Cargo handling device, control device, cargo handling method, program, and storage medium

Abstract

To provide a cargo handling device, a control device, a cargo handling method, a program and a storage medium that can improve efficiency of cargo handling operation.SOLUTION: A cargo handling device according to an embodiment includes a hand, a robot arm, a conveying device, a measurement device, and a control device. The hand holds articles. The robot arm moves the hand. The conveying device is aligned with the robot arm in a first direction and conveys the articles. The measurement device measures the position and size of the articles. The control device performs a first operation to move articles to the conveying device using the hand and the robot arm, and a second operation to convey the moved articles using the conveying device. The control device determines whether or not the robot arm interferes with the conveying device or a second article on the conveying device when performing the first operation on a first article, based on the result of measurement by the measurement device. The control device controls the start timing of the first operation according to the determination result of interference.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] There is a cargo handling device that performs cargo handling work. There is a demand for technology that enables cargo handling devices to perform cargo handling work more efficiently. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6591639 Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide a cargo handling device, a control device, a cargo handling method, a program, and a storage medium that can improve the efficiency of cargo handling operations. [Means for solving the problem]

[0005] A loading and unloading device according to an embodiment includes a hand, a robot arm, a transport device, a measuring device, and a control device. The hand holds an item. The robot arm moves the hand. The transport device is aligned with the robot arm in a first direction and transports the item. The measuring device measures the position and size of the item. The control device executes a first operation to transfer the item to the transport device using the hand and the robot arm, and a second operation to transport the transferred item using the transport device. Based on the measurement results by the measuring device, the control device determines whether the robot arm will interfere with the transport device or a second item on the transport device when performing the first operation on a first item. The control device controls the start timing of the first operation depending on the result of the interference determination. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a perspective view that schematically shows a cargo handling apparatus according to an embodiment. [Figure 2] 2(a) to 2(c) are schematic diagrams showing a first operation of the cargo handling apparatus according to the embodiment. [Figure 3] 3(a) and 3(b) are schematic diagrams showing a first operation performed by the cargo handling apparatus according to the embodiment. [Figure 4] 4(a) and 4(b) are schematic diagrams showing a second operation performed by the cargo handling apparatus according to the embodiment. [Figure 5] FIG. 5 is a schematic diagram showing the function of the control device in the cargo handling apparatus according to the embodiment. [Figure 6] 6(a) to 6(c) are schematic diagrams showing the operation of the cargo handling device in response to control of the start timing. [Figure 7] 7(a) and 7(b) are schematic diagrams showing the operation of the cargo handling device in response to control of the start timing. [Figure 8] 8(a) and 8(b) are schematic diagrams for explaining a method for determining interference. [Figure 9]FIG. 9 is a schematic diagram showing the function of the control device in the cargo handling apparatus according to the first modified example of the embodiment. [Figure 10] 10(a) and 10(b) are schematic diagrams showing the operation of the cargo handling apparatus according to the first modified example of the embodiment. [Figure 11] 11(a) and 11(b) are schematic diagrams showing the operation of the cargo handling apparatus according to the first modified example of the embodiment. [Figure 12] 12(a) to 12(c) are schematic diagrams showing other operations performed by the cargo handling apparatus according to the embodiment. [Figure 13] 13(a) to 13(c) are schematic diagrams showing other operations performed by the cargo handling apparatus according to the embodiment. [Figure 14] FIG. 14 is a schematic diagram showing the function of the control device in the cargo handling apparatus according to the second modified example of the embodiment. [Figure 15] 15(a) and 15(b) are schematic diagrams showing the operation of a cargo handling apparatus according to a second modified example of the embodiment. [Figure 16] 16(a) and 16(b) are schematic diagrams showing the operation of a cargo handling apparatus according to a second modified example of the embodiment. [Figure 17] FIG. 17 is a schematic diagram showing a hardware configuration. DETAILED DESCRIPTION OF THE INVENTION

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

[0008] FIG. 1 is a perspective view that schematically shows a cargo handling apparatus according to an embodiment. The loading and unloading apparatus 100 according to the embodiment is installed at a site where loading and unloading work of goods is performed. For example, the loading and unloading work includes unloading and loading. As an example, a conveying apparatus C for conveying goods A is installed adjacent to the loading and unloading apparatus 100. The conveying apparatus C is, for example, a belt conveyor, a roller conveyor, or a chain conveyor. A pallet P loaded with goods A is placed adjacent to the loading and unloading apparatus 100. The loading and unloading apparatus 100 is located between the conveying apparatus C and the pallet P. The loading and unloading apparatus 100 moves the goods A placed on the pallet P to the conveying apparatus C.

[0009] As shown in FIG. 1, the loading and unloading device 100 includes a support frame 110, a hand 120, a robot arm 130, a measuring device 140, a negative pressure generating device 150, a conveying device 160, a moving device 170, a moving device 180, and a control device 190.

[0010] For the sake of explanation, an XYZ coordinate system is used here. The X direction (second direction) and the Y direction (third direction) intersect with each other. The Z direction (first direction) intersects with the XY plane (first plane). For example, the Z direction is parallel to the vertical direction, and the X direction, Y direction, and Z direction are perpendicular to each other.

[0011] The support frame 110 supports each component of the cargo handling apparatus 100. The hand 120 is capable of holding an item. The robot arm 130 moves the hand 120 along the XY plane. The measuring device 140 recognizes the item and measures the position and size of the item. The transport device 160 transports the item A transferred by the hand 120 and the robot arm 130 toward the transport device C. The moving device 170 moves the robot arm 130 in the Z direction. The moving device 180 moves the transport device 160 in the Z direction. The control device 190 controls the operation of each component of the cargo handling apparatus 100.

[0012] A specific example of each component will be described in detail below.

[0013] The support frame 110 forms the outer shell of the loading / unloading device 100 and is fixed to the floor surface. The support frame 110 includes a main body 111 and a protrusion 112. The main body 111 is shaped like a rectangular parallelepiped. The conveying device 160 is provided inside the main body 111. The main body 111 has an opening 113 facing the pallet P side and an opening 114 facing the conveying device C side. An item A is transferred from the pallet P to the conveying device 160 through the opening 113. In addition, an item A is transferred from the conveying device 160 to the conveying device C through the opening 114.

