loaded onto the stowage object 12 by referring to the luggage information.

[0044] Next, the packing style determination unit 3 executes step S90. In step S90, the packing style calculation unit 7 determines the packing style. The packing style calculation unit 7 determines the packing style with the maximum evaluation value among the packing styles acquired in step S80 as the packing style of the baggage W in the stowage object 12. With the above, the packing style determination process is completed.

[0045] The manner in which the packing style within the stowage object 12 is determined through the above-mentioned processing will be described below. FIG. 12(a) illustrates one of the packing styles calculated by the packing style calculation unit 7 for one piece of luggage Wa. FIG. 12(b) illustrates the manner in which the packing style calculation unit 7 calculates the packing style for a piece of luggage Wb that is the subject of calculation and is different from the piece of luggage Wa. As shown in FIG. 12(b), the packing style calculation unit 7 calculates the packing style within the stowage object 12 for each type and position of the piece of luggage Wb that is the subject of calculation, in a state in which the piece of luggage Wa is placed within the stowage object 12. In addition, the packing style calculation unit 7 obtains an evaluation value for each packing style based on a predetermined evaluation index.

[0046] FIG. 12(c) illustrates an example of a packing style having the highest evaluation value acquired by the packing style calculation unit 7. That is, as shown in FIG. 12(c), the packing style calculation unit 7 acquires two packing styles having the top two evaluation values ​​(step S80). Next, in a state in which the luggage Wa, Wb are arranged in the loading object 12, the packing style calculation unit 7 further calculates the packing style in the loading object 12 for each type and position of other luggage. By repeating the above-mentioned process, the packing style calculation unit 7 acquires two packing styles having the top two evaluation values ​​in the loading object 12 where loading is completed. In addition, the packing style calculation unit 7 determines the packing style having the maximum evaluation value of the two acquired packing styles as the packing style of the luggage W in the loading object 12 (step S90).

[0047] Next, the evaluation index and evaluation function for obtaining the evaluation value of the packaging style will be described. The packaging style calculation unit 7 obtains the evaluation value Q of the packaging style based on the evaluation functions XA to XG and the weighting coefficients LA to LG. The evaluation functions XA to XG are functions for normalizing the predetermined evaluation indexes described below so that they have a predetermined value range. In this embodiment, the packaging style calculation unit 7 uses the evaluation functions XA to XG based on the evaluation indexes related to filling and stability. The weighting coefficients LA to LG are predetermined coefficients for weighting the evaluation functions XA to XG. In this embodiment, the packaging style calculation unit 7 obtains the evaluation value Q by the following formula (1). Q=(LA×XA)+(LB×XB)+(LC×XC)+(LD×XD)+(LE×XE)+(LF×XF)+(LG×XG)…(1)

[0048] The evaluation function XA uses the number SA of luggage W supporting the bottom of each luggage W as an evaluation index. The more the number SA of luggage W supporting the bottom of each luggage W, the more luggage W is stacked across the top of multiple luggage W. The evaluation function XB uses the number SB of the sides of each luggage W that are in contact with other luggage W as an evaluation index. The more the number SB of the sides of each luggage W that are in contact with other luggage W, the more each luggage W is supported by the other luggage W. The evaluation function XC uses the ratio SC of the area of ​​the side and bottom of each luggage W that are in contact with other luggage W as an evaluation index. The larger the ratio SC of the area of ​​the side and bottom of each luggage W that are in contact with other luggage W, the more each luggage W is supported by the other luggage W on the sides and bottom of the luggage W. The evaluation function XD uses the placement height SD of the bottom of each luggage W as an evaluation index. The lower the placement height SD of the bottom of each luggage W, the lower the placement of each luggage W. The evaluation function XE uses the center of gravity position SE of the entire luggage W as an evaluation index. The lower the height of the center of gravity position SE of the entire luggage W, the lower the risk of the loading object 12 tipping over. Therefore, it can be said that the loading object 12 has a more excellent stability. The evaluation function XF uses the volume ratio SF of the volume of the luggage Wb to be calculated to the volume of the luggage W with the largest volume among the luggage W not yet placed as an evaluation index. The larger the volume ratio SF, the larger the volume of the luggage W not yet placed is loaded onto the loading object 12, and the luggage W can be loaded with as few gaps as possible. Therefore, it can be said that the loading object 12 has a more excellent packing ability. The evaluation function XG uses the distance SG of the luggage Wb to the coordinate origin of the calculation as an evaluation index. The coordinate origin may be, for example, a point located at the far right of the bottom surface of the loading object 12 (the upper right of the bottom surface of the loading object 12 shown in FIG. 12). The coordinate origin may be a point located at the far left of the bottom surface of the loading object 12. The smaller the distance SG of the luggage Wb to be calculated from the coordinate origin, the closer the luggage W is to the set coordinate origin, and the luggage W can be loaded with as few gaps as possible. Therefore, it can be said that a package with excellent packing properties can be obtained.

