Transfer system, control method and control program for transfer system

Abstract

To improve transfer efficiency of a transfer system.SOLUTION: A transfer system (1) controls a transfer part (12) based on image data from a first camera (13a) and performs antecedent control in which movement of a picking head (12a) from a second container (18) to the first container (17) side is started before image processing of the image data is completed.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a system for transferring goods in logistics. [Background technology]

[0002] Conventionally, in logistics warehouses and the like, a transfer system equipped with a picking device (transfer unit) such as a robot arm has been used to efficiently sort and separate a large number of different items into shipping containers according to their destinations. In relation to this type of transfer system, for example, Patent Document 1 discloses a configuration in which the posture of an item is detected based on image data captured by a camera and the picking device is controlled. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-245283 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional transfer systems, after image processing of image data of an object is completed, control is performed to move the robot hand (object holding unit) toward the object based on the image processing results. Therefore, if there is a delay in image processing, the start of movement of the robot hand toward the object is delayed, resulting in a problem of reduced transfer efficiency.

[0005] One aspect of the present invention has been made in consideration of the above-mentioned problems in the conventional art, and aims to improve the transfer efficiency of a transfer system. [Means for solving the problem]

[0006] In order to solve the above-mentioned problem, a transfer system according to one embodiment of the present invention includes an imaging unit that is installed above a transfer position where a first transfer position and a second transfer position are aligned in a first direction in a planar view and that images the first transfer position; a transfer unit that is configured to be movable between the first and second transfer positions and has an item holding unit that moves above the first transfer position after the first transfer position is imaged by the imaging unit; and a control unit that controls the transfer unit based on image data from the imaging unit and transfers items between the first and second transfer positions, and that performs advance movement control to start moving the item holding unit from the second transfer position toward the first transfer position before image processing of the image data is completed.

[0007] In order to solve the above-mentioned problems, a control method for a transfer system according to one embodiment of the present invention includes an imaging step of imaging a first transfer position using an imaging unit installed above a transfer position where a first transfer position and a second transfer position are aligned in a first direction in a planar view, a movement step of controlling an item holding unit configured to be movable between the first and second transfer positions based on image data from the imaging unit, and moving the item holding unit above the first transfer position after imaging the first transfer position, and a preceding movement step of starting to move the item holding unit from the second transfer position toward the first transfer position before image processing of the image data is completed. [Effects of the Invention]

[0008] According to one aspect of the present invention, the transfer efficiency of the transfer system can be improved. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view showing an overview of a transfer system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view showing an outline of the transfer system. [Figure 3] FIG. 2 is a functional block diagram showing an overview of the transfer system. [Figure 4]10 is a flowchart illustrating a flow of advance movement control executed by the transfer system. [Figure 5] 5 is a schematic diagram showing an example of the operation of the first step shown in FIG. 4. FIG. [Figure 6] 5 is a schematic diagram showing an example of the operation of the second step shown in FIG. 4. FIG. [Figure 7] FIG. 5 is a schematic diagram showing an example of the operation of the fourth step shown in FIG. 4. [Figure 8] FIG. 8 is a schematic diagram for explaining the reference position shown in FIG. 7. [Figure 9] 5 is a schematic diagram showing another example of the operation of the fourth step shown in FIG. 4. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present invention will be described with reference to Figures 1 to 9. In the following description, an example configuration of a transfer system that transfers an article from a first container to a second container will be described. However, the following description is an example of a transfer system according to the present invention, and the technical scope of the present invention is not limited to the illustrated example.

[0011] [Transfer system overview] First, an overview of the transfer system 1 will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a perspective view showing an overview of the transfer system 1 of this embodiment. Fig. 2 is a plan view showing an overview of the transfer system 1. The transfer system 1 transfers an item 2 in a logistics warehouse or the like. As shown in Figs. 1 and 2, the transfer system 1 of this embodiment includes a conveying unit 11, a transfer unit 12, a camera unit 13, a support frame 14, a control unit 15, and a terminal unit 16.

[0012] (Transportation section) The conveying unit 11 conveys the first container 17 and the second container 18 containing the items 2 in the Y direction (front-rear direction, second direction). Specifically, the conveying 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 loading conveyors 11a and 11b transport the first container 17 and the second container 18 to the front side in the Y direction, respectively. The unloading conveyors 11c and 11d transport the first container 17 and the second container 18 to the rear side in the Y direction, respectively.