[0014] The main body 111 is configured by, for example, four vertical frames 111a and a plurality of horizontal frames 111b that connect the upper ends and lower ends of these four vertical frames 111a. The protrusion 112 is attached to the front of the upper part of the main body 111 and protrudes forward. The protrusion 112 is located above the pallet P.

[0015] The hand 120 holds (stably grips) an article by suction, clamping, or jamming. In the illustrated example, the hand 120 includes an upper surface suction unit 121 (first suction unit) and a side surface suction unit 122 (second suction unit) for suctioning the article.

[0016] The robot arm 130 is a Cartesian robot. The robot arm 130 includes a first rectilinear unit 131 and a second rectilinear unit 132. The first rectilinear unit 131 is connected to the hand 120 and is extendable or slidable along the X direction. Operation of the first rectilinear unit 131 allows the hand 120 to move along the X direction. The second rectilinear unit 132 extends along the Y direction and movably supports the first rectilinear unit 131 from below. The second rectilinear unit 132 moves the first rectilinear unit 131 along the Y direction. Operation of the second rectilinear unit 132 allows the hand 120 to move along the Y direction. The first rectilinear unit 131 and the second rectilinear unit 132 are each operated by an actuator such as a motor or an air cylinder.

[0017] The robot arm 130 is not limited to the illustrated example, and may be a vertical articulated robot, a horizontal articulated robot, a linear motion robot, or a parallel link robot. The robot arm 130 may include a combination of two or more robots selected from the vertical articulated robot, the horizontal articulated robot, the linear motion robot, the Cartesian robot, and the parallel link robot.

[0018] The measuring device 140 includes a first measuring instrument 141, a second measuring instrument 142, and a third measuring instrument 143. The first measuring instrument 141 measures an item placed on a pallet P from the Z direction. The second measuring instrument 142 measures the item from a direction intersecting the Z direction. The third measuring instrument 143 measures the position in the Z direction of the bottom surface of the item being transferred.

[0019] Specifically, the first measuring instrument 141 includes an imaging unit 141a. The imaging unit 141a is fixed to a support portion 112a provided on the protrusion 112. The imaging unit 141a includes one or two selected from an image sensor and a distance measurement sensor. The imaging unit 141a captures an image of the item A placed on the pallet P from above. The imaging unit 141a transmits the captured image (still image) to the control device 190. The imaging unit 141a may also capture a moving image. In this case, a still image is extracted from the moving image.

[0020] The control device 190 calculates data related to the article from the image acquired by the imaging unit 141a. The calculated data includes the recognition result of the top surface of the article A shown in the image, the position of the top surface in each of the X direction, Y direction, and Z direction, the length of the top surface in the X direction, the length of the top surface in the Y direction, the area of ​​the top surface, etc. The imaging unit 141a and the control device 190 function as the first measuring device 141. An image recognition system separate from the control device 190 may be incorporated into the imaging unit 141a and used as the first measuring device 141.

[0021] The second measuring instrument 142 includes a distance measuring sensor 142a. The distance measuring sensor 142a measures the distance to the article in a direction intersecting the Z direction. In the illustrated example, the second measuring instrument 142 is provided on one of the multiple vertical frames 111a and measures the distance to the article from a direction perpendicular to the Z direction and tilted from the X and Y directions. The distance measuring sensor 142a emits infrared light, laser light, or ultrasonic waves toward the article. From the viewpoint of distance measurement accuracy, the distance measuring sensor 142a is preferably a laser range finder (LRF) using laser light. Based on the measurement results by the distance measuring sensor 142a, the control device 190 calculates the recognition result of the side surface of the article A, the position of the side surface of the article A in the XY plane, etc. The distance measuring sensor 142a and the control device 190 function as the second measuring instrument 142.

[0022] The second measuring instrument 142 may include a moving device 142b. The moving device 142b moves the distance measuring sensor 142a along the Z direction. In this case, the control device 190 can measure the position of the top surface of each article in the Z direction, the position of the bottom surface of each article in the Z direction, the height of each article (position in the Z direction), etc., from the measurement results of the distance measuring sensor 142a and the amount of movement by the moving device 142b.

[0023] The second measuring instrument 142 may include an imaging unit, similar to the first measuring instrument 141. The imaging unit captures an image of the item A placed on the pallet P from the side. The imaging unit transmits the acquired image to the control device 190. The control device 190 calculates, from the image, the recognition result of the side surface of the item A, the position of the side surface of the item A in the XY plane, the height of the item A, etc. In this case, the imaging unit and the control device 190 function as the second measuring instrument 142.

[0024] The third measuring instrument 143 includes a distance measuring sensor 143a installed between the main body 111 and the pallet P. The distance measuring sensor 143a measures the distance to the bottom surface of the article A passing above. The control device 190 measures the position of the bottom surface of the article A in the Z direction from the measurement result of the distance measuring sensor 143a. Preferably, the distance measuring sensor 143a is an LRF that uses laser light. The distance measuring sensor 143a and the control device 190 function as the third measuring instrument 143.

[0025] The third measuring instrument 143 may include an imaging unit, similar to the first measuring instrument 141. The imaging unit is installed between the main body 111 and the pallet P, and captures an image of the article A passing above from below. The imaging unit transmits the acquired image to the control device 190. The control device 190 calculates the position of the bottom surface of the article A in the Z direction from the image. In this case, the imaging unit and the control device 190 function as the third measuring instrument 143.

[0026] The negative pressure generator 150 can individually adjust the pressure of the upper surface suction unit 121 and the pressure of the side surface suction unit 122. The negative pressure generator 150 includes a plurality of pipes 151 connected to the upper surface suction unit 121 and the side surface suction unit 122. In addition, the negative pressure generator 150 includes a vacuum pump, an ejector, a valve, etc., which are not shown.

[0027] The conveying device 160 is, for example, a belt conveyor. The conveying device 160 includes a belt 161, a pulley 162, and a drive unit 163. The belt 161 is an endless belt that is hung around a pair of pulleys 162 that are spaced apart in the X direction. One end of the belt 161 is adjacent to the conveying device C. The rotation axis of the pulley 162 is parallel to the Y direction. The drive unit 163 drives the belt 161 by rotating one of the pair of pulleys 162. As the belt 161 is driven, the article A placed on the conveying device 160 is conveyed toward the conveying device C. In addition to the example shown in the figure, the conveying device 160 may be a roller conveyor, a chain conveyor, or the like.

