Stacking position planning information correction program, stacking position planning information correction method, stacking position planning device, and palletizing robot

Abstract

To provide a stowage position plan information correction program, a stowage position plan information correction method, a stowage position planning device, and a palletizing robot that can correct generated cargo stowage position plan information so that cargo can be stowed in a more stable state.SOLUTION: A stowage position planning device 1 includes a stowage position plan information correction unit 23 that acquires stowage position plan information indicating a stowage position of an object in a container by assigning item information corresponding to multiple objects to be stowed to a predetermined position within the container information corresponding to a container at a stowage destination, selects first item information to be moved from among the item information in the acquired stowage position plan information, and corrects the stowage position plan information by moving the assigned position of the selected first item information in a horizontal direction with respect to the container information, toward a center of the container information, a center of second item information supporting the selected item information from a bottom, or an end of the second item information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a stacking position planning information correction program, a stacking position planning information correction method, a stacking position planning device, and a palletizing robot.

Background Art

[0002] In a logistics system, a plurality of packages are stacked on a container such as a pallet and moved to efficiently transport the packages. At that time, not only single stacking in which a single type of package is stacked on a pallet is performed, but multiple stacking in which a plurality of types of packages are stacked may also be performed. In the case of single stacking, by determining a suitable package stacking pattern in advance, the stacking operation can be efficiently performed on a plurality of pallets according to this stacking pattern. However, in the case of mixed loading, since a suitable stacking pattern differs depending on the types and numbers of packages, it is necessary to perform a stacking position plan for each package on each pallet.

[0003] The mixed loading operation is mainly performed by workers recognizing the types and numbers of packages and trial and error. Therefore, there are problems such as differences in the quality of the stacking position plan and working hours depending on the worker, and the risk of package deterioration or damage due to the trial and error operation.

[0004] In view of this, a technique for automatically calculating the stacking position plan of packages on a pallet has been disclosed (for example, Patent Document 1). In this technique, based on the types of packages to be stacked, the stacking position of each package for mixed loading a plurality of types of packages on a pallet is calculated. By using this technique, when a plurality of types of packages are mixed loaded on a pallet, the stacking operation can be efficiently performed.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] In the technology described in Patent Document 1 above, in order to efficiently plan the stacking location, the stacking location of new cargo is limited to a corner position within the empty space on the pallet, for example, the back left, and stacking location plan information is generated. However, when cargo is stacked based on the stacking location plan generated in this way, there is a problem that the cargo becomes unstable on the pallet, and cargo collapse may occur when the pallet is moved.

[0007] This disclosure is made in view of the above circumstances and aims to provide a loading position plan information correction program, a loading position plan information correction method, a loading position planning device, and a palletizing robot for correcting the generated loading position plan information so that the loading can be done in a more stable state. [Means for solving the problem]

[0008] The stacking position planning information correction program according to this disclosure causes a computer to perform a stacking position planning information acquisition function, which acquires stacking position planning information indicating the stacking position of an object within a container by assigning item information corresponding to a plurality of objects to be stacked to predetermined positions within container information corresponding to the container to be stacked, and a stacking position planning information correction function, which selects a first item information to be moved from the item information within the acquired stacking position planning information, and corrects the stacking position planning information by moving the assigned position of the selected first item information horizontally relative to the container information toward the center of the container information, the center of a second item information supporting the item information to be moved from below, or the edge of the second item information.

[0009] In the stacking position planning information acquisition function, the assignment position of the item information may be moved such that the end of the first item information does not extend beyond the end of the container information or the end of the second item information.

[0010] In the stacking position planning information correction function, within the stacking position planning information, item information that needs to be moved simultaneously when a predetermined item information is moved is recognized as "child" item information that depends on the predetermined item information, item information that needs to be moved simultaneously when the "child" item information is moved is recognized as "descendant" item information of the predetermined item information, and the predetermined item information is recognized as the "parent" item information for the "child" item information and as the "ancestor" item information for the "descendant" item information, thereby recognizing the dependencies between multiple item information, and if all paths from the "child" item information or "descendant" item information of the predetermined item information subject to moveability determination to the "parent" item information and "ancestor" item information pass through the item information subject to moveability determination, the assigned position of the item information subject to moveability determination may be determined to be movable.