[0049] The weighting coefficients LA to LG can be predetermined constants. For example, when the packing style places special importance on packing among the evaluation indices related to packing and stability, the weighting coefficients LF and LG can be set large, and the weighting coefficients LA to LE can be set relatively small. This allows the evaluation value Q to reflect the evaluation index related to packing to a greater extent. Note that the evaluation function for calculating the evaluation value Q is not limited to the above example, and the ease of handling and displaying at the delivery destination may be added as an evaluation function.

[0050] Next, the details of the loading order determination process in step S20 will be described with reference to Fig. 11. Fig. 11 is a flowchart showing the details of the loading order determination process. Here, the loading order determination unit 4 arbitrarily acquires luggage W to be judged from luggage W included in the packaging, and judges the luggage W to be judged against the stowage rules to determine the loading order of the luggage W one by one starting from the first one. However, the loading order determination process is not limited to that shown in Fig. 11, and the process contents may be changed as appropriate.

[0051] As shown in FIG. 11, first, the stowage order determination unit 4 executes step S100. In step S100, the determined packing style acquisition unit 8 acquires the packing style determined in the packing style determination process. For example, the determined packing style acquisition unit 8 acquires the packing style shown in FIG. 7(a). Next, the stowage order determination unit 4 executes step S110. In step S110, the determined packing style acquisition unit 8 acquires a stowage rule. Here, it is assumed that the stowage rule adopted has the following priority order: "give priority to the lower side in the height direction" as the first priority, "give priority to the right side in the width direction" as the second priority, and "give priority to the back side in the depth direction" as the third priority.

[0052] Next, the loading order determination unit 4 executes step S120. In step S120, the loading order calculation unit 9 acquires a baggage W to be determined from among a plurality of baggage W in different packing styles. When the packing style is determined, a provisional loading order is also set as shown in FIG. 7(a). Therefore, the loading order calculation unit 9 acquires the baggage W at the very front as the baggage W to be determined, among the baggage W whose order has not been determined, in the loading order determined in the order in which the baggage is arranged.

[0053] Next, the loading order determination unit 4 executes step S130. In step S130, the loading order calculation unit 9 checks the priority order of the baggage W to be judged according to the loading rule. Specifically, the loading order calculation unit 9 judges whether the baggage W to be judged is the one placed at the lowest position among the baggage W whose order has not been determined, according to the first priority order. If it is not the one placed at the lowest position, the loading order determination unit 4 changes the baggage W placed at the lowest position to the baggage W to be judged. If there are multiple baggage W placed at the lowest position, the loading order determination unit 4 sets these multiple baggage W to be judged. Next, the loading order calculation unit 9 judges whether the single or multiple baggage W to be judged is the one placed at the rightmost position among the baggage W whose order has not been determined, according to the second priority order. If it is not the one placed at the rightmost position, the loading order determination unit 4 changes the single or multiple baggage W placed at the rightmost position to be judged.

[0054] Next, the loading order calculation unit 9 judges whether the single or multiple luggage W to be judged is the luggage W whose order has not been determined according to the third priority order. If the luggage W is not the luggage W that is the innermost, the loading order determination unit 4 changes the luggage W that is the innermost to the luggage W to be judged. This allows the loading order determination unit 4 to narrow down the luggage W to be judged to one even if the luggage W to be judged has been changed. Note that, as shown in FIG. 7(a), the luggage W1 to be judged initially is the luggage W1 that is the lowest and innermost. In this case, the loading order determination unit 4 maintains the luggage W1 as the luggage W to be judged without changing the luggage W to be judged.

