Palletizing pattern creation system, palletizing pattern creation method and program

Abstract

To provide a palletizing pattern creation system etc. that enables a user to set a palletizing pattern for work with a high degree of freedom. [Solution] The processor 23 is configured to execute the following steps by reading out a program. In a first reception step, input of palletizing information including at least one of the size of the workpieces to be placed in the placement area and the size of the placement area is accepted. In a layout creation step, a plurality of layout plans are created using a plurality of pre-registered arrangement patterns based on the palletizing information. Each of the plurality of arrangement patterns is a two-dimensional arrangement of the workpieces. In a second reception step, selection of a set layout for each stowage layer is accepted from the plurality of layout plans. In a stowage pattern creation step, a three-dimensional stowage pattern of the workpieces is created by combining the set layouts selected for each layer.

Description

[Technical field]

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

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

[0003] [Patent Document 1] JP 2009-70078 A Summary of the Invention [Problem to be solved by the invention]

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

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

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

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

[0008] [Figure 1] FIG. 1 is a configuration diagram illustrating a palletizing pattern creation system 1. [Diagram 2] 2 is a block diagram showing the hardware configuration of a server device 2 and a user terminal 3, and the functions realized by the server device 2 (processor 23). FIG. [Diagram 3] FIG. 13 is a schematic diagram showing an example of an arrangement pattern. [Figure 4] 11 is a flowchart showing an example of the flow of a layout plan creation process executed by a layout creation unit 233. FIG. [Diagram 5] FIG. 13 is a flowchart showing another example of the flow of the layout plan creation process executed by the layout creation unit 233. [Figure 6] 1 is a flow chart showing an example of the flow of a layout plan creation process executed by a layout creation unit 233, and a flow chart showing an example of the flow of a stowage pattern creation process executed by a processor 23. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Various features shown in the following embodiments can be combined with each other.

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

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

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

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

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

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

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

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

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

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

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

[0021] <User terminal 3> 2B, the user terminal 3 includes a communication bus 30, a communication unit 31, a storage unit 32, a processor 33, a display unit 34, and an input unit 35. The communication unit 31, the storage unit 32, the processor 33, the display unit 34, and the input unit 35 are electrically connected via the communication bus 30 inside the user terminal 3. Descriptions of the communication unit 31, the storage unit 32, and the processor 33 will be omitted because they are similar to the descriptions of the respective units in the server device 2.

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

[0023] <Input section 35> The input unit 35 accepts an operation input made by a user. The operation input is transferred as a command signal to the processor 33 via the communication bus 30. The processor 33 may execute a predetermined control or calculation based on the transferred command signal as necessary. The input unit 35 may be included in the housing of the user terminal 3, or may be externally attached. For example, the input unit 35 may be implemented as a touch panel integrated with the display unit 34. When the input unit 35 is implemented as a touch panel, the user can input a tap operation, a swipe operation, or the like to the input unit 35. As the input unit 35, a switch button, a mouse, a track pad, a QWERTY keyboard, or the like can be adopted instead of a touch panel.

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

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

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

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

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

[0029] The first reception unit 232 may receive an input of an allowable gap between the workpieces as the palletizing information. This increases the degree of freedom in setting the stowage pattern, and increases the feasibility of stacking the workpieces according to the set stowage pattern. The first reception unit 232 may further receive an input of the weight of the workpieces, the orientation of the workpieces (the side to which the label is attached), the interval between the workpieces, the height (thickness) of the pallet, and the like as the palletizing information.

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

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

[0032] Fig. 3 is a schematic diagram showing an example of an arrangement pattern. Figs. 3A and 3B are examples of pinhole stacking. Pinhole stacking is a method of arranging works in a circumferential manner so as to create a gap (hole) in the center. Fig. 3C is an example of a modified pinhole stacking (block pinhole stacking) in which works are arranged double, inside and outside, surrounding the gap. Fig. 3D is an example of a modified pinhole stacking (double pinhole stacking) in which two gaps are created.

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

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

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

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

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

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

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

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

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

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

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

[0044] In this embodiment, in determining whether a certain arrangement pattern can be configured, consideration may be given to whether the conditions for the orientation of the workpieces can be satisfied (for example, whether the labels can be arranged facing outward). In addition, if a gap tolerance is input, it is determined whether the works can be arranged so that the gap between the works is equal to or smaller than the tolerance.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0060] Although the embodiment of the present invention has been described above, the present invention is not limited to this, and can be modified as appropriate without departing from the technical concept of the invention.

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

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

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

[0064] It may be provided in any of the following ways:

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

[0066] (2) A palletizing pattern creation system according to the above (1), wherein the multiple arrangement patterns include at least two of pinhole laying, window laying, brick laying, and block laying.

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

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

[0069] Finally, although various embodiments according to the present disclosure have been described, these are presented as examples and are not intended to limit the scope of the invention. The novel embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The embodiments and their modifications are included within the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

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

Claims

1. A palletizing pattern creation system, comprising: At least one processor; The processor is configured to execute the following steps by reading the program: In the first receiving step, an input of palletizing information including at least one of a size of a workpiece to be placed in the placement area and a size of the placement area, and an allowable value of a gap between the workpieces is received; In the layout creation step, a plurality of layout plans are created using a plurality of arrangement patterns registered in advance based on the palletizing information, and each of the plurality of arrangement patterns is a planar arrangement of the workpieces, In a second reception step, a selection of a set layout for each stacking layer is received from the plurality of layout plans; In a stowage pattern creation step, a palletizing pattern creation system creates a three-dimensional stowage pattern of the workpieces by combining the setting layouts selected for each layer.

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

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

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

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