[0011] Furthermore, the stacking position planning information correction method according to this disclosure involves assigning item information corresponding to multiple objects to be stacked to predetermined positions within container information corresponding to the container to be stacked, thereby obtaining stacking position planning information that indicates the stacking positions of the objects within the container, selecting a first item information to be moved from among the item information within the stacking position planning information, and correcting the stacking position planning information by moving the assigned position of the selected first item information horizontally relative to the container information toward the center of the container information, the center of a second item information supporting the selected item information from below, or the edge of the second item information.

[0012] Furthermore, the stacking position planning device according to this disclosure includes a stacking position planning information acquisition unit that acquires stacking position planning information indicating the stacking position of an object within a container by assigning item information corresponding to a plurality of objects to be stacked to a predetermined position within container information corresponding to the container to be stacked, and a stacking position planning information correction unit that selects a first item information to be moved from the item information within the stacking position planning information, and corrects the stacking position planning information by moving the assignment position of the selected first item information horizontally relative to the container information toward the center of the container information, the center of a second item information supporting the selected item information from below, or the end of the second item information.

[0013] Furthermore, the palletizing robot according to this disclosure is equipped with the stacking position planning device and includes an operating mechanism that corrects the stacking position planning information corrected by the stacking position planning information correction unit, and corrects the stacking position of objects among the objects stacked in the container based on the stacking position planning information acquired by the stacking position planning information acquisition unit, the object corresponding to the item information for which the corresponding stacking position planning information has been corrected. [Effects of the Invention]

[0014] According to the loading position planning information correction program, loading position planning information correction method, loading position planning device, and palletizing robot of this disclosure, the generated loading position planning information for cargo can be corrected so that the cargo can be loaded in a more stable state. [Brief explanation of the drawing]

[0015] [Figure 1] This is a block diagram showing the configuration of a stacking position planning device according to one embodiment. [Figure 2] This is a flowchart showing the operation of a stacking position planning device according to one embodiment. [Figure 3] (a) is a top view of an example of stacking position planning information generated by a stacking position planning device according to one embodiment, which assigns item information A and B to a pallet P, and (b) is a directed graph generated based on the stacking position planning information in (a). [Figure 4] This flowchart shows the flow of the correction process for stacking position planning information performed by a stacking position planning device according to one embodiment. [Figure 5] (a) is a side view of an example of stacking position planning information generated by a stacking position planning device according to one embodiment, which assigns item information A, B, and C to a pallet P, and (b) is a directed graph generated based on the stacking position planning information in (a). [Figure 6] (a) is a side view of an example of stacking position planning information generated by a stacking position planning device according to one embodiment, which assigns item information A, B, C, and D to a pallet P, and (b) is a directed graph generated based on the stacking position planning information in (a). [Figure 7] (a) is a side view of another example of stacking position planning information generated by a stacking position planning device according to one embodiment by assigning item information A, B, and C to a pallet P, and (b) is a directed graph generated based on the stacking position planning information in (a). [Figure 8] (a) is a side view of an example of stacking position planning information generated by a stacking position planning device according to one embodiment, which assigns item information A, B, C, D, and E to a pallet P, and (b) is a directed graph generated based on the stacking position planning information in (a). [Figure 9] (a) is a side view of another example of stacking position planning information generated by a stacking position planning device according to one embodiment, which assigns item information A, B, C, D, and E to a pallet P, and (b) is a directed graph generated based on the stacking position planning information in (a). [Figure 10] (a) is a top view of another example of stacking position planning information generated by a stacking position planning device according to one embodiment, which assigns item information A, B, C, D, and E to a pallet P, and (b) is a directed graph generated based on the stacking position planning information in (a). [Figure 11](a) is a diagram showing the state where the item information F of the moving object in the stacking position planning information is moved to align the center with the center of the pallet P by the stacking position planning device according to an embodiment, and (b) is a diagram showing the state where the center of the item information F of the moving object is moved to align with the center of the item information A that supports the item information F from the lower direction, and (C) is a diagram showing the state where each of the plurality of item information within the item information F of the moving object is moved toward the end at different positions of the item information A that supports these from the lower direction. [Figure 12] It is a diagram showing the state where the stacking position planning device according to an embodiment moves the centers of the item information A and F of the moving object in the stacking position planning information to align with the center of the pallet P. [Figure 13] (a) is an example of image information generated based on the stacking position planning information before correction by the stacking position planning device according to an embodiment, and (b) is an example of image information generated for the state where the stacking position planning information shown in (a) is corrected.