[0055] Next, the loading order determination unit 4 executes step S140. In step S140, the loading order calculation unit 9 checks the constraint conditions according to the loading rule for the baggage W to be judged. The loading order calculation unit 9 judges whether or not another baggage W exists on the rear side of the baggage W to be judged within the projection range PE (see FIG. 8). If no other baggage W exists within the projection range PE, the loading order determination unit 4 maintains the judgment target without changing it. On the other hand, if another baggage W exists in the projection range PE, the loading order determination unit 4 changes the judgment target to the other baggage W. For example, in FIG. 8, the heights of the baggage WX to be judged and the baggage WY are the same, or the baggage WX is lower than the baggage WY. Also, in FIG. 8, the baggage WX to be judged is arranged to the right of the baggage WY, so according to the second priority order, the baggage WX is loaded before the baggage WY. However, the loading order determination unit 4 changes the judgment target to the baggage WY on the rear side in step S140.

[0056] Next, the loading order determination unit 4 executes step S150. In step S150, the loading order calculation unit 9 determines the loading order of the baggage W set as the judgment target after performing the confirmation processes of steps S130 and S140. In the first step S150, the baggage W to be judged is determined to be first in the loading order, and in subsequent steps S150, the loading order is determined in ascending order.

[0057] Next, the loading order determination unit 4 executes step S160. In step S160, the loading order calculation unit 9 determines whether or not there is any baggage W whose loading order has not been determined. If it is determined that the loading order of all the baggage W has been determined, the process shown in FIG. 11 ends. If it is determined that there is any baggage W whose loading order has not been determined, the process is repeated from step S120.

[0058] FIG. 7 illustrates the packing style in conjunction with the flow chart of FIG. 11. In FIG. 7, the positional relationship in the width direction is omitted for ease of understanding. In the first step S120, the loading sequence calculation unit 9 determines the luggage W1 set first in the provisional loading sequence as the luggage W to be judged. The luggage W1 is placed at the lowest position and at the innermost position, and also satisfies the constraint conditions. Therefore, the loading sequence calculation unit 9 maintains the luggage W1 as the judgment target, and determines it as the first luggage in the loading sequence in step S160. In the second step S120, the loading sequence calculation unit 9 determines the luggage W2 set second in the provisional loading sequence as the luggage W to be judged. In the processing of steps S130 and S140, the luggage W1 that has already been determined is removed. The luggage W2 is placed at the lowest position. In addition, there is no luggage W placed further back than the luggage W2 other than the removed luggage W1. In addition, since the luggage W1 has been removed and no other luggage W exists within the projection range PE, luggage W2 also satisfies the constraint conditions. Therefore, the loading sequence calculation unit 9 keeps the judgment target at luggage W2 and determines luggage W2 to be number 2 in the loading sequence in the second step S160.

[0059] In the third step S120, the loading sequence calculation unit 9 sets the luggage W3, which is set to be third in the provisional loading sequence, as the luggage W to be judged (see FIG. 7(a)). In the processing of steps S130 and S140, the luggage W1 and W2 that have already been determined are removed. The luggage W3 is placed at the lowest position among the luggage W1 and W2. Therefore, in step S130, the loading sequence calculation unit 9 maintains the luggage W3 as the judgment target. However, other luggage W4 and W5 exist within the projection range PE of the luggage W3. Therefore, the loading sequence calculation unit 9 determines that the luggage W3 does not satisfy the constraint condition, and changes the luggage W5, which is placed at the innermost position among the other luggage W4 and W5, to the luggage W to be judged. In the third step S160, the loading sequence calculation unit 9 determines the luggage W5, which has been changed to the judgment target, to be third in the loading sequence (see FIG. 7(b)).

