Transfer System, Control Method of Transfer System, and Control Program

Abstract

To improve transfer efficiency of a transfer system.SOLUTION: When a first detection part (201) detects an article (2) being lifted to a level exceeding a first height (H1), a transfer system (1) moves a picking head (12a) to a second transfer position (P2) side and transports a first container (17) in which a new article (2) is stored to a first transfer position (P1).SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a transfer system for articles in logistics.

Background Art

[0002] Conventionally, in a logistics warehouse or the like, a picking device (transfer unit) such as a robot arm is used to efficiently sort a large variety and quantity of articles into shipping containers by destination. In relation to this type of picking device, Patent Document 1 discloses a unloading device that uses a moving device (picking device) to unload the goods loaded on a loading platform (first transfer position) to an unloading position (second transfer position).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology as described above, when transferring goods from the loading platform to the unloading position, after the goods held by the moving device are transferred to the unloading position, the loading platform is raised to a predetermined position by the loading platform elevator so that the next goods can be held. For this reason, it takes time from when the goods are held by the moving device from the loading platform until the next goods can be held, and the transfer efficiency decreases.

[0005] One aspect of the present invention aims to realize a transfer system that improves transfer efficiency.

Means for Solving the Problems

[0006] To solve the above problems, a transfer system according to an aspect of the present invention includes a first transfer unit that conveys an article to a first transfer position, a holding unit that holds the article, and transfers the article conveyed to the first transfer position to a second transfer position. A transfer unit, a first detection unit that detects that the article held by the holding unit has been lifted beyond a first height from the first transfer position, and when the first detection unit detects that the article has been lifted beyond the first height, the holding unit is driven and controlled to move toward the second transfer position side, and a control unit that controls the first transfer unit to convey a new article to the first transfer position.

[0007] To solve the above problems, a control method for a transfer system according to an aspect of the present invention is a control method for a transfer system including a transfer unit that conveys an article to a first transfer position, and a holding unit that holds the article, and a transfer unit that transfers the article conveyed to the first transfer position to a second transfer position, the method comprising: a detection step of detecting that the article held by the holding unit has been lifted beyond a first height from the first transfer position; and a control step of driving and controlling the holding unit to move toward the second transfer position side and controlling the transfer unit to convey a new article to the first transfer position when it is detected in the detection step that the article has been lifted beyond the first height.

Advantages of the Invention

[0008] According to one aspect of the present invention, it is possible to shorten the time from when an article is held at the first transfer position until a new article becomes transferable at the first transfer position, and improve the transfer efficiency. is.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0010] Hereinafter, an embodiment of the present invention will be described in detail. In the following description, a configuration example of a transfer system for transferring an article from a first container to a second container will be described. However, the following description is an example of the transfer system according to the present invention, and the technical scope of the present invention is not limited to the illustrated example.

[0011] 〔Outline of Transfer System〕 First, the outline of the transfer system 1 will be described with reference to FIGS. 1 and 2. FIG. 1 is a perspective view showing the outline of the transfer system 1 according to the present embodiment. FIG. 2 is a plan view showing the outline of the transfer system 1. The transfer system 1 is for transferring the article 2 in a logistics warehouse or the like. As shown in FIGS. 1 and 2, the transfer system 1 of the present embodiment includes a transport unit 11, a transfer unit 12, a camera unit 13, a support frame 14, a control unit 15, and a terminal unit 16.

[0012] (Transport Unit) The transport unit 11 transports the first container 17 and the second container 18 that accommodate the article 2 in the Y direction (front-rear direction). Specifically, the transport unit 11 includes loading conveyors 11a and 11b provided on the lower side in the Z direction, and unloading conveyors 11c and 11d provided on the upper side in the Z direction. The first container 17 and the second container 18 are respectively transported to the front side in the Y direction by the loading conveyors 11a and 11b. Also, the first container 17 and the second container 18 are respectively transported to the rear side in the Y direction by the unloading conveyors 11c and 11d.

[0013] Further, the conveyance unit 11 includes a movement mechanism 11e and a housing 11f. The movement mechanism 11e sequentially moves the first container 17 from the loading conveyor 11a to the first transfer position P1, and sequentially moves the second container 18 from the loading conveyor 11b to the second transfer position P2. Also, the movement mechanism 11e sequentially moves the first container 17 arranged at the first transfer position P1 to the unloading conveyor 11c, and sequentially moves the second container 18 arranged at the second transfer position P2 to the unloading conveyor 11d. The housing 11f houses the movement mechanism 11e.