[0013] Furthermore, the transport unit 11 includes a moving mechanism 11e and a housing 11f. The moving mechanism 11e sequentially moves the first container 17 from the loading conveyor 11a to the pick-side transfer position (first transfer position, second transfer position) P1, and sequentially moves the second container 18 from the loading conveyor 11b to the place-side transfer position (first transfer position, second transfer position) P2. The moving mechanism 11e also sequentially moves the first container 17 arranged at the pick-side transfer position P1 to the unloading conveyor 11c, and sequentially moves the second container 18 arranged at the place-side transfer position P2 to the unloading conveyor 11d. The housing 11f houses the moving mechanism 11e.

[0014] (Transfer section) The transfer unit 12 is installed at the front end (one end) of the transport unit 11 in the Y direction, and holds the items 2 stored in the first container 17 arranged at the pick-side transfer position P1, and transfers them to the second container 18 arranged at the place-side transfer position P2. The transfer unit 12 is installed above the movement mechanism 11e and housing 11f of the transport unit 11 in the Z direction by a stand or the like (not shown).

[0015] The transfer unit 12 includes a picking head (item holder) 12a that holds the item 2, and a drive unit 12b that raises and lowers the picking head 12a in the Z direction and moves the picking head 12a in two directions, 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 adsorb the item 2. The picking head 12a adsorbs the item 2 contained in the first container 17 from above, and picks up the item. 2 is held in a hanging position.

[0016] The drive 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 moves back and forth in the X direction along the fixed rail 12c. The second movable rail 12e is installed along the Y direction and moves back and forth in the Z direction along the first movable rail 12d.

[0017] The support arm 12f is installed along the Z direction and moves back and forth in the Y direction along the second movable rail 12e. A picking head 12a is attached to the support arm 12f on its lower side in the Z direction. This allows the transfer unit 12 to move the picking head 12a back and forth in the three directions of X, Y, and Z by controlling the operation of the drive unit 12b.

[0018] The transfer unit 12 has a simpler structure than a transfer unit such as a six-axis robot, and is easily adaptable to a multi-row conveyor layout. Therefore, by using the transfer unit 12, the degree of freedom in layout design of the transfer system 1 is improved.

[0019] (Camera section) The camera unit (imaging unit) 13 is disposed above the transfer unit 12 and captures images of the items 2 to create captured images. The camera unit 13 includes a first camera 13a and a second camera 13b. The first camera 13a captures an image of a first container 17 disposed at a pick-side transfer position P1, thereby capturing an image of one or more items 2 contained in the first container 17. The second camera 13b captures an image of a second container 18 disposed at a place-side transfer position P2, thereby capturing an image of one or more items 2 contained in the second container 18. The camera unit 13 may include a light or the like, and the first camera 13a and the second camera 13b may each capture an image of the items 2 under illumination by a light or the like at a predetermined illuminance.

[0020] (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 installed adjacent to the transfer unit 12 in the X direction (left-right direction, first direction) that is perpendicular to the Y direction in a plan view, and beam members 14b, 14b that are installed between the support portions 14a, 14a. The first camera 13a and the second camera 13b are installed at appropriate positions on the beam member 14b on the front side in the Y direction. The number of beam members 14b may be one, or three or more.

[0021] Each of the support sections 14a includes two pillar members 14c and 14d, a beam member 14e, and a reinforcing member 14f. The pillar members 14c and 14d are arranged in the Y direction and are fixed to the installation location of the transfer system 1 by fixing members 14g and 14h. The beam member 14e and the reinforcing member 14f are installed between the pillar members 14c and 14d.

[0022] Beam members 14b may be installed on girder member 14e or on pillar members 14c and 14d. Reinforcing member 14f may be two or more, or may be omitted. If each of supports 14a is supported by four or more pillar members, beam members 14b may be omitted. In this case, first camera 13a and second camera 13b may be installed in appropriate locations on supports 14a and 14a.

[0023] (Control unit and terminal unit) The control unit 15 controls each unit in the transfer system 1, and is configured by, for example, a computer including a CPU (Central Processing Unit) and a memory. The operation of various components is controlled by a computer executing a control program. The control unit 15 will be described in detail later.

[0024] The terminal unit 16 is used by a worker S (FIG. 2) to operate the transfer system 1. The terminal unit 16 has an input unit 16a such as a keyboard, touch panel, joystick, etc., and a display unit 16b that displays predetermined information. The control unit 15 and the terminal unit 16 are examples of control devices for the transfer system 1, and are installed outside a front guard unit 24 (described later) and on the opposite side of the work area 25 from the side where the transfer unit 12 is provided (the front side in the Y direction).

[0025] Specifically, the control unit 15 is connected to the transport unit 11, the transfer unit 12, the camera unit 13, and the terminal unit 16 via electrical wiring (not shown). The control unit 15 acquires predetermined information, such as the operating status, from the transport unit 11 and the transfer unit 12, and outputs predetermined command signals, such as instruction signals, to the transport unit 11 and the transfer unit 12. 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, and acquires image data from the first camera 13a and the second camera 13b. The control unit 15 receives instruction signals, etc., in response to operations by the worker S from the terminal unit 16, and transmits information acquired from the transport unit 11, the transfer unit 12, and the camera unit 13 to the terminal unit 16.