[0028] The movement device 170 moves the robot arm 130 along the Z direction. The movement device 170 includes a drive unit 171, a shaft 172, and a wire 173. The drive unit 171 is attached to the upper end of the main body 111. The shaft 172 extends along the Y direction and is connected to the drive unit 171. The wire 173 is wound around the shaft 172. One end of the wire 173 is connected to the robot arm 130. The drive unit 171 rotates the shaft 172. The wire 173 is wound or unwound in response to the rotation of the shaft 172, causing the robot arm 130 to move along the Z direction.

[0029] Here, an example has been described in which the movement device 170 is provided separately from the robot arm 130. The movement device 170 may be included in the robot arm 130 as an axis for imparting a degree of freedom in the Z direction.

[0030] The movement device 180 includes a drive unit 181, a shaft 182, and a wire 183. The drive unit 181 is attached to the upper end of the main body 111. The shaft 182 extends along the Y direction and is connected to the drive unit 181. The wire 183 is wound around the shaft 182. One end of the wire 183 is connected to the conveyance device 160. The drive unit 181 rotates the shaft 182. The wire 183 is wound or unwound in response to the rotation of the shaft 182, causing the conveyance device 160 to move along the Z direction.

[0031] The control device 190 is electrically connected to the hand 120, the imaging unit 141a, the distance measurement sensor 142a, the distance measurement sensor 143a, the negative pressure generating device 150, the driving unit 163, the driving unit 171, and the driving unit 181. The control device 190 controls the hand 120, the negative pressure generating device 150, the driving unit 163, the driving unit 171, the driving unit 181, etc. based on the measurement results from the first measuring device 141, the measurement results from the second measuring device 142, and the measurement results from the third measuring device 143.

[0032] The loading and unloading device 100 performs a first operation and a second operation. In the first operation, the loading and unloading device 100 uses the hand 120 and the robot arm 130 to transfer the item A to the conveying device 160. In the second operation, the loaded item A is transported to the conveying device C using the conveying device 160.

[0033] 2(a) to 2(c), 3(a), and 3(b) are schematic diagrams showing a first operation performed by the loading and unloading apparatus according to the embodiment. FIGS. 4(a) and 4(b) are schematic diagrams showing a second operation performed by the loading and unloading apparatus according to the embodiment. Here, an example will be described in which the hand 120 holds an article using only the upper surface suction unit 121. The side surface suction unit 122 is omitted from FIG. 2(b) onward.

[0034] For example, among multiple articles placed on the pallet P, the article with the highest upper surface is determined to be the object to be held. If there are multiple articles with the highest upper surfaces, the article closest to the distance measuring sensor 142a is determined to be the object to be held.

[0035] As shown in FIG. 2(a), the upper surface suction unit 121 includes a plurality of suction portions 121a. Each suction portion 121a includes a rod 121b extending in the Z direction and a pad 121c provided at the tip of the rod 121b. The pad 121c has elasticity so that it can deform to fit the upper surface of an article. Similarly, the side surface suction unit 122 includes a plurality of suction portions 122a. Each suction portion 122a includes a rod 122b extending in the X direction and a pad 122c provided at the tip of the rod 122b. The pad 122c has elasticity so that it can deform to fit the side surface of an article.

[0036] First, as shown in FIG. 2(a), the robot arm 130 moves the hand 120 to above the article A that has been determined to be held. The side suction unit 122 is located, for example, behind the upper surface suction unit 121. The moving device 170 lowers the hand 120 toward the article A. As shown in FIG. 2(b), the upper surface suction unit 121 suctions the upper surface of the article A. At this time, the distance measuring sensor 142a is located above the article to be held. As shown in FIG. 2(c), the moving device 170 raises the hand 120 and the robot arm 130. As a result, the article A rises.

[0037] While article A is rising, distance measuring sensor 142a continues to measure the distance to the held article. When the top surface of article A passes the height of distance measuring sensor 142a, and when the bottom surface of article A passes the height of distance measuring sensor 142a, the measured distance changes. From this change, control device 190 measures the height of held article A. While article A is rising, movement device 142b may lower distance measuring sensor 142a. By moving distance measuring sensor 142a in the direction opposite to the movement direction of the article, the height of article A can be measured more quickly.

[0038] As shown in Fig. 3(a), the robot arm 130 moves the hand 120 toward above the conveying device 160. At this time, the distance measuring sensor 143a measures the distance between the hand 120 and the bottom surface of the held article A. As shown in Fig. 3(b), the moving device 170 lowers the hand 120 toward the conveying device 160 and places the held article A on the conveying device 160.

[0039] As shown in FIG. 4(a), the hand 120 releases its hold on the item A. The moving device 170 shown in FIG. 1 raises the hand 120 and the robot arm 130. After the hand 120 and the robot arm 130 have been raised, the moving device 180 shown in FIG. 1 raises the transport device 160 and sets the position of the transport device 160 in the Z direction to the same position as the transport device C. As shown in FIG. 4(b), the transport device 160 transports the transferred item A to the transport device C. The lifting of the transport device 160 may be performed while the item A is being transferred. This allows the start timing of the second operation to be advanced.

[0040] For example, the loading and unloading operation (first operation and second operation) is repeated until all of the items A on the pallet P are transported to the transport device C. For example, the first operation and the second operation are alternately repeated. After one second operation is completed, the next first operation is performed. To improve the efficiency of the loading and unloading operation, it is preferable that at least a part of the first operation for the next item is performed in parallel with the second operation for the previous item. Meanwhile, in the loading and unloading device 100, the robot arm 130 and the transport device 160 are vertically aligned to achieve compactness. The transport device 160 is located below the robot arm 130. Therefore, when the first operation is performed in parallel with the second operation, there is a possibility that the robot arm 130 will interfere with the transport device 160.

[0041] An example of an "interference" is when the robot arm 130 comes into contact with another object. An "interference" may include when the distance between the robot arm 130 and another object falls below a safety margin.

[0042] Regarding the above problem, the control device 190 determines whether the robot arm 130 will interfere with the transport device 160 or another object (second object) on the transport device 160 when performing a first operation on a certain object (first object) based on the measurement results from the measuring device 140. Then, the control device 190 controls the start timing of the first operation according to the interference determination result; for example, if no interference occurs, the control device 190 advances the start timing of the first operation on the first object compared to if interference occurs.