[0014] The loading conveyor 11a, the movement mechanism 11e, and the unloading conveyor 11c constitute a first conveyance unit 11A that performs loading and unloading of the first container 17 with respect to the first transfer position P1. Also, the loading conveyor 11b, the movement mechanism 11e, and the unloading conveyor 11d constitute a second conveyance unit 11B that performs loading and unloading of the second container 18 with respect to the second transfer position P2.

[0015] (Transfer unit) The transfer unit 12 is installed on the front end side (one end side) in the Y direction of the conveyance unit 11, holds the article 2 accommodated in the first container 17 arranged at the first transfer position P1, and transfers it to the second container 18 arranged at the second transfer position P2. The transfer unit 12 is installed above the movement mechanism 11e and the housing 11f of the conveyance unit 11 in the Z direction by a gantry or the like (not shown).

[0016] The transfer unit 12 includes a picking head (holding unit) 12a that holds the article 2, and a drive unit 12b that moves the picking head 12a up and down in the Z direction and moves the picking head 12a in two directions in the X direction and the Y direction in a plan view. The picking head 12a is composed of, for example, one or more suction pads that suck the article 2. The picking head 12a sucks the article 2 accommodated in the first container 17 from above and holds the article 2 in a suspended state.

[0017] The driving unit 12b includes a fixed rail 12c, a first movable rail 12d, a second movable rail 12e, and a support arm 12f. The fixed rail 12c is installed along the X direction. The first movable rail 12d is installed along the Z direction and reciprocates in the X direction along the fixed rail 12c. The second movable rail 12e is installed along the Y direction and reciprocates in the Z direction along the first movable rail 12d.

[0018] The support arm 12f is installed along the Z direction and reciprocates in the Y direction along the second movable rail 12e. Further, a picking head 12a is attached to the lower side of the support arm 12f in the Z direction. Thereby, the transfer unit 12 can reciprocate the picking head 12a in three directions of XYZ by controlling the operation of the driving unit 12b.

[0019] Compared with a transfer unit such as a 6-axis robot, the transfer unit 12 has a simple structure and is easily adaptable to a multi-row conveyor layout. Therefore, by using the transfer unit 12, the degree of freedom in the layout design of the transfer system 1 is improved.

[0020] (Camera unit) The camera unit 13 is disposed above the transfer unit 12 and captures an article 2 to create a captured image. The camera unit 13 includes a first camera 13a and a second camera 13b. The first camera 13a captures one or more articles 2 accommodated in the first container 17 by capturing the first container 17 disposed at the first transfer position P1. The second camera 13b captures one or more articles 2 accommodated in the second container 18 by capturing the second container 18 disposed at the second transfer position P2. Note that the camera unit 13 may include a light or the like, and the first camera 13a and the second camera 13b may capture the article 2 in a state illuminated with a predetermined illuminance by a light or the like.

[0021] (Support frame) The support frame 14 is a frame that supports the camera unit 13. The support frame 14 includes support portions 14a·14a that are respectively installed adjacent to the transfer unit 12 in the X direction (left - right direction, second direction) orthogonal to the Y direction in a plan view, and beam members 14b·14b that are installed between the support portions 14a·14a. At appropriate positions on the beam member 14b on the front side in the Y direction, the first camera 13a and the second camera 13b are installed. Note that the beam member 14b may be one, or three or more.

[0022] Each of the support portions 14a·14a includes two column members 14c·14d, a girder member 14e, and a reinforcing member 14f. The column members 14c·14d are arranged in the Y direction and are fixed to the installation location of the transfer system 1 by fixing members 14g·14h. The girder member 14e and the reinforcing member 14f are installed between the column members 14c·14d.

[0023] Note that the beam members 14b·14b may be installed on the girder member 14e or on the column members 14c·14d. Also, the reinforcing member 14f may be two or more, or may be omitted. Further, when each of the support portions 14a·14a is erected by four or more column members, the beam members 14b·14b may be omitted. In this case, the first camera 13a and the second camera 13b may be respectively installed at appropriate positions on the support portions 14a·14a.

[0024] (Control unit and terminal unit) The control unit 15 controls each part in the transfer system 1 and is constituted by, for example, a computer including a CPU (Central Processing Unit) and a memory. And the operation control of various configurations is performed by causing the computer to execute a control program. Note that the details of the control unit 15 will be described later.

[0025] The terminal unit 16 is for the operator S (Fig. 2) to operate the transfer system 1. The terminal unit 16 has an input unit 16a such as a keyboard, a touch panel, and a joystick, and a display unit 16b for displaying predetermined information. These control unit 15 and terminal unit 16 are an example of the control devices of the transfer system 1, and are installed outside the front guard unit 24 described later and on the side (front side in the Y direction) opposite to the side where the transfer unit 12 is provided with respect to the work area 25.