[0026] (guard) In the transfer system 1 of this embodiment, the transfer unit 12 moves the picking head 12a back and forth in three directions, X, Y, and Z. For this reason, as shown in Figures 1 and 2, a guard is provided around the transfer unit 12 from the viewpoint of safety to significantly reduce the possibility of a worker S or the like coming into contact with the transfer unit 12. Specifically, in this embodiment, a side guard unit 21, a front guard unit 24, and a rear guard unit 41 are provided as guards in this order from the control device side toward the rear in the Y direction.

[0027] (Side guard part) 1 and 2, each of the support sections 14a includes a lateral guard section 21 that separates the transfer section 12 from the outside in the X direction. The lateral guard section 21 includes a transparent plate 22 and a frame member 23 that holds the transparent plate 22. This prevents people, including a worker S, from entering from the X direction and coming into contact with the transfer section 12, thereby improving the safety of the transfer system 1.

[0028] Furthermore, since the support parts 14a are each provided with the side guard parts 21, there is no need to provide new guard parts on the outer side of the support parts 14a in the X direction to separate the transfer part 12 from the outside in the X direction. As a result, the transfer system 1 can be made more compact.

[0029] Incidentally, the two support members 14a are installed adjacent to the transfer member 12 in the X direction, and are therefore also adjacent to the housing 11f of the transport member 11, which is located below the transfer member 12 in the Z direction. Therefore, in this embodiment, the side guard members 21 are omitted from the area below the support members 14a, i.e., the area facing the housing 11f. This makes it possible to reduce the area in which the side guard members 21 are provided. On the other hand, the housing 11f prevents the worker S from entering from below the support members 14a and coming into contact with the transfer member 12. In other words, in the area below the support members 14a, the housing 11f serves as a partition between the transfer member 12 and the outside in the X direction.

[0030] (Front guard) As shown in FIGS. 1 and 2, in the transfer system 1, a front guard is provided to separate a work area 25 set on the opposite side of the transfer unit 12 from the transport unit 11 in a plan view from the outside. The front guard portion 24 is connected to the two support portions 14a.

[0031] The work area 25 is a space for manual transfer in which a worker S holds and transfers an item 2. In other words, the transfer system 1 of this embodiment is capable of both automatic transfer in which the transfer unit 12 holds and automatically transfers the item 2, and manual transfer in which the worker S enters the work area 25 and holds and transfers the item 2. In addition, the front guard unit 24 is provided adjacent to the work area 25 around the periphery of the work area 25.

[0032] Specifically, the front guard section 24 includes a plurality of fixed guard sections 26 and movable guard sections 27 connected together. The fixed guard sections 26 include a transparent plate 31 and a frame member 32 that holds the transparent plate 31. The lower corners of the frame member 32 in the Z direction are fixed to the installation location of the transfer system 1 by fixing members 26a. Furthermore, the fixed guard sections 26, 26 on the rear side in the Y direction are connected to the front sides in the Y direction of the support sections 14a, 14a, respectively.

[0033] The movable guard portion 27 constitutes an entrance door for the worker S to enter and exit the work area 25, and includes a fixing frame member 33 and a movable member 34 provided within the fixing frame member 33. A lower corner 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 provided rotatably relative 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.

[0034] As a result, it is possible to prevent people, including the worker S, from inadvertently entering the work area 25 and coming into contact with the transfer unit 12, thereby improving the safety of the transfer system 1. Furthermore, since the front guard unit 24 is provided adjacent to the work area 25, it is possible to prevent an increase in the installation space of the transfer system 1 due to the provision of the front guard unit 24.

[0035] In addition, when the transfer system 1 is capable of only automatic transfer, the work area 25 may be set as a monitoring area for an observer to monitor the transfer unit 12. Alternatively, the work area 25 may be omitted. In this case, the front guard unit 24 may be provided adjacent to the transfer unit 12 on the front side of the transfer unit 12 in the Y direction.

[0036] (rear guard) As shown in FIGS. 1 and 2, the transfer system 1 is provided with rear guard sections 41, 41 that are adjacent in the X direction to the front end of the transport section 11 in the Y direction and that separate the front end from the outside in the X direction. The rear guard section 41 includes a transparent plate 42 and a frame member 43 that holds the transparent plate 42. The front sides of the rear guard sections 41 in the Y direction are linked (connected) to the rear sides of the support sections 14a in the Y direction, respectively. Furthermore, the lower corners of the frame member 43 in the Z direction 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 sections 41, 41.