[0043] FIG. 5 is a schematic diagram showing the function of the control device in the cargo handling apparatus according to the embodiment. A method for controlling the start timing of the first operation will be described with reference to Fig. 5. The control device 190 has the functions of a task management section 191, a planner 192, and an operation control section 193.

[0044] The task management unit 191 manages all tasks in the cargo handling operation. The task management unit 191 requests the planning unit 192 to generate a plan for the cargo handling operation. The task management unit 191 also requests the operation control unit 193 to control the operation of the cargo handling device 100 in the cargo handling operation.

[0045] The planning unit 192 causes the first measuring instrument 141 and the second measuring instrument 142 to measure an item placed on a pallet (step S1). Through the measurement, the planning unit 192 acquires the position of the top surface of the item, the shape of the top surface of the item, the position of the side surface of the item, and the like. The planning unit 192 generates a plan based on the measurement results (step S2). The plan includes the item to be held, the holding position of the item by the hand 120, the movement path of the robot arm 130, and the like. The movement path includes the path to the holding position and the path when transferring the item from the holding position to the conveying device 160.

[0046] The planning unit 192 determines whether the robot arm 130 will interfere with the transport device 160 or an object thereon when the robot arm 130 is moved along the movement path or when the hand 120 is in the holding position (step S3). When determining whether there is an interference, it is assumed that the transport device 160 is at the same height as the transport device C. The planning unit 192 saves the plan and the interference determination results (step S4).

[0047] In response to a request from the task management unit 191, the operation control unit 193 checks the plan and the interference determination result stored by the planner 192 (step S11). The operation control unit 193 determines whether the interference determination result indicates that the robot arm 130 will interfere with the transport device 160 or an item on the transport device 160 (step S12). Hereinafter, regarding the determination result by the operation control unit 193, a determination that interference will occur in the interference determination result will also be simply referred to as "interference will occur" or "interference will occur." A determination that interference will not occur in the interference determination result will also be simply referred to as "no interference will occur" or "no interference." If interference will occur, the operation control unit 193 determines whether the previous item on the transport device 160 has already been transported by the transport device 160 (step S13). The "previous item" is an item that was transferred to the transport device 160 by the first operation prior to the first operation for the item planned to be held. If the previous item has not yet been transferred from the transfer device 160, the operation control unit 193 causes the robot arm 130 to wait until the previous item has been transferred from the transfer device 160.

[0048] If no interference occurs, the operation control unit 193 operates the robot arm 130 to move the hand 120 (step S14). The robot arm 130 moves along the planned operation path. The hand 120 moves to the planned holding position. When the hand 120 moves to the holding position, the first operation is initiated. That is, the target item is held and transferred to the transport device 160. During the first operation, the operation control unit 193 causes the second measuring device 142 to measure the height of the held item (step S15). The operation control unit 193 saves the measured height of the item (step S16). The saved height is used when determining whether there is interference with the next item.

[0049] 6(a) to 6(c), 7(a) and 7(b) are schematic diagrams showing the operation of the cargo handling device in response to control of the start timing. For example, in the state shown in FIG. 6(a), an item A1 (an example of a first item) is determined to be the object to be held. An item A2 (an example of a second item) is being transported by the transport device 160. The top surface of the item A1 is located lower than the top surface of the item A2. When the hand 120 holds the item A1, the robot arm 130 interferes with the item A2. Therefore, in steps S3 and S12, it is determined that interference will occur. In this case, as shown in FIG. 6(b), the robot arm 130 and the moving device 170 do not operate until the item A2 is transported by the transport device 160. As shown in FIG. 6(c), the robot arm 130 moves after the transport device 160 transports the item A2 and the transport device 160 descends. In other words, the first operation for the item A1 is not started until the second operation for the item A2 is completed.

[0050] On the other hand, for example, in the state shown in FIG. 7(a), item A3 (an example of the first item) is determined to be the object to be held. Item A4 (an example of the second item) is being transported by the transport device 160. Item A3 is positioned above item A4. Even when the hand 120 holds item A3, the robot arm 130 does not interfere with item A4. Therefore, in steps S3 and S12, it is determined that no interference will occur. In this case, as shown in FIG. 7(b), the robot arm 130 and the moving device 170 operate while the transport device 160 is transporting item A4. That is, the start timing of the first operation is earlier than in the examples shown in FIGS. 6(a) to 6(c). As a result, the first operation is started on item A3 while the second operation is being performed on item A4. At least a portion of the first operation is performed in parallel with the second operation.

[0051] The advantages of the embodiment will be described. As described above, in the cargo handling apparatus 100, the start timing of the first operation is controlled depending on whether or not there is interference by the robot arm 130 when the first operation is being performed. For example, when there is no interference by the robot arm 130, the start timing of the first operation is earlier than when there is interference by the robot arm 130. According to the embodiment, even when the transport device 160 is provided below the robot arm 130 to reduce the size of the cargo handling apparatus 100, the efficiency of the cargo handling work by the cargo handling apparatus 100 can be further improved.

[0052] 7(a) and 7(b), the transport device 160 does not need to descend to avoid interference with the robot arm 130. By eliminating the need to lower the transport device 160 and raise the transport device 160 to the same height as the transport device C, the time required for the transport device 160 to move can be shortened, and the loading and unloading work can be made more efficient.

[0053] 8(a) and 8(b) are schematic diagrams for explaining a method for determining interference. For example, as shown in FIG. 8( a), the planning unit 192 sets the smallest imaginary rectangle R that surrounds the robot arm 130 on the XZ plane. Each side of the rectangle R is set parallel to the X direction or the Z direction. For example, the smallest rectangle R that circumscribes the robot arm 130 on the XZ plane is set. The planning unit 192 determines whether the robot arm 130 will interfere with the transport device 160 or an item thereon by simply determining whether the rectangle R will interfere with the transport device 160 or an item thereon. This method can reduce the amount of calculation required to determine interference. For example, the timing at which the calculation by the planning unit 192 ends can be advanced, allowing the operation control unit 193 to start processing earlier. As a result, the efficiency of the cargo handling operation by the cargo handling device 100 can be further improved.