[0026] Specifically, the control unit 15 is connected to the conveyance unit 11, the transfer unit 12, the camera unit 13, and the terminal unit 16 via electrical wirings (not shown). The control unit 15 acquires predetermined information such as the operating state from the conveyance unit 11 and the transfer unit 12 respectively, and outputs predetermined command signals such as instruction signals to the conveyance unit 11 and the transfer unit 12 respectively. The control unit 15 outputs predetermined instruction signals such as on / off signals to the first camera 13a and the second camera 13b of the camera unit 13 respectively, and acquires imaging data from the first camera 13a and the second camera 13b respectively. The control unit 15 receives instruction signals etc. corresponding to the operation of the operator S from the terminal unit 16, and transmits the information acquired from the conveyance unit 11, the transfer unit 12, and the camera unit 13 to the terminal unit 16.

[0027] (Guard) In the transfer system 1 of the present embodiment, the transfer unit 12 performs an operation of reciprocating the picking head 12a in three directions of XYZ. Therefore, as shown in Figs. 1 and 2, a guard is provided around the transfer unit 12 to greatly reduce the possibility of the operator S etc. coming into contact with the transfer unit 12 from the viewpoint of safety. Specifically, in the present embodiment, as the guard, a lateral guard unit 21, a front guard unit 24, and a rear guard unit 41 are sequentially provided from the control device side toward the rear in the Y direction.

[0028] (Lateral Guard Unit) As shown in FIGS. 1 and 2, each of the support portions 14a, 14a includes a horizontal guard portion 21 that partitions the transfer portion 12 from its outside in the X direction. The horizontal guard portion 21 includes a transparent plate 22 and a frame member 23 that holds the transparent plate 22. As a result, it is possible to prevent a person including the operator S from entering from the X direction and contacting the transfer portion 12, and as a result, the safety of the transfer system 1 can be improved.

[0029] Furthermore, since each of the support portions 14a, 14a is provided with the horizontal guard portion 21, there is no need to newly provide a guard portion that partitions the transfer portion 12 from its outside in the X direction outside the support portions 14a, 14a in the X direction. As a result, the space saving of the transfer system 1 can be achieved.

[0030] By the way, since the two support portions 14a, 14a are installed adjacent to the transfer portion 12 in the X direction, they are also adjacent to the housing 11f of the transport portion 11 located below the transfer portion 12 in the Z direction. Therefore, in the present embodiment, in the lower region of the support portion 14a, that is, in the region facing the housing 11f, the horizontal guard portion 21 is omitted. As a result, the area where the horizontal guard portion 21 is provided can be reduced. On the other hand, the operator S entering from below the support portion 14a and contacting the transfer portion 12 can be prevented by the housing 11f. That is, in the lower region of the support portion 14a, the housing 11f serves as a partition between the transfer portion 12 and its outside in the X direction.

[0031] (Front guard portion) As shown in FIGS. 1 and 2, in the transfer system 1, a front guard portion 24 is provided so as to partition a work area 25 set on the side opposite to the transport portion 11 with respect to the transfer portion 12 in a plan view from its outside. The front guard portion 24 is connected to the two support portions 14a, 14a.

[0032] The work area 25 is a space for manual transfer where the worker S holds the article 2 and performs the transfer. That is, the transfer system 1 of the present embodiment can perform both automatic transfer in which the transfer unit 12 holds the article 2 and automatically transfers it, and manual transfer in which the worker S enters the work area 25, holds the article 2, and transfers it. Further, the front guard portion 24 is provided adjacent to the work area 25 around the work area 25.

[0033] Specifically, the front guard portion 24 includes a plurality of fixed guard portions 26 and a movable guard portion 27 connected together. The fixed guard portion 26 includes a transparent plate 31 and a frame member 32 that holds the transparent plate 31. The lower corner portion of the frame member 32 in the Z direction is fixed to the installation location of the transfer system 1 by a fixing member 26a. Further, the fixed guard portions 26·26 on the rear side in the Y direction are respectively connected to the front side in the Y direction of the support portions 14a·14a.

[0034] The movable guard portion 27 constitutes an entrance / exit door for the worker S to the work area 25, and includes a fixing frame member 33 and a movable member 34 provided within the fixing frame member 33. The lower corner portion of the fixing frame member 33 in the Z direction is fixed to the installation location of the transfer system 1 by a fixing member 33a. The movable member 34 is rotatably provided with respect to the fixing frame member 33 via a hinge member (not shown) or the like. The movable member 34 includes a transparent plate 35 and a frame member 36 that holds the transparent plate 35.