[0037] This makes it possible to prevent people, including the worker S, from entering through the conveying section 11 and coming into contact with the transfer section 12, thereby improving the safety of the transfer system 1. Furthermore, because the rear guard section 41 is provided adjacent to the conveying section 11, it is possible to prevent an increase in the installation space of the transfer system 1 due to the provision of the rear guard section 41.

[0038] In addition, the front guard section 24, the side guard section 21, and the rear guard section 41 of this embodiment are provided with transparent plates 22, 31, 35, and 42 as substantial guards. As a result, in this embodiment, the worker S of the transfer system 1 can monitor the conveying section 11 and the transfer section 12 from outside the transfer system 1 as an observer. Alternatively, fences, netting or other forms of guards may be used.

[0039] [Transfer System 1 Control Block] Fig. 3 is a functional block diagram showing an overview of the transfer system 1 of this embodiment. As shown in Fig. 3, the control unit 15 includes an image acquisition unit 15a, an image processing unit 15b, and a drive control unit 15c.

[0040] The image acquisition unit 15a acquires image data captured by the camera unit 13. Specifically, the image acquisition unit 15a acquires image data of the first container 17 captured by the first camera 13a. The image acquisition unit 15a also acquires image data of the second container 18 captured by the second camera 13b. The image acquisition unit 15a sends the acquired image data to the image processing unit 15b.

[0041] The image processing unit 15b performs image processing on the image data to obtain transfer data for transferring the article 2. The image processing unit 15b sends the obtained data to the drive control unit 15c.

[0042] For example, the image processing unit 15b performs image processing on the image data to extract images of the articles 2 contained in the first container 17 and the second container 18, and identifies the positions of the articles 2 in the X and Y directions (hereinafter referred to as "XY coordinates"). Note that the image processing is well known, so a description thereof will be omitted. Next, the image processing unit 15b identifies the X and Y coordinates of the article 2 to be transferred in the first container 17 based on the X and Y coordinates identified from the image data of the first container 17. Furthermore, the image processing unit 15b identifies the X and Y coordinates of the position where the article 2 is to be placed in the second container 18 based on the X and Y coordinates identified from the image data of the second container 18. Then, as a result of the image processing, the image processing unit 15b sequentially sends the X and Y coordinate data of the article 2 to be transferred and the X and Y coordinate data of the placement position to the drive control unit 15c.

[0043] The drive control unit 15c controls the transfer unit 12 based on the image processing result acquired from the image processing unit 15b. Furthermore, the drive control unit 15c performs a precedent movement control to precedently move the picking head 12a toward the first container 17 before acquiring the image processing result from the image processing unit 15b, that is, before the image processing by the image processing unit 15b is completed. The precedent movement control will be described in detail later.

[0044] [Control of Transfer System 1] Next, the control of the transfer system 1 will be described with reference to Figures 4 to 9. The control unit 15 controls the transfer operation of moving the picking head 12a back and forth between the first container 17 and the second container 18 based on the results of image processing of the image data captured by the camera unit 13, thereby transferring the item 2 in the first container 17 to the second container 18.

[0045] Here, in the conventional transfer system, after image processing of the image data captured by the camera unit 13 is completed, control is performed to move an article holding unit such as a robot hand from the second container 18 toward the first container 17 based on the results of the image processing. Therefore, if there is a delay in image processing, the start of movement of the article holding unit toward the first container 17 is delayed, which poses a problem of reduced transfer efficiency.

[0046] For example, when replacing the first container 17 during a transfer operation, the first container 17 from which the item 2 has been removed by the picking head 12a is carried out from the pick-side transfer position P1, and the next first container 17 is carried into the pick-side transfer position P1, after which an image of the first container 17 is taken. Therefore, when replacing the first container 17, the timing of taking the image is delayed by the time required to replace the first container 17, which makes it easy for delays to occur in image processing.

[0047] Therefore, the control unit 15 performs advance movement control to start moving the picking head 12a from the second container 18 toward the first container 17 before image processing of the image data of the first container 17 is completed. This allows the picking head 12a to move toward the first container 17 without waiting for image processing to be completed, thereby improving the transfer efficiency of the transfer system 1 compared to conventional methods.