[0054] The height H of the item used to determine interference is based on the measurement results by the second measuring device 142. As described above, the distance measurement sensor 142a measures the height H while the item is being moved by the moving device 170. By moving the distance measurement sensor 142a in the direction opposite to the direction of movement of the item, the height H of item A can be measured more quickly. This allows the start timing of interference determination to be advanced. The timing at which calculations by the planning unit 192 end can be advanced, allowing processing by the operation control unit 193 to start earlier.

[0055] As shown in FIG. 8(b), it may be determined whether each element of the robot arm 130 interferes with the transport device 160 or an item thereon in the XZ plane. For example, the control device 190 calculates the distance D1 between the first linear movement unit 131 of the robot arm 130 and the item A, the distance D2 between the second linear movement unit 132 of the robot arm 130 and the item A, and determines whether interference will occur for each element of the robot arm 130. This method reduces the frequency at which interference is determined to occur compared to the method shown in FIG. 8(a). As a result, the first operation is performed more frequently in parallel with the second operation, which can further improve the efficiency of loading and unloading work.

[0056] (First Modification) 6(a) to 7(b), the presence or absence of interference is determined using only the positional relationship in the Z direction between the robot arm 130, the conveying device 160, and the article on the conveying device 160. Furthermore, the presence or absence of interference may also be determined using the positional relationship in the Y direction.

[0057] FIG. 9 is a schematic diagram showing the function of the control device in the cargo handling apparatus according to the first modified example of the embodiment. In a first modified example shown in FIG. 9, in step S2a after step S1, the planner 192 creates a plan for each holdable item. The planner 192 calculates the priority of each plan (step S5a). Next, in step S3a, the planner 192 determines interference of the robot arm 130 for each created plan. Subsequently, in step S4a, the planner 192 saves the plan, priority, and interference determination result for each holdable item. For example, the higher the plan for an item whose top surface is located at a higher position, the higher the priority is calculated to be.

[0058] In step S11, the operation control unit 193 checks the plan, priority, and interference determination result. The operation control unit 193 selects the plan with the highest priority from multiple plans (step S17a). In step S12, the operation control unit 193 determines whether the interference determination result for the selected plan indicates that interference will occur. If interference will not occur, step S14 is executed for the selected plan.

[0059] If interference occurs, the operation control unit 193 determines whether there are other plans that have not yet been selected in step S17a (step S17b). If there are other plans, the operation control unit 193 selects another plan with the next highest priority in step S17a. If there are no other plans, the operation control unit 193 causes the robot arm 130 to wait until the previous item is transported from the transport device 160. Then, in step S14, the plan with the highest priority is executed.

[0060] 10(a), 10(b), 11(a), and 11(b) are schematic diagrams showing the operation of the cargo handling apparatus according to the first modified example of the embodiment. In the state shown in FIG. 10(a), multiple items including item A11 and item A12 are placed on a pallet P. Items A13 and A14 are placed on a conveying device 160. Items A11 to A14 are at the same height. For example, item A11 is determined to be the item with the highest priority to be held. Item A12 is determined to be the item with the next highest priority to be held after item A11. Item A11 is an example of a first item. Item A12 is an example of a third item. Items A13 and A14 are examples of a second item.

[0061] The position of item A11 in the Y direction is the same as the positions of items A13 and A14 in the Y direction. In other words, when viewed from the X direction, item A11 overlaps items A13 and A14. Therefore, when the hand 120 holds item A11, the robot arm 130 interferes with items A13 and A14. The operation control unit 193 determines whether item A12, which has the next highest priority, can be held. The position of item A12 in the Y direction is different from the positions of items A13 or A14 in the Y direction. When viewed from the X direction, item A11 does not overlap items A13 or A14. Therefore, when the hand 120 holds item A12, the robot arm 130 does not interfere with items A13 or A14. The operation control unit 193 determines that item A12 can be held without interference. In accordance with this determination result, the operation control unit 193 moves the hand 120 toward the article A12 as shown in FIG. 10(b).

[0062] On the other hand, in the state shown in Figure 11(a), the position of item A11 in the Y direction is the same as the position of item A13 in the Y direction. Furthermore, the position of item A12 in the Y direction is the same as the position of item A14 in the Y direction. If items other than items A11 and A12 are not candidates for holding, the operation control unit 193 determines that there are no items that can be held without interference. As shown in Figure 11(b), after items A13 and A14 have been transported by the transport device 160, the operation control unit 193 moves the hand 120 toward item A11, which has the highest priority.

[0063] The method of determining interference based on the positional relationship in the Z direction shown in Fig. 8(a) or 8(b) can be applied to determining interference based on the positional relationship in the Y direction. For example, the planning unit 192 sets the smallest imaginary rectangle that surrounds the robot arm 130 on the XY plane. The planning unit 192 determines whether or not the rectangle R interferes with the article on the transport device 160. Alternatively, the planning unit 192 may determine whether or not each element of the robot arm 130 interferes with the article on the transport device 160 on the XY plane.

[0064] The advantages of the first modification will be explained. Even when the height of the held item and the item on the conveying device 160 are the same, the positions of the items in the Y direction may be misaligned, as shown in Fig. 10(a). By using the positional relationship in the Y direction to determine interference, the frequency with which the first operation is performed in parallel with the second operation increases, further improving the efficiency of loading and unloading work.

[0065] In the examples shown in FIGS. 2(a) to 4(b) and 6(a) to 7(b), the hand 120 holds an article only with the upper surface suction unit 121. The hand 120 may be capable of switching the method of holding an article. For example, the cargo handling apparatus 100 is capable of switching between a first holding method and a second holding method. In the first holding method, the cargo handling apparatus 100 holds an article only with the upper surface suction unit 121. In the second holding method, the cargo handling apparatus 100 holds an article with both the upper surface suction unit 121 and the side surface suction unit 122. In the examples shown in FIGS. 2(a) to 4(b) and 6(a) to 7(b), the first operation is performed using the first holding method.