[0035] As described above, it is possible to prevent a person including the worker S from inadvertently entering the work area 25 and coming into contact with the transfer unit 12. As a result, the safety of the transfer system 1 can be improved. Further, since the front guard portion 24 is provided adjacent to the work area 25, it is possible to suppress an increase in the installation space of the transfer system 1 due to the provision of the front guard portion 24.

[0036] In addition, when the transfer system 1 is only capable of automatic transfer, the work area 25 may be set as a monitoring area for a monitor to monitor the transfer unit 12. Alternatively, the work area 25 may be omitted. At this time, the front guard portion 24 may be provided adjacent to the transfer unit 12 on the front side in the Y direction of the transfer unit 12.

[0037] (Rear guard portion) As shown in FIGS. 1 and 2, the transfer system 1 is provided with rear guard portions 41·41 that are adjacent to the front end of the transport unit 11 in the X direction and partition the front end and the outside in the X direction thereof. The rear guard portion 41 includes a transparent plate 42 and a frame member 43 that holds the transparent plate 42. The front sides in the Y direction of the rear guard portions 41·41 are respectively connected (joined) to the rear sides in the Y direction of the support portions 14a·14a. Further, the lower corners in the Z direction of the frame member 43 are fixed to the installation location of the transfer system 1 by fixing members 43a. Furthermore, reinforcing members 44·45 are provided between the rear guard portions 41·41.

[0038] This can prevent a person including the operator S from entering from the transport unit 11 and coming into contact with the transfer unit 12, and as a result, the safety of the transfer system 1 can be improved. In addition, since the rear guard portion 41 is provided adjacent to the transport unit 11, an increase in the installation space of the transfer system 1 due to the provision of the rear guard portion 41 can be suppressed.

[0039] Also, in the front guard portion 24, the side guard portion 21, and the rear guard portion 41 of the present embodiment, transparent plates 22·31·35·42 are provided as substantial guards. Thereby, in the present embodiment, the operator S of the transfer system 1 can monitor the transport unit 11 and the transfer unit 12 from the outside of the transfer system 1 as a monitor. Note that instead of the transparent plates 22·31·35·42, guards having other shapes such as fences and nets may be used.

[0040] [Control block of transfer system 1] FIG. 3 is a functional block diagram showing an overview of the transfer system 1 of the present embodiment. As described above, the transfer system 1 includes a transport unit 11 (first transport unit 11A and second transport unit 11B), a transfer unit 12, a control unit 15, and a terminal unit 16, and the transfer unit 12 transfers the article 2 in the first container 17 to the second container 18. As shown in FIG. 3, this transfer system 1 further includes a first detection unit 201 installed to detect obstacles on the first container 17 and a second detection unit 202 installed to detect obstacles on the second container 18. The first detection unit 201 and the second detection unit 202 are detection devices constituted by, for example, a line sensor or the like.

[0041] The first detection unit 201 detects that the article 2 accommodated in the first container 17 has been lifted by the picking head 12a beyond a predetermined height. Further, the second detection unit 202 detects that the picking head 12a has risen beyond a predetermined height after the article 2 has been placed on the second container 18. The control unit 15 performs transport control of the transport unit 11 and transfer control of the transfer unit 12 based on the detection results of these first detection unit 201 and second detection unit 202.

[0042] 〔Control in the transfer system 1〕 (Area detection in the transfer system 1) FIG. 4 is a diagram for explaining the flow of the transfer operation of the article 2. First, based on FIG. 4, the area detection in the transfer system 1 will be described. As shown by reference numeral 1041 in FIG. 4, the first detection unit 201 is installed so as to detect an area at a predetermined height from the upper surface of the first container 17 disposed at the first transfer position P1. In the illustrated example, the first detection unit 201 detects an area at the first height H1 from the mounting table 113 (FIG. 5) of the first transfer unit 11A on which the first container 17 is mounted at the first transfer position P1. Further, the second detection unit 202 is installed so as to detect an area at a predetermined height from the upper surface of the second container 18 disposed at the second transfer position P2. In the illustrated example, the second detection unit 202 detects an area at the second height H2 from the mounting table 113 (FIG. 5) of the second transfer unit 11B on which the second container 18 is mounted at the second transfer position P2. In the present embodiment, the first height H1 and the second height H2 are set to the same height.

[0043] Also, a wall portion 401 having a predetermined height is provided between the first transfer position P1 and the second transfer position P2. The wall portion 401 is set to be slightly higher than the first height H1 and the second height H2, and separates the first transfer position P1 and the second transfer position P2 so that the area detection by the first detection unit 201 and the area detection by the second detection unit 202 do not interfere with each other.