[0060] In step S120 for the fourth time, the loading sequence calculation unit 9 sets the luggage W3, which has been changed from the judgment target in the third time, as the luggage W to be judged (see FIG. 7(a)). In the processing of steps S130 and S140, the luggage W1, W2, and W5 that have already been determined are removed. However, another luggage W4 exists within the projection range PE of the luggage W3. Therefore, the loading sequence calculation unit 9 determines that the luggage W3 does not satisfy the constraint conditions, and changes the other luggage W4 to the judgment target. In step S160 for the fourth time, the loading sequence calculation unit 9 determines that the luggage W4, which has been changed to the judgment target, is the fourth luggage in the loading sequence (see FIG. 7(b)). In steps S120 to S150 for the fifth time, the luggage W3 is the only undetermined luggage W, so the loading sequence calculation unit 9 determines that the luggage W3 is the fifth luggage in the loading sequence (see FIG. 7(b)).

[0061] Next, the operation and effect of the stowage system 1 according to this embodiment will be described.

[0062] The loading system 1 according to this embodiment includes a side-loading type loading device 10 that loads luggage W sent from a supply position G by moving the luggage W laterally relative to a loading position H. Such a loading device 10 can efficiently load luggage W of a variety of sizes.

[0063] A loading system according to a comparative example will be described as a system including such a side-loading type loading device. For example, the loading system according to the comparative example calculates the packing style and the loading order for each target area as a simultaneous calculation process, with the upper surface of the dolly at the loading position and the upper surface of the luggage as the target area. For example, when the loading system according to the comparative example calculates the packing style with the upper surface of the luggage W1 at the bottom level shown in FIG. 7(a) as the target area, a constraint condition may be set that the luggage W does not protrude forward from the luggage W1. In this case, the loading system according to the comparative example cannot adopt the position of the luggage W4 shown by the solid line in FIG. 7(a), but adopts the position of the luggage W4 shown by the virtual line. However, such a packing style results in a large space being formed between the luggage W3 and the luggage W5, which reduces space efficiency (filling ability). In this way, the loading system according to the comparative example may not be able to load luggage in a suitable packing style.

[0064] In contrast, in the loading system 1 according to the present embodiment, the packing style determination unit 3 determines in advance the packing style of the luggage W at the loading position H. After the packing style is determined by the packing style determination unit 3, the loading order determination unit 4 determines the loading order of the luggage W in the determined packing style. In this way, the loading system 1 does not simultaneously perform the packing style determination by the packing style determination unit 3 and the loading order determination by the loading order determination unit 4, but can perform both as independent calculation processes. Therefore, first, the packing style determination unit 3 can determine a suitable packing style in advance by considering packing ability, stability, workability, etc., without once considering the priority order and constraint conditions associated with the loading order. For example, in FIG. 7(a), the packing style determination unit 3 can determine a suitable packing style in terms of packing ability, stability, workability, etc., by considering the entire calculation target area E. Therefore, the packing style determination unit 3 is able to adopt a packing style that places luggage W4 in the space between luggage W3 and luggage W5, allowing it to protrude slightly from the top surface of luggage W1 (for example, allowing it to protrude by one-third of the overall depth dimension).

[0065] In the next step, the loading order determination unit 4 can determine the loading order while taking into consideration the priority and constraints associated with the loading order in order to achieve loading in a suitable packing form. This allows the operation control unit 5 to control the operation of the loading device so as to achieve a suitable packing form while avoiding interference between the luggage W during loading. For example, as shown in FIG. 7(b), luggage W4 can be placed in the space between luggage W3 and luggage W5 while avoiding interference between the luggage W. As described above, the loading system 1 can load luggage W in a suitable packing form.

[0066] The loading order determination unit 4 determines the loading order according to a predetermined loading rule, and the loading rule may include a condition that, when another baggage W exists behind the baggage W to be determined within the projection range PE of the baggage W to be determined as viewed from the loading device 10, the loading order of the other baggage W is to be made before the baggage W to be determined. In this case, the loading order determination unit 4 can determine the loading order so that the baggage W at the back can be avoided from interfering with the baggage W at the front when loading the baggage W at the back.

[0067] The loading order determination unit 4 may adopt a loading rule that prioritizes loading of lower luggage W at the loading position H. In this case, the loading order determination unit 4 can determine a loading order that allows highly stable loading by completing loading from the lower positions and gradually loading luggage W at higher positions.