[0048] FIG. 4 is a flowchart illustrating the flow of advance movement control executed by the transfer system 1. As shown in FIG. 4, in a transfer operation in which an item 2 in a first container 17 is transferred to a second container 18, the drive control unit 15c controls the first camera 13a to capture an image of the first container 17 (first step S1: imaging step). FIG. 5 is a schematic diagram illustrating an example of the operation of the first step S1 shown in FIG. 4. As shown in FIG. 5, after the picking head 12a removes the item 2 from the first container 17, the drive control unit 15c controls the first camera 13a to capture an image of the first container 17. The first camera 13a captures an image of the first container 17, for example, when the picking head 12a holding the item 2 moves to a reference position B set outside the first imaging range R1 of the first camera 13a. This makes it possible to prevent the picking head 12a and the drive unit 12b from appearing in the imaging data. The image data of the first container 17 captured by the first camera 13a is sent to the image processing unit 15b via the image acquisition unit 15a, and image processing is performed by the image processing unit 15b. The reference position B will be described in detail later.

[0049] Next, the drive control unit 15c controls the drive unit 12b to place the item 2 in the second container 18 (second step S2). FIG. 6 is a schematic diagram showing an example of the operation of the second step S2 shown in FIG. 4. As shown in FIG. 6, the drive unit 12b stops the picking head 12a on the XY coordinates of the placement position identified by the image processing unit 15b from the image data of 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 picking head 12a from suctioning the item. As a result, the item 2 is released from the picking head 12a and placed in the second container 18.

[0050] Next, the drive control unit 15c determines whether image processing of the image data of the first container 17 has been completed (third step S3). If image processing has been completed at the time the item 2 is placed in the second container 18 (Yes in third step S3), the drive control unit 15c starts controlling the picking head 12a based on the results of the image processing without performing prior movement control (seventh step S7: movement step). For example, the drive control unit 15c controls the drive unit 12b based on the results of the image processing, and starts control to move the picking head 12a above the XY coordinates of the item 2 to be next transferred in the first container 17.

[0051] On the other hand, if image processing is not complete when the item 2 is placed in the second container 18 (No in the third step S3), the drive control unit 15c controls the drive unit 12b to start controlling the advance movement of the picking head 12a toward the first container 17 (fourth step S4: advance movement step). FIG. 7 is a schematic diagram showing an example of the operation of the fourth step S4 shown in FIG. 4. As shown in FIG. 7, if image processing is not complete when the item 2 is placed in the second container 18, the drive unit 12b advances the picking head 12a in a direction approaching the first container 17. The example in FIG. 7 shows an example of the operation in which the drive unit 12b advances the picking head 12a from a lowered position where it has finished picking up the item 2 in the second container 18, diagonally upward toward a reference position B set between the pick-side transfer position P1 and the place-side transfer position P2. In this way, after placing the item 2 in the second container 18, the picking head 12a starts moving in advance toward the first container 17 before image processing is completed, thereby shortening the movement time of the picking head 12a from the second container 18 to the first container 17.

[0052] FIG. 8 is a schematic diagram for explaining the reference position B shown in FIG. 7. 8001 in FIG. 8 is a front view showing an example of the reference position B, and 8002 in Fig. 8 is a plan view showing the reference position B shown in 8001 in Fig. 8. For convenience, 8001 in Fig. 8 shows only the fixed rail 12c of the transfer unit 12.

[0053] 8, the reference position B is set outside the first imaging range R1 of the first camera 13a and the second imaging range R2 of the second camera 13b. This makes it possible to prevent the picking head 12a and the drive unit 12b from appearing in the imaging data when, for example, the first camera 13a or the second camera 13b captures an image when the picking head 12a is located at the reference position B (FIG. 5).

[0054] Furthermore, the reference position B is set at a height position where the picking head 12a or the item 2 held by the picking head 12a does not come into contact with the first container 17 and the second container 18. This makes it possible to prevent the picking head 12a or the item 2 from coming into contact with the first container 17 and the second container 18 when the picking head 12a moves from the reference position B in the X direction.

[0055] 8, the reference position B may be set between the pick-side transfer position P1 and the place-side transfer position P2 in a plan view. This makes it possible to control the picking head 12a to approach the first container 17 and wait in front of the first container 17 before image processing is completed, as will be described later.

[0056] Furthermore, the reference position B may be set on an imaginary line L that is parallel to the X direction and passes through the center C1 of the first container 17 and the center C2 of the second container 18 in a plan view. This allows the picking head 12a to move in advance toward the first container 17 so as to approach the imaginary line L in a plan view, that is, to the center C1 of the first container 17.

[0057] The reference position B is set in advance before the transfer operation of the transfer system 1 starts, and the XYZ coordinates of the reference position B are registered in the memory of the control unit 15. The XYZ coordinates of the reference position B can be changed as appropriate depending on the dimensions of the first container 17 and the second container 18, the type of the article 2 to be transferred, etc.