[0044] Note that, as shown by reference numeral 1041 in FIG. 4, the first height H1 detected by the first detection unit 201 is set above the height H3 of the first container 17 in a state where the first container 17 is disposed at the first transfer position P1. In this way, by setting the first height H1 above the height H3 of the first container 17, it is possible to avoid the article 2 from contacting the first container 17 when the picking head 12a moves to the second transfer position P2 side. Similarly, the second height H2 detected by the second detection unit 202 is set above the height H4 of the second container 18 in a state where the second container 18 is disposed at the second transfer position P2. In this way, by setting the second height H2 above the height H4 of the second container 18, it is possible to avoid the tip of the picking head 12a from contacting the second container 18 when the picking head 12a moves to the first container 17 side.

[0045] (Operation of Transfer System 1) Next, based on FIG. 4, the operation flow of the transfer system 1 will be described. As shown by reference numeral 1041 in FIG. 4, when the control unit 15 executes the transfer operation, it controls the drive unit 12b to hold the article 2 accommodated in the first container 17 with the picking head 12a and lift it upward in the Z direction.

[0046] Here, when replacing the first container 17 during the transfer operation, the control unit 15 controls both the transfer unit 12 and the first transport unit 11A based on the detection result by the first detection unit 201. Specifically, when the first detection unit 201 detects that the article 2 has been lifted beyond the first height H1 by the picking head 12a (detection step), the control unit 15 drives and controls the transfer unit 12 so that the picking head 12a moves to the right side in the X direction, that is, the second transfer position P2 side, and controls the first transport unit 11A to transport the next first container 17 containing a new article 2 to the first transfer position P1 (control step).

[0047] Thus, when the article 2 is lifted beyond the first height H1 by the picking head 12a, the control unit 15 immediately starts the control to move the picking head 12a to the second transfer position P2 side and the control to transport the next first container 17 to the first transfer position P1. Therefore, for example, compared with the case where the control to transport the next first container 17 to the first transfer position P1 is started after the article 2 held by the picking head 12a has moved from the first transfer position P1 to the second transfer position P2, that is, after the article 2 no longer exists above the first container 17, the time until the next first container 17 is transported to the first transfer position P1 can be shortened.

[0048] Therefore, by starting the transport control to replace the first container 17 triggered by the article 2 being lifted beyond the first height H1 by the picking head 12a, the transfer efficiency of the transfer system 1 can be improved.

[0049] Next, as shown by reference numeral 1042 in FIG. 4, the control unit 15 controls the drive unit 12b to place the article 2 in the second container 18. Specifically, the drive unit 12b stops the picking head 12a above the second transfer position P2, that is, above the second container 18, and lowers the picking head 12a. Then, when the picking head 12a reaches near the bottom surface of the second container 18, the drive unit 12b stops the descent and ends the adsorption of the article by the picking head 12a. As a result, the article 2 is released from the picking head 12a and placed in the second container 18.

[0050] Next, as shown by reference numeral 1043 in FIG. 4, the control unit 15 controls the drive unit 12b to move the picking head 12a toward the first container 17. Specifically, the drive unit 12b raises the picking head 12a beyond the second height H2 and then moves the picking head 12a to the left in the X direction.

[0051] Here, when replacing the second container 18 during the transfer operation, the control unit 15 controls both the transfer unit 12 and the second transport unit 11B based on the detection result by the second detection unit 202. Specifically, when the second detection unit 202 detects that the tip of the picking head 12a has risen beyond the second height H2, the control unit 15 drives and controls the transfer unit 12 so that the picking head 12a moves to the left in the X direction, that is, toward the first transfer position P1, and controls the second transport unit 11B to transport the next second container 18 to the second transfer position P2.

[0052] In this way, when the tip of the picking head 12a rises beyond the second height H2, the control unit 15 immediately starts the control to move the picking head 12a toward the first transfer position P1 and the control to transport the next second container 18 to the second transfer position P2. Therefore, for example, compared with the case where the control to transport the next second container 18 to the second transfer position P2 is started after the picking head 12a moves from the second transfer position P2 to the first transfer position P1, that is, after the picking head 12a no longer exists above the second container 18, the time until the next second container 18 is transported to the second transfer position P2 can be shortened.

[0053] Therefore, by starting the transfer control to replace the second container 18 triggered by the tip of the picking head 12a rising beyond the second height H2, the transfer efficiency of the transfer system 1 can be improved.

[0054] 〔Details of the first height H1 and the second height H2〕 Next, based on FIG. 5, the details of the first height H1 and the second height H2 will be described. FIG. 5 is a diagram showing a configuration example of the moving mechanism 11e of the first transfer unit 11A. Note that the configuration of the moving mechanism 11e is common to the first transfer unit 11A and the second transfer unit 11B. For this reason, hereinafter, a configuration example of the moving mechanism 11e of the first transfer unit 11A will be described, and the description of the moving mechanism 11e of the second transfer unit 11B will be omitted.