[0066] 12(a) to 12(c) and 13(a) to 13(c) are schematic diagrams showing other operations performed by the cargo handling apparatus according to the embodiment. As shown in FIG. 12(a), the robot arm 130 moves the hand 120 to above the article A determined to be held. The position of the conveying device 160 in the Z direction is set to the same position as the bottom surface of the held article A. The moving device 170 lowers the hand 120 toward the article A. As shown in FIG. 12(b), the top surface suction unit 121 and the side surface suction unit 122 respectively suction the top surface and side surface of the article A. As shown in FIG. 12(c), the robot arm 130 transfers the held article A onto the conveying device 160. For example, the robot arm 130 slides the article A to transfer it onto the conveying device 160. At this time, the hand 120 may be tilted with respect to the XY plane as shown. This reduces the contact area between the bottom surface of the article A and another article (or pallet P), thereby reducing friction.

[0067] As shown in FIG. 13(a), the hand 120 releases the hold by the upper surface suction unit 121 and the side surface suction unit 122. As shown in FIG. 13(b), the moving device 180 sets the position of the transport device 160 in the Z direction to the same position as the transport device C. In addition, the moving device 170 raises the hand 120 and the robot arm 130. As shown in FIG. 13(c), the transport device 160 transports the transferred article A to the transport device C. The operations shown in FIGS. 12(a) to 13(a) correspond to the first operation. The operations shown in FIGS. 13(b) and 13(c) correspond to the second operation.

[0068] According to the second holding method, the top and sides of the article are held, thereby improving the holding stability compared to the first holding method. Furthermore, when sliding the article, the time for the first operation can be shortened compared to when lifting the article. This further improves the efficiency of loading and unloading operations. According to the first holding method, because the article A is lifted, the article A can be transferred regardless of the state between the held article A and the conveying device 160.

[0069] An instruction indicating whether to use the first holding method or the second holding method may be input to the loading / unloading device 100. The loading / unloading device 100 switches between the first holding method and the second holding method in accordance with the received instruction. The instruction may be input by a user or transmitted by a higher-level host computer or the like. Whether to use the first holding method or the second holding method may be determined based on the measurement results of the first measuring device 141 and the second measuring device 142. For example, the second holding method is used when the path between the item determined to be held and the conveying device 160 is flat and the item can slide. When the path is not flat, the first holding method is used. The path is the top surface of another item or the top surface of the pallet P.

[0070] (Second Modification) In the first modification, if interference occurs with the robot arm 130 when holding a certain item, it is determined whether another item can be held without interference. In contrast, in the second modification, the previous item is placed on the conveying device 160 so that interference will not occur when holding the next item.

[0071] FIG. 14 is a schematic diagram showing the function of the control device in the cargo handling apparatus according to the second modified example of the embodiment. In a second modified example shown in Fig. 14, in step S2b after step S1, the planner 192 generates plans for the item to be transported immediately (first) and the item to be transported next (second). For the first item, the planner 192 generates a movement path for each placement position while changing the placement position of the item on the transport device 160. As a result, multiple plans are generated for the first item. For the second item, a plan is generated, for example, so that the movement path is the shortest.

[0072] In step S3b, the planner 192 determines, for each plan related to the first item, whether the robot arm 130 will interfere with the transport device 160 or an item on the transport device 160 when performing the first operation on the first item. Furthermore, for each plan related to the first item, the planner 192 determines whether the robot arm 130 will interfere with the first item on the transport device 160 when performing the first operation on the second item. The planner 192 calculates a priority for each plan related to the first item (step S5b). The priority is calculated based on the operation distance and the interference determination result. Specifically, the shorter the operation path, the higher the priority is set. For a plan in which interference occurs, the priority is significantly reduced. The planner 192 saves multiple plans related to the first item, the priority for each plan, and the interference determination result.

[0073] In step S11, the operation control unit 193 checks the plan with the highest priority and the result of the interference determination. As described above, the priority of a plan that will cause interference is significantly reduced. As a result, from among the multiple plans for the first item, a plan that will not cause interference by the robot arm 130 is selected. Thereafter, steps S12 to S16 are executed in the same manner as in the loading and unloading method shown in FIG. 5.

[0074] 15(a), 15(b), 16(a), and 16(b) are schematic diagrams showing the operation of a cargo handling apparatus according to a second modified example of the embodiment. In the state shown in Figure 15(a), multiple items including items A21 and A22 are placed on a pallet P. For example, the top surface of item A21 is located higher than the top surface of item A22. Item A21 is determined to be the first item to be transported, and item A22 is determined to be the second item to be transported.

[0075] The planning unit 192 generates a plan for the item A22. For example, as shown in FIG. 15(b), a plan P2 is generated that has the shortest movement path to the conveying device 160. Furthermore, the planning unit 192 generates multiple plans for the item A21. For example, as shown in FIG. 16(a), multiple plans P1a to P1n are generated while changing the placement position on the conveying device 160. For each of the multiple plans P1a to P1n, the planning unit 192 determines whether the robot arm 130 will interfere with the item A21 on the conveying device 160 when performing the first movement on the item A22. The planning unit 192 sets a priority for each of the multiple plans P1a to P1n based on the movement path distance and the interference determination result. As a result, for example, the priority of the plan P1z shown in FIG. 16(b) is set to be the highest. According to the plan P1z, the robot arm 130 will not interfere with the item A21 when performing the first movement on the item A22.

[0076] According to the second modification, the first operation for the item A21 is performed so that interference of the robot arm 130 does not occur during the first operation for the item A22. Therefore, the first operation for the item A22 can be performed in parallel with the second operation for the item A21. This increases the frequency with which the first operation is performed in parallel with the second operation, thereby further improving the efficiency of the loading and unloading work.

[0077] FIG. 17 is a schematic diagram showing a hardware configuration. The control device 190 includes, for example, the hardware configuration shown in Fig. 17. The processing device 90 shown in Fig. 17 includes a CPU 91, a ROM 92, a RAM 93, a storage device 94, an input interface 95, an output interface 96, and a communication interface 97.

[0078] The ROM 92 stores programs that control the operation of the computer. The ROM 92 stores programs necessary for the computer to execute each of the above-mentioned processes. The RAM 93 functions as a storage area in which the programs stored in the ROM 92 are expanded.

[0079] The CPU 91 includes a processing circuit. The CPU 91 uses a RAM 93 as a work memory and executes a program stored in at least one of a ROM 92 and a storage device 94. During program execution, the CPU 91 controls each component via a system bus 98 and executes various processes.

[0080] The storage device 94 stores data necessary for executing the program and data obtained by executing the program.