[0058] Next, after starting the advance movement control of the picking head 12a, the drive control unit 15c determines whether image processing of the image data of the first container 17 is completed (fifth step S5). If the image processing is not completed by the time the picking head 12a reaches the reference position B after starting the advance movement control (No in the fifth step S5), the drive control unit 15c ends the advance movement control and stops the picking head 12a at the reference position B (sixth step S6). This allows the picking head 12a to move toward the first container 17 before the image processing is completed and wait at the reference position B set in front of the first container 17 as seen from the second container 18. After stopping the picking head 12a at the reference position B, the drive control unit 15c continues to determine whether image processing is completed (fifth step S5). Then, after the picking head 12a is stopped at the reference position B, that is, after the preceding movement control is finished, if the image processing is completed (Yes in the fifth step S5), the drive control unit 15c starts to control the picking head 12a based on the result of the image processing (seventh step S7). As a result, the movement of the picking head 12a stopped at the reference position B can be automatically resumed, and the picking head 12a can be operated based on the result of the image processing.

[0059] On the other hand, if the image processing is completed after the start of the advance movement control and before the picking head 12a reaches the reference position B (Yes in the fifth step S5), the drive control unit 15c switches from the advance movement control to the control of the picking head 12a based on the result of the image processing (seventh step S7). Instead, the picking head 12a can be operated continuously based on the results of image processing.

[0060] In this way, the drive control unit 15c performs advance movement control to start moving the picking head 12a from the second container 18 toward the first container 17 before completing image processing of the image data of the first container 17. Therefore, even if a delay occurs in image processing, it is possible to reduce the decrease in transfer efficiency that accompanies the delay and improve transfer efficiency compared to conventional methods.

[0061] 4, the image of the first container 17 (first step S1) may be taken after the start of the precedence movement control (fourth step S4). In this case, the drive control unit 15c may omit the determination process of the third step S3, for example, and start the precedence movement control immediately after placing the article 2 in the second container 18 (second step S2) (fourth step S4).

[0062] As described above, when replacing the first container 17, an image of the first container 17 is taken after the conveying unit 11 has finished replacing the first container 17. Therefore, when the picking head 12a places the item 2 in the second container 18, it is possible that an image of the first container 17 has not yet been taken. Therefore, particularly when replacing the first container 17, by moving the picking head 12a in advance toward the first container 17 and bringing it closer to the first container 17 without waiting for the image processing to be completed, it is possible to effectively reduce a decrease in transfer efficiency due to a delay in image processing.

[0063] 5 shows an example of control in which the picking head 12a moves ahead from the second container 18 to the first container 17, that is, from the place-side transfer position P2 to the pick-side transfer position P1. However, the picking head 12a may also be controlled to move ahead from the pick-side transfer position P1 to the place-side transfer position P2. Alternatively, the picking head 12a may be controlled to move ahead between the pick-side transfer position P1 and the place-side transfer position P2. By controlling the picking head 12a to move ahead between the two positions, the transfer efficiency of the transfer system 1 can be further improved.

[0064] [Actions and effects of transfer system 1] As described above, the transfer system 1 of this embodiment is installed above a transfer position where the pick side transfer position P1 and the place side transfer position P2 are aligned in the X direction in a plan view, and includes a camera unit 13 that captures an image of the pick side transfer position P1, a transfer unit 12 that is configured to be movable between the pick side transfer position P1 and the place side transfer position P2 and has a picking head 12a that moves above the pick side transfer position P1 after the pick side transfer position P1 is captured by the camera unit 13, and a control unit 15 that controls the transfer unit 12 based on image data from the camera unit 13 to transfer the item 2 between the pick side transfer position P1 and the place side transfer position P2, and performs advance movement control to start moving the picking head 12a from the place side transfer position P2 toward the pick side transfer position P1 before image processing of the image data is completed.

[0065] According to the transfer system 1, the picking head 12a starts moving ahead from the place side transfer position P2 toward the pick side transfer position P1 before image processing of the image data captured at the pick side transfer position P1 is completed, thereby improving transfer efficiency.

[0066] (Variation) Fig. 9 is a schematic diagram showing another example of the operation of the fourth step S4 shown in Fig. 4. As shown in Fig. 9, the driving unit 12b may temporarily raise the picking head 12a upward in the Z direction from the lowered position where the picking head 12a has finished picking up the item 2 in the second container 18 to the height position of the reference position B, and then start the advance movement of the picking head 12a toward the first container 17.

[0067] For example, if an item 2 is placed in the second container 18 near the side wall 18a of the second container 18 adjacent to the first container 17, there is a possibility that the picking head 12a may come into contact with the side wall 18a when the picking head 12a is moved diagonally upward from the lowered position toward the reference position B. In such a case, the contact can be avoided by first moving the picking head 12a toward the first container 17 after raising the picking head 12a from the lowered position to the height position of the reference position B.