[0055] As shown by reference numeral 1051 in FIG. 5, the moving mechanism 11e that moves the first container 17 to the first transfer position P1 includes a rotating shaft 111 extending in the Y direction and a support member 112 connected to the rotating shaft 111 and radially extending in three directions perpendicular to the Y direction. A mounting table 113 for mounting the first container 17 is rotatably provided at an end 112a of the support member 112 opposite to the rotating shaft 111. When the first container 17 is carried onto the mounting table 113 by the loading conveyor 11a, the moving mechanism 11e rotates the support member 112 (counterclockwise in the figure) to move and stop the first container 17 mounted on the mounting table 113 from the loading conveyor 11a to the first transfer position P1. After that, when replacing the first container 17, the moving mechanism 11e further rotates the support member 112 to move the first container 17 mounted on the mounting table 113 from the first transfer position P1 to the unloading conveyor 11c.

[0056] Here, the first transfer position P1 is set at a height (for example, the intermediate height) between the loading conveyor 11a and the unloading conveyor 11c of the first transfer unit 11A. Therefore, when the first container 17 is transferred to the first transfer position P1, the first container 17 is lifted by the transfer mechanism 11e from the loading conveyor 11a to the first transfer position P1. Also, when the first container 17 is unloaded from the first transfer position P1, the first container 17 is further lifted from the first transfer position P1 by the transfer mechanism 11e and delivered to the unloading conveyor 11c. At this time, the locus described by the first container 17 when moving from the first transfer position P1 to the unloading conveyor 11c is an arc as shown by reference numeral 1052 in FIG. 5, for example.

[0057] Therefore, it is preferable that the first height H1 detected by the first detection unit 201 described above is set in consideration of the locus described when the first container 17 moves from the first transfer position P1 to the unloading conveyor 11c. Specifically, as shown by reference numeral 1052 in FIG. 5, the first height H1 is preferably set higher than the highest position among the loci described by the uppermost end of the first container 17 when the first container 17 arranged at the first transfer position P1 is unloaded from the first transfer position P1 by the first transfer unit 11A.

[0058] In this way, by setting the first height H1 detected by the first detection unit 201 higher than the highest position among the said loci, when the first container 17 is replaced by the first transfer unit 11A, it is possible to avoid the article 2 lifted beyond the first height H1 by the picking head 12a from coming into contact with the first container 17 being transferred from the first transfer position P1.

[0059] Similarly, the second height H2 is preferably set higher than the highest position among the trajectories (arcs) drawn by the uppermost end of the second container 18 when the second container 18 arranged at the second transfer position P2 is carried out from the second transfer position P2 by the second transfer unit 11B. Thereby, when replacing the second container 18 by the second transfer unit 11B, it is possible to avoid the tip of the picking head 12a that has risen beyond the second height H2 from contacting the second container 18 being conveyed from the second transfer position P2.

[0060] Note that the first height H1 and the second height H2 can be changed as appropriate. The first height H1 and the second height H2 can be appropriately adjusted according to, for example, the height H3 of the first container 17 and the height H4 of the second container 18 to be used, the trajectories when the above-described first container 17 and second container 18 are carried out, and the like. Further, the first height H1 and the second height H2 may be set individually, may be the same height, or may be different heights.

[0061] 〔Operation and effect of transfer system 1〕 As described above, the transfer system 1 of the present embodiment includes a first transfer unit 11A that transfers the article 2 to the first transfer position P1, a picking head 12a that holds the article 2, and transfers the article 2 conveyed to the first transfer position P1 to the second transfer position P2. A transfer unit 12, a first detection unit 201 that detects that the article 2 held by the picking head 12a has been lifted beyond the first height H1 from the first transfer position P1, and when the first detection unit 201 detects that the article 2 has been lifted beyond the first height H1, the picking head 12a is driven and controlled to move toward the second transfer position P2 side, and a control unit 15 that controls the first transfer unit 11A to convey a new article 2 to the first transfer position P1.

[0062] In the transfer system 1, when the article 2 is lifted by the picking head 12a beyond the first height H1, control for conveying a new article 2 to the first transfer position P1 is started. For this reason, compared with the case where control for conveying a new article 2 to the first transfer position P1 is started after the article 2 held by the picking head 12a is transferred to the second transfer position P2, the time until the new article 2 is conveyed to the first transfer position P1 can be shortened, and the transfer efficiency can be improved.

[0063] 〔Example of implementation by software〕 The functions of the transfer system 1 (hereinafter referred to as the "device") can be realized by a program for causing a computer to function as the device, and by a program for causing a computer to function as each control block of the device (particularly each part included in the control unit 15).