[0081] The input interface (I / F) 95 connects the processing device 90 and the input device 95a. The input I / F 95 is, for example, a serial bus interface such as USB. The CPU 91 can read various data from the input device 95a via the input I / F 95.

[0082] The output interface (I / F) 96 connects the processing device 90 and the output device 96a. The output I / F 96 is, for example, a video output interface such as a Digital Visual Interface (DVI) or a High-Definition Multimedia Interface (HDMI (registered trademark)). The CPU 91 can transmit data to the output device 96a via the output I / F 96 and cause the output device 96a to display an image.

[0083] The communication interface (I / F) 97 connects the processing device 90 to a server 97a external to the processing device 90. The communication I / F 97 is, for example, a network card such as a LAN card. The CPU 91 can read various data from the server 97a via the communication I / F 97. The camera 99a photographs an item and stores the image in the server 97a. The camera 99a functions as an imaging unit 141a. The LRFs 99b and 99c function as distance measurement sensors 142a and 143a.

[0084] The storage device 94 includes one or more selected from a hard disk drive (HDD) and a solid state drive (SSD). The input device 95a includes one or more selected from a mouse, a keyboard, a microphone (voice input), and a touchpad. The output device 96a includes one or more selected from a monitor, a projector, a speaker, and a printer. A device having the functions of both the input device 95a and the output device 96a, such as a touch panel, may also be used.

[0085] The various data processing operations described above may be recorded as a program that can be executed by a computer on a magnetic disk (such as a flexible disk or hard disk), an optical disk (such as a CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW), a semiconductor memory, or other non-transitory computer-readable storage medium.

[0086] For example, information recorded on a recording medium can be read by a computer (or an embedded system). The recording medium may have any recording format (storage format). For example, a computer reads a program from the recording medium and causes a CPU to execute instructions written in the program based on the program. The computer may acquire (or read) the program via a network.

[0087] According to the embodiments described above, a cargo handling device, a control device, a cargo handling method, a program, and a storage medium are provided that can improve the efficiency of cargo handling operations.

[0088] Although several embodiments of the present invention have been described above, these embodiments are presented by way of example only and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, modifications, etc. can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention and its equivalents as set forth in the claims. Furthermore, the above-described embodiments can be implemented in combination with each other. [Explanation of symbols]

[0089] 100: cargo handling device, 110: support frame, 111: main body, 111a: vertical frame, 111b: horizontal frame, 112: protrusion, 112a: support, 113, 114: opening, 120: hand, 121: upper surface suction unit, 121a: suction portion, 121b: rod, 121c: pad, 122: side surface suction unit, 122a: suction portion, 122b: rod, 122c: pad, 130: robot arm, 131: first linear unit, 132: second linear unit, 140: measuring device, 141: first measuring instrument, 141a: imaging unit, 142: second measuring instrument, 142a: distance measuring sensor, 142b: moving device, 143: third measuring instrument, 143a: distance measuring sensor, 150: negative pressure generator, 151: pipe, 160: conveying device, 161: belt, 162: pulley, 163: driving unit, 170: moving device, 171: driving unit, 172: shaft, 173: wire, 180: moving device, 181: driving unit, 182: shaft, 183: wire, 190: control device, 191: task management unit, 192: planning unit, 193: operation control unit, C: conveying device, D1, D2: distance, H: height, P: pallet

Claims

1. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a control device that executes a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device; Equipped with The control device determining, based on a measurement result by the measuring device, whether the robot arm including the first object will interfere with the transport device or a second object on the transport device when the hand performs the first operation on the first object while holding the first object; controlling a start timing of the first action in accordance with the result of the interference determination; Loading equipment.

2. The loading and unloading apparatus according to claim 1 , wherein when the interference does not occur, the control device advances the start timing of the first action on the first item compared to when the interference occurs.

3. 3. The loading and unloading apparatus according to claim 1, wherein, if the interference does not occur, the control device initiates the first operation on the first item while the second operation on the second item is being performed.

4. 4. The loading and unloading device according to claim 1, wherein, when the interference occurs, the control device starts the first operation on the first item after the second operation on the second item is completed.

5. a moving device that moves the transport device along the first direction; 5. The loading and unloading device according to claim 1, wherein, when the interference occurs, the control device causes the moving device to move the conveying device in a direction away from the robot arm when starting the first operation on the first item.

6. 6. The loading and unloading apparatus according to claim 5, wherein if the interference does not occur, the control device does not move the transport device when starting the first operation on the first item.

7. 2. The loading and unloading apparatus according to claim 1, wherein, when the interference occurs, the control device initiates the first operation on a third item separate from the first item while the second operation on the second item is being performed.

8. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a control device that executes a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device; Equipped with The control device determining whether the robot arm will interfere with the transport device or a second object on the transport device when performing the first operation on the first object based on the measurement result by the measuring device; If the interference occurs, the first operation is initiated on a third article other than the first article while the second operation is being performed on the second article. Loading equipment.

9. the conveying device conveys the article in a second direction intersecting the first direction, 9. The loading and unloading apparatus according to claim 7, wherein a position of the third article in a third direction intersecting a plane along the first direction and the second direction is different from a position of the first article in the third direction.

10. The loading and unloading device according to any one of claims 1 to 9, wherein the control device, in the first operation on the second item, places the second item at a position on the conveying device where the robot arm does not interfere with the second item when the first operation on the first item is performed.

11. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a control device that executes a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device; Equipped with The control device determining whether the robot arm will interfere with the transport device or a second object on the transport device when performing the first operation on the first object based on the measurement result by the measuring device; controlling a start timing of the first action according to the result of the interference determination; placing the second article at a position on the transport device where the robot arm will not interfere with the second article when performing the first operation on the first article; Loading equipment.

12. The measuring device is a first measuring device that measures the position and size of the item when viewed from the first direction; a second measuring device that measures the length of the article in the first direction; The loading and unloading apparatus according to any one of claims 1 to 11, comprising:

13. a moving device that moves the second measuring instrument along the first direction; the second measuring instrument includes a distance measuring sensor that measures a distance to the article in a direction intersecting the first direction, The cargo handling apparatus according to claim 12 , wherein the movement device moves the distance measuring sensor in a direction opposite to a direction of movement of the article while the article is being moved by the robot arm.

14. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a control device that executes a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device; Equipped with The control device determining whether the robot arm will interfere with the transport device or a second object on the transport device when performing the first operation on the first object based on the measurement result by the measuring device; controlling a start timing of the first action according to the result of the interference determination; The measuring device is a first measuring device that measures the position and size of the item when viewed from the first direction; a second measuring device that measures the length of the article in the first direction; Including, a moving device that moves the second measuring instrument along the first direction; the second measuring instrument includes a distance measuring sensor that measures a distance to the article in a direction intersecting the first direction, The moving device is a loading and unloading device that moves the distance measuring sensor in a direction opposite to the movement direction of the item while the item is being moved by the robot arm.

15. The hand a first suction unit that suctions the article in the first direction; a second suction unit that suctions the article in a second direction that intersects with the first direction; The loading and unloading apparatus according to any one of claims 1 to 14, comprising:

16. The loading and unloading device according to claim 15, wherein the control device switches between a first holding method in which the item is held by only the first suction unit and a second holding method in which the item is held by the first suction unit and the second suction unit based on the measurement results.

17. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a control device that causes a loading / unloading device to execute a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, determining, based on a measurement result by the measuring device, whether the robot arm including the first object will interfere with the transport device or a second object on the transport device when the hand performs the first operation on the first object while holding the first object; a control device that controls a start timing of the first action in accordance with the result of the interference determination;

18. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a control device that causes a loading / unloading device to execute a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, determining whether the robot arm will interfere with the transport device or a second object on the transport device when performing the first operation on the first object based on the measurement result by the measuring device; A control device that, if the interference occurs, initiates the first action on a third item separate from the first item while the second action on the second item is being performed.

19. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a control device that causes a loading / unloading device to execute a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, determining whether the robot arm will interfere with the transport device or a second object on the transport device when performing the first operation on the first object based on the measurement result by the measuring device; controlling a start timing of the first action according to the result of the interference determination; A control device that, during the first operation on the second item, places the second item at a position on the conveying device where the robot arm does not interfere with the second item when performing the first operation on the first item.

20. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device that measures the position and size of the item, the measuring device including a first measuring instrument that measures the position and size of the item when viewed from the first direction, and a second measuring instrument that measures the length of the item in the first direction, the second measuring instrument including a distance measuring sensor that measures the distance to the item in a direction intersecting the first direction; a moving device that moves the second measuring device along the first direction, the moving device moving the distance measuring sensor in a direction opposite to the moving direction of the article while the article is being moved by the robot arm; a control device that causes a loading / unloading device to execute a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, determining whether the robot arm will interfere with the transport device or a second object on the transport device when performing the first operation on the first object based on the measurement result by the measuring device; a control device that controls a start timing of the first action in accordance with the result of the interference determination;

21. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, determining, based on a measurement result by the measuring device, whether the robot arm including the first object will interfere with the transport device or a second object on the transport device when the hand performs the first operation on the first object while holding the first object; A cargo handling method, further comprising controlling a start timing of the first operation according to a result of the interference determination.

22. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, determining whether the robot arm will interfere with the transport device or a second object on the transport device when performing the first operation on the first object based on the measurement result by the measuring device; A cargo handling method, wherein if the interference occurs, the first operation on a third item other than the first item is started while the second operation on the second item is being performed.

23. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, determining whether the robot arm will interfere with the transport device or a second object on the transport device when performing the first operation on the first object based on the measurement result by the measuring device; controlling a start timing of the first action according to the result of the interference determination; A loading and unloading method, wherein during the first operation on the second item, the second item is placed at a position on the conveying device where the robot arm does not interfere with the second item when performing the first operation on the first item.

24. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device that measures the position and size of the item, the measuring device including a first measuring instrument that measures the position and size of the item when viewed from the first direction, and a second measuring instrument that measures the length of the item in the first direction, the second measuring instrument including a distance measuring sensor that measures the distance to the item in a direction intersecting the first direction; a moving device that moves the second measuring device along the first direction, the moving device moving the distance measuring sensor in a direction opposite to the moving direction of the article while the article is being moved by the robot arm; a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, determining whether the robot arm will interfere with the transport device or a second object on the transport device when performing the first operation on the first object based on the measurement result by the measuring device; A cargo handling method, further comprising controlling a start timing of the first operation according to a result of the interference determination.

25. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a program for causing a control device of a loading and unloading device to execute a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, The control device determining whether the robot arm including the first object will interfere with the transport device or a second object on the transport device when the hand holds the first object and performs the first operation on the first object based on the measurement result by the measuring device; controlling a start timing of the first action according to the result of the interference determination; program.

26. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a program for causing a control device of a loading and unloading device to execute a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, The control device determining whether the robot arm will interfere with the transport device or a second object on the transport device when the first operation is performed on the first object based on a measurement result by the measurement device; If the interference occurs, the first operation is initiated on a third article other than the first article while the second operation is being performed on the second article. program.

27. ​​A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device for measuring the position and size of the item; a program for causing a control device of a loading and unloading device to execute a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, The control device determining whether the robot arm will interfere with the transport device or a second object on the transport device when the first operation is performed on the first object based on a measurement result by the measurement device; controlling a start timing of the first action according to the result of the interference determination; In the first operation on the second article, the second article is placed at a position on the conveying device where the robot arm does not interfere with the second article when the first operation on the first article is performed. program.

28. A hand for holding an article; a robot arm that moves the hand; a conveying device aligned with the robot arm in a first direction and configured to convey the article; a measuring device that measures the position and size of the item, the measuring device including a first measuring instrument that measures the position and size of the item when viewed from the first direction, and a second measuring instrument that measures the length of the item in the first direction, the second measuring instrument including a distance measuring sensor that measures the distance to the item in a direction intersecting the first direction; a moving device that moves the second measuring device along the first direction, the moving device moving the distance measuring sensor in a direction opposite to the moving direction of the article while the article is being moved by the robot arm; a program for causing a control device of a loading and unloading device to execute a first operation of transferring the article to the transport device using the hand and the robot arm, and a second operation of transporting the transferred article using the transport device, The control device determining whether the robot arm will interfere with the transport device or a second object on the transport device when the first operation is performed on the first object based on a measurement result by the measurement device; controlling a start timing of the first action according to the result of the interference determination; program.

29. A storage medium storing the program according to any one of claims 25 to 28.

Images