[0068] The loading order determination unit 4 may adopt a loading rule that prioritizes loading of luggage W at the back side at the loading position H. In this case, the loading order determination unit 4 can determine a loading order that allows optimal loading when loading needs to be completed from the back side.

[0069] The loading device 10 may include a base unit 20, a lifting unit 30 capable of raising and lowering relative to the base unit 20, a pair of forks 32 (support members) provided on the lifting unit 30 and supporting the underside of the luggage W sent from the supply position G, a gap adjustment mechanism 65 for adjusting the gap between the pair of forks 32 in accordance with the size of the luggage W, and an advancing / retreating mechanism 40 for advancing and retracting the pair of forks 32 relative to the loading position H. In this case, the loading device 10 can perform side loading with the gap between the luggage W reduced for each position of the loading position H.

[0070] The present invention is not limited to the above-described embodiments.

[0071] For example, in the above-mentioned embodiment, the side-stack type loading device shown in Figs. 2 to 5 is adopted. However, the specific configuration of the loading device is not particularly limited, and may be appropriately changed as long as it is capable of side stacking. For example, the loading device 10 shown in Figs. 13(a) and (b) may be adopted. In the example shown in Fig. 13(a), the loading device 10 has a vehicle-type loading robot 150. The loading robot 150 includes a vehicle body 151 and a conveying unit 152. The conveying unit 152 is provided on the upper part of the vehicle body 151 so as to extend in the front-rear direction of the vehicle. The conveying unit 152 includes a receiving unit 153 that receives the delivered baggage W at the rear end side, and a loading unit 154 that stacks the baggage W on the loading object 12 at the front end side.

[0072] 13(b), the loading device 10 has a robot hand type loading robot 160. The loading robot 160 includes a main body 161 placed on the ground, a plurality of articulated arms 163, and a loading unit 162 that grips and loads luggage W. The loading robot 160 grips luggage W delivered by a conveyor 164, and rotates the loading unit 162 to load the luggage W onto the loading object 12.

[0073] The evaluation method for determining the packing style and the stowage rules described in the above embodiment are merely examples and may be modified as appropriate depending on the application. [Explanation of symbols]

[0074] 1...loading system, 3...packing style determination section, 4...loading order determination section, 5...operation control section, 10...loading device, 20...base section, 30...lifting section, 32...fork (support member), 40...advance and retreat mechanism, 65...spacing adjustment mechanism.

Claims

1. a side-stowage-type loading device that is installed between a supply position where cargo is fed and a loading position where the cargo is loaded, and that loads the cargo fed from the supply position by moving the cargo laterally relative to the loading position; A packing style determination unit that determines in advance the packing style of the luggage at the stowage position; a loading order determination unit that determines a loading order of the luggage in the determined packing style after the packing style is determined by the packing style determination unit; an operation control unit that controls an operation of the loading device so as to load the luggage in the loading order determined by the loading order determination unit, The stowage sequence determination unit comprises: determining the loading sequence in accordance with a predetermined loading rule; A loading system, wherein the loading rule has a condition that if there is another piece of luggage that is located further back than the luggage being determined within the projection range of the luggage being determined as viewed from the loading device, the loading order of the other piece of luggage is to be given precedence over the luggage being determined.

2. 2. The cargo loading system according to claim 1, wherein the stowage order determination unit adopts the stowage rule that gives priority to loading cargo that is lower at the stowage position.

3. 2. The cargo loading system according to claim 1, wherein the stowage order determination unit adopts the stowage rule that prioritizes loading of cargo at a rear end of the stowage position.

4. The loading device comprises: A base portion; A lifting unit capable of lifting and lowering relative to the base unit; a pair of support members provided in the lifting section for supporting a lower surface of the baggage fed from the supply position; a gap adjustment mechanism for adjusting the gap between the pair of support members in accordance with the size of the luggage; The loading system according to any one of claims 1 to 3, further comprising: an advancing / retreating mechanism for advancing and retracting the pair of support members relative to the stowage position.

Images