[0064] In this case, the device includes a computer having at least one control device (for example, a processor) and at least one storage device (for example, a memory) as hardware for executing the program. By executing the program with this control device and storage device, each function described in the above embodiment is realized.

[0065] The program may be recorded on one or more computer-readable recording media, not temporarily. This recording medium may or may not be provided in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0066] Also, part or all of the functions of each control block can be realized by a logic circuit. For example, an integrated circuit in which a logic circuit functioning as each control block is formed is also included in the scope of the present invention. In addition to this, for example, it is also possible to realize the functions of each control block by a quantum computer.

[0067] Also, each process described in the above embodiment may be executed by AI (Artificial Intelligence). In this case, the AI may operate in the control device, or may operate in another device (for example, an edge computer or a cloud server, etc.).

[0068] 〔Summary〕 The transfer system according to Aspect 1 of the present invention includes a first transfer unit that transfers an article to a first transfer position, a holding unit that holds the article, a transfer unit that transfers the article transferred to the first transfer position to a second transfer position, a first detection unit that detects that the article held by the holding unit is lifted beyond a first height, and when the first detection unit detects that the article is lifted beyond the first height, a control unit that drives and controls the holding unit to move toward the second transfer position side and controls the first transfer unit to transfer a new article to the first transfer position.

[0069] Thereby, when the article is lifted beyond the first height by the holding unit, a new article is transferred to the first transfer position. Therefore, after the article held by the holding unit is transferred to the second transfer position, compared with the case of transferring a new article to the first transfer position, the time until the new article is transferred to the first transfer position can be shortened.

[0070] The transfer system according to Aspect 2 of the present invention is, in the above Aspect 1, the article is transferred to the first transfer position by the first transfer unit in a state of being housed in a first container, and the first height is set above the height of the first container in a state where the first container is disposed at the first transfer position.

[0071] Thereby, when the holding unit moves toward the second transfer position side, it is possible to avoid the article held by the holding unit from contacting the first container. Also, when transporting the first container at the first transfer position, the holding unit does not interfere with the transportation of the second container.

[0072] In the transfer system according to Embodiment 3 of the present invention, in the above Embodiment 1 or 2, the article is conveyed to the first transfer position by the first conveying unit while being accommodated in the first container, and the first height is set higher than the highest position among the trajectories drawn by the uppermost end of the first container when the first container arranged at the first transfer position by the first conveying unit moves away from the first transfer position.

[0073] Thus, since the first height is set higher than the highest position among the trajectories drawn by the uppermost end of the first container when the first container arranged at the first transfer position by the first conveying unit moves away from the first transfer position, the article lifted beyond the first height by the holding unit does not interfere with the conveyance of the first container by the first conveying unit. As a result, the time until the first container containing a new article is conveyed to the first transfer position can be shortened.

[0074] The transfer system according to Embodiment 4 of the present invention further includes, in any one of the above Embodiments 1 to 3, a second conveying unit that conveys the article arranged at the second transfer position, and a second detection unit that detects that the holding unit has exceeded the second height from the second transfer position. When the second detection unit detects that the holding unit has exceeded the second height, the control unit drives and controls the holding unit to move toward the first transfer position side, and controls the second conveying unit to convey the article arranged at the second transfer position to the next position.

[0075] Thus, when it is detected that the holding unit has exceeded the second height, by controlling the holding unit to move toward the first transfer position side, the movement of the holding unit of the transfer unit toward the first transfer position side and the conveyance of the article arranged at the second transfer position can be performed simultaneously, triggered by the detection of the second detection unit.

[0076] In the transfer system according to aspect 5 of the present invention, in the above aspect 4, the article is transported by the second transport unit while being housed in a second container disposed at the second transfer position, and the second height is set above the height of the second container in a state where the second container is disposed at the second transfer position.

[0077] Thereby, when the holding unit moves to the first transfer position side, it is possible to avoid the holding unit from contacting the second container. Further, when transporting the second container at the second transfer position, the holding unit does not interfere with the transportation of the second container.

[0078] In the transfer system according to aspect 6 of the present invention, in the above aspect 4 or 5, the article is transported by the second transport unit while being housed in a second container disposed at the second transfer position, and the second height is set higher than the highest position among the trajectories drawn by the uppermost end of the second container when the second container disposed at the second transfer position by the second transport unit is transported to the next position.

[0079] Thereby, since the second height is set higher than the highest position among the trajectories drawn by the uppermost end of the second container when the second container disposed at the second transfer position by the second transport unit is transported to the next position, the holding unit that has risen beyond the second height does not interfere with the transportation of the second container by the second transport unit.