[0068] In addition, when the advance movement control is started after the picking head 12a is raised, the determination process of the third step S3 shown in Figure 4 may be performed when the picking head 12a is raised to the height position of the reference position B.

[0069] Furthermore, the direction in which the picking head 12a moves from the lowered position may be switched between diagonally upward (FIG. 4) and upward (FIG. 9) depending on the X coordinate of the position where the item 2 is placed in the second container 18.

[0070] [Software implementation example] The functions of the transfer system 1 (hereinafter referred to as the "device") can be realized by a program that causes a computer to function as the device, and a program that causes a computer to function as each control block of the device (particularly each part included in the control unit 15).

[0071] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The control device and storage device execute the program to realize each function described in the embodiment.

[0072] The program may be non-transitory and may be recorded on one or more computer-readable recording media. The recording media may or may not be included in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0073] In addition, some 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 that functions as each control block is formed is also included in the scope of the present invention. In addition, the functions of each control block can be realized by, for example, a quantum computer.

[0074] Furthermore, each process described in the above embodiment is performed using AI (Artificial Intelligence). In this case, the AI ​​may be executed by the control device, or may be executed by another device (for example, an edge computer or a cloud server).

[0075] 〔summary〕 A transfer system according to a first aspect of the present invention includes an imaging unit that is installed above a transfer position where a first transfer position and a second transfer position are aligned in a first direction in a plan view and that images the first transfer position; a transfer unit that is configured to be movable between the first and second transfer positions and has an item holding unit that moves above the first transfer position after the first transfer position is imaged by the imaging unit; and a control unit that controls the transfer unit based on image data from the imaging unit to transfer items between the first and second transfer positions, and that performs advance movement control to start moving the item holding unit from the second transfer position toward the first transfer position before image processing of the image data is completed. and,

[0076] According to the above configuration, the item holding unit begins to move in advance from the second transfer position toward the first transfer position before image processing of the image data captured at the first transfer position is completed, thereby improving the transfer efficiency of the item holding unit.

[0077] In a transfer system according to aspect 2 of the present invention, in aspect 1, if the image processing is not completed after the start of the advance movement control until the item holding unit reaches a reference position set closer to the second transfer position than the first transfer position in the first direction, the control unit may terminate the advance movement control and stop the item holding unit at the reference position.

[0078] According to this configuration, the article holder can be made to wait at the reference position on the front side of the first transfer position.

[0079] In the transfer system according to aspect 3 of the present invention, in aspect 2, the control unit may start controlling the transfer unit based on the results of the image processing when the image processing is completed after the advance movement control is terminated.

[0080] According to this configuration, the movement of the article holder can be automatically resumed and the article holder can be operated based on the result of image processing.

[0081] In a transfer system according to aspect 4 of the present invention, in aspect 1, if the image processing is completed between the start of the advance movement control and the time when the item holding unit reaches a reference position set closer to the second transfer position than the first transfer position in the first direction, the control unit may switch from the advance movement control to control of the transfer unit based on the results of the image processing.

[0082] According to this configuration, the article holder can be continuously operated based on the result of image processing without stopping the article holder at the reference position.

[0083] In a transfer system according to a fifth aspect of the present invention, in any one of the first to fourth aspects, the reference position may be set between the first and second transfer positions in a plan view.

[0084] According to this configuration, it is possible to perform control such as placing the article holder on standby as close as possible to the first transfer position.

[0085] In the transfer system of aspect 6 of the present invention, in any of aspects 2 to 5, the system further includes a conveying section that transports containers capable of holding the items into and out of the first transfer position, and the reference position may be set at a height position where the item holding section or the item held in the item holding section does not come into contact with the container.

[0086] According to this configuration, when the article holder moves from the reference position toward the container, the article holder or the article can be prevented from coming into contact with the container.

[0087] In a transfer system according to a seventh aspect of the present invention, in the sixth aspect, the reference position may be set on a virtual line that is parallel to the first direction and passes through the center of the container in a planar view.

[0088] According to this configuration, during the advance movement control, the article holder can be moved toward the container so as to approach an imaginary line passing through the center of the container in a plan view.

[0089] In a transfer system according to aspect 8 of the present invention, in any of aspects 1 to 7, the transfer unit may further have a drive unit that raises and lowers the item holding unit and moves the item holding unit in the first direction and in a second direction perpendicular to the first direction in a planar view.

[0090] The transfer unit that moves the article holder in three directions has a simpler structure than the transfer units of conventional six-axis robots, etc., and can be adapted to layouts with multiple rows of conveyors. Therefore, this configuration improves the degree of freedom in layout design of the transfer system.