[0080] In the transfer system according to aspect 7 of the present invention, in any of the above aspects 1 to 6, the transfer unit includes a drive unit that raises and lowers the holding unit and moves the holding unit in two directions in a plan view.

[0081] The control method of the transfer system according to aspect 8 of the present invention includes a transfer unit that conveys an article to a first transfer position and a holding unit that holds the article, and transfers the article conveyed to the first transfer position to a second transfer position. A control method for a transfer system, comprising: a detection step of detecting that the article held by the holding unit has been lifted beyond a first height from the first transfer position; and when it is detected in the detection step that the article has been lifted beyond the first height, a control step of driving and controlling the holding unit to move toward the second transfer position side and controlling the transfer unit to convey a new article to the first transfer position. In this case, the same effects as those of aspect 1 are achieved.

[0082] The transfer system and its control method according to each aspect of the present invention may be implemented by a computer. In this case, a control program for a transfer system that causes a computer to operate as each part and each step (software element) provided in the transfer system and its control method to implement the transfer system and its control method on the computer, and a computer-readable recording medium on which it is recorded also fall within the scope of the present invention.

[0083] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims. Embodiments obtained by appropriately combining the technical means disclosed in the embodiments are also included in the technical scope of the present invention.

Explanation of Reference Numerals

[0084] 1 Transfer system 2 Article 11 Transfer unit 11A First transfer unit 11B Second transfer unit 11a Loading conveyor (first transfer unit) 11b Loading conveyor (second transfer unit) 11c Unloading conveyor (first transfer unit) 11d Unloading conveyor (second transfer unit) 11e Moving mechanism (first conveying unit, second conveying unit) 12 Transfer unit 12a Picking head 12b Driving unit 15 Control unit 17 First container 18 Second container 201 First detection unit 202 Second detection unit H1 First height H2 Second height H3 Height of the first container H4 Height of the second container P1 First transfer position P2 Second transfer position

Claims

1. A first transfer unit that conveys an article to a first transfer position; A transfer unit having a holding unit that holds the article and transfers the article conveyed to the first transfer position to a second transfer position; A first detection unit that detects that the article held by the holding unit has been lifted above a first height from the first transfer position; A control unit that, when the first detection unit detects that the article has been lifted above the first height, drives and controls the holding unit to move toward the second transfer position side and controls the first transfer unit to convey a new article to the first transfer position; A transfer system comprising the above.

2. The article is conveyed to the first transfer position by the first transfer unit in a state of being accommodated in a first container, The first height is Set above the height of the first container in a state where the first container is disposed at the first transfer position. The transfer system according to Claim 1.

3. The article is conveyed to the first transfer position by the first transfer unit in a state of being accommodated in a first container, The first height is Set higher than the highest position from the first transfer position among the trajectories drawn by the uppermost end of the first container when the first container disposed at the first transfer position by the first transfer unit moves away from the first transfer position. The transfer system according to Claim 1.

4. A second transfer unit that conveys the article disposed at the second transfer position; A second detection unit that detects that the holding unit has exceeded a second height from the second transfer position, further comprising: The control unit is When the second detection unit detects that the holding unit has exceeded the second height, drives and controls the holding unit to move toward the first transfer position side and controls the second transfer unit to convey the article disposed at the second transfer position to the next position. The transfer system according to Claim 1.

5. The article is conveyed by the second transfer unit in a state of being accommodated in a second container disposed at the second transfer position, The second height is Set above the height of the second container in a state where the second container is disposed at the second transfer position. The transfer system according to Claim 4.

6. The article is conveyed by the second transfer unit in a state of being accommodated in a second container disposed at the second transfer position, The second height is The transfer system according to claim 4, wherein when the second container arranged at the second transfer position is transferred to the next position by the second transfer unit, a trajectory drawn by the uppermost end of the second container is set higher than the highest position from the second transfer position.

7. The transfer unit The transfer system according to claim 1, further comprising a drive unit configured to move the holding unit up and down and move the holding unit in two directions in a plan view.

8. A control method for a transfer system, comprising: a transfer unit configured to transfer an article to a first transfer position; a holding unit configured to hold the article; and a transfer unit configured to transfer the article transferred to the first transfer position to a second transfer position, a detection step of detecting that the article held by the holding unit is lifted beyond a first height from the first transfer position; a control step of driving and controlling the holding unit to move toward the second transfer position and controlling the transfer unit to transfer a new article to the first transfer position when it is detected in the detection step that the article is lifted beyond the first height; A control method for a transfer system, including the above steps.

9. A control program for causing a computer to execute the detection step and the control step in the control method for the transfer system according to claim 8.

Images