[0091] In a transfer system according to aspect 9 of the present invention, in any of aspects 1 to 8, the system further includes a transport unit that transports containers capable of holding the items to and from the first transfer position, and the control unit may perform the advance movement control before image processing of the image data of the container is completed.

[0092] According to the above configuration, the item holding unit begins to move in advance from the second transfer position toward the container before image processing of the image data captured of the container placed at the first transfer position is completed, thereby improving the transfer efficiency of the item holding unit.

[0093] A control method for a transfer system according to a tenth aspect of the present invention includes an imaging step of imaging the first transfer position using an imaging unit installed above a transfer position where the first transfer position and the second transfer position are aligned in a first direction in a plan view, a moving step of controlling an article holding unit configured to be movable between the first and second transfer positions based on image data from the imaging unit, and moving the article holding unit above the first transfer position after imaging the first transfer position, and a preceding moving step of starting movement of the article holding unit from the second transfer position toward the first transfer position before image processing of the image data is completed. In this case, the same effect as in the first aspect is achieved.

[0094] The transfer system and its control method according to each aspect of the present invention may be realized by a computer, in which case the control program of the transfer system that realizes the transfer system and its control method on a computer by causing the computer to operate as each part and each step (software element) that the transfer system and its control method respectively comprise, and the computer-readable recording medium on which it is recorded, also fall within the scope of the present invention.

[0095] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of 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 symbols]

[0096] 1 Transfer system 2 Goods 11 Conveyor 12 Transfer section 12a Picking head (item holding section) 12b Drive unit 13 Camera unit (imaging unit) 15 Control Unit 15b Image processing unit (control unit) 15c Drive control unit (control unit) 17 First container (container) 18 Second container (container) C1 Center of the first container (center of container) C2 Center of the second container (center of the container) L Imaginary line P1 Pick side transfer position (first transfer position, second transfer position) P2 Place side transfer position (first transfer position, second transfer position) S1 1st step (imaging step) S4 4th step (preceding movement step) S7 7th step (movement step) XX direction (first direction) YY direction (second direction)

Claims

1. an imaging unit that is installed above a transfer position where a first transfer position and a second transfer position are aligned in a first direction in a plan view and that images the first transfer position; a transfer unit configured to be movable between the first and second transfer positions and having an article holding unit that moves above the first transfer position after the image of the first transfer position is captured by the imaging unit; a control unit that controls the transfer unit based on image data from the imaging unit and transfers the article between the first and second transfer positions, and performs advance movement control that starts movement of the article holding unit from the second transfer position to the first transfer position before image processing of the image data is completed; Transfer system including:

2. The transfer system described in claim 1, wherein if the image processing is not completed after the start of the advance movement control until the item holding unit reaches a reference position set closer to the second transfer position than the first transfer position in the first direction, the control unit terminates the advance movement control and stops the item holding unit at the reference position.

3. The transfer system according to claim 2 , wherein the control unit starts controlling the transfer unit based on a result of the image processing when the image processing is completed after the preceding movement control is ended.

4. The transfer system described in claim 1, wherein if the image processing is completed after the start of the advance movement control and before the item holding unit reaches a reference position set closer to the second transfer position than the first transfer position in the first direction, the control unit switches from the advance movement control to control of the transfer unit based on the results of the image processing.

5. The transfer system according to claim 2 , wherein the reference position is set between the first and second transfer positions in a plan view.

6. a transport unit that transports a container capable of accommodating the item to and from the first transfer position; The transfer system according to claim 2 , wherein the reference position is set at a height position at which the article holder or the article held by the article holder does not come into contact with the container.

7. The transfer system according to claim 6 , wherein the reference position is set on an imaginary line that is parallel to the first direction and passes through the center of the container in a plan view.

8. A transfer system described in any one of claims 1 to 4, wherein the transfer unit further has a drive unit that raises and lowers the item holding unit and moves the item holding unit in the first direction and in a second direction perpendicular to the first direction in a planar view.

9. a transport unit that transports a container capable of accommodating the item to and from the first transfer position; The transfer system according to claim 1 , wherein the control unit performs the preceding movement control before image processing of the image data of the container is completed.

10. an imaging step of imaging the first transfer position by an imaging unit installed above a transfer position where the first transfer position and the second transfer position are aligned in a first direction in a plan view; an article holding unit configured to be movable between the first and second transfer positions is controlled based on image data from the imaging unit, and after imaging the first transfer position, the article holding unit is moved to the a moving step of moving the transfer device above the first transfer position; a preceding movement step of starting movement of the article holding unit from the second transfer position toward the first transfer position before image processing of the image data is completed; A control method for a transfer system including:

11. 11. A control program for causing a computer to execute the imaging step, the moving step, and the preceding moving step in the control method for a transfer system according to claim 10.

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