Embodiments for Carrying out the Invention

[0016] In the following embodiments, in a logistics system, a stacking position determination process for generating planning information on the stacking positions of rectangular parallelepiped packages such as a plurality of cardboard boxes when stacking and transporting them onto a container such as a pallet will be described. In this embodiment, packages such as cardboard boxes are objects subject to the stacking position determination process, and the pallet is a container for the stacking destination.

[0017] 〈Configuration of the Stacking Position Planning Device According to an Embodiment〉 [[ID=二十]]The configuration of the stacking position planning device according to an embodiment will be described with reference to FIG. 1. The stacking position planning device 1 according to this embodiment includes an input unit 10, a CPU 20, a stacking position planning information storage unit 30, and an output unit 40.

[0018] The input unit 10 consists of, for example, a mouse and keyboard operated by the user, or a communication means for communicating with a higher-level system that oversees the entire logistics system. The input unit 10 inputs information about multiple packages to be loaded and information about the pallets to be loaded onto, based on user operation information or information transmitted from the higher-level system, as information for generating planning information for the loading locations of packages. Specifically, the input unit 10 inputs information about the quantity, shape, and size of each type of package as information about the packages to be loaded and information about the pallets to be loaded onto.

[0019] The CPU 20 operates by executing a pre-installed program and includes an input information acquisition unit 21, a stacking position planning information generation unit 22, a stacking position planning information correction unit 23, and an output information generation unit 24.

[0020] The input information acquisition unit 21 acquires information about the cargo to be stacked, input from the input unit 10, as item information corresponding to each cargo. The input information acquisition unit 21 also acquires information about the pallet to which the cargo will be stacked, input from the input unit 10, as container information (pallet information).

[0021] The stacking position planning information generation unit 22 determines the stacking position on the destination pallet for the cargo corresponding to the item information by assigning predetermined item information to the available space information on the pallet based on the information acquired by the input information acquisition unit 21. The stacking position planning information generation unit 22 adds the assigned position on the pallet information for the item information corresponding to the cargo whose stacking position has been determined to the item information and stores it in the stacking position planning information storage unit 30 as stacking position planning information.

[0022] When the stacking position plan information correction unit 23 receives an instruction to correct the stacking position plan information stored in the stacking position plan information storage unit 30, it functions as a stacking position plan information acquisition unit and acquires the stacking position plan information from the stacking position plan information storage unit 30. The stacking position plan information correction unit 23 also identifies the item information to be moved from the acquired stacking position plan information and corrects the assigned position of the identified item information.

[0023] The output information generation unit 24 generates output information regarding the determined stacking location plan information based on the stacking location information added to the item information stored in the stacking location plan information storage unit 30, and outputs it to the output unit 40.

[0024] The stacking position planning information storage unit 30 stores information indicating the stacking position determined for item information for which the stacking position determination process has already been performed.

[0025] The output unit 40 outputs the output information generated by the output information generation unit 24 by printing it with a printer, displaying it on a display screen, displaying it on an AR (Augmented Reality) display, or transmitting the data to a higher-level system.

[0026] <Operation of a stacking position planning device according to one embodiment> Next, the operation of the loading position planning device according to this embodiment will be explained with reference to the flowchart in Figure 2. First, when the loading position planning device 1 obtains information instructing the generation of loading position planning information for cargo, either through user operation or information transmission from a higher-level system, the input unit 10 inputs this information to the CPU 20.

[0027] The CPU 20 receives information from the input unit 10 that instructs the CPU 20 to generate loading location planning information, and the input information acquisition unit 21 receives this information and sends it to the loading location planning information generation unit 22. The loading location planning information generation unit 22, in accordance with this instruction, deletes the loading location planning information that was generated in the previous loading location planning information generation process and stored in the loading location planning information storage unit 30, and initializes the loading location planning information storage unit 30 (S1).

[0028] Next, based on user operations or information transmitted from a higher-level system, information about the cargo to be loaded and information about the pallet to be loaded are input from the input unit 10 as conditions for generating planning information for the loading location of the cargo. Specifically, information about the cargo to be loaded includes the quantity, shape, and size (width, depth, and height) for each type, and information about the pallet to be loaded includes the quantity, shape, and usable internal dimensions (width, depth) for loading.

[0029] The input information acquisition unit 21 acquires information about the cargo to be stacked, input from the input unit 10, as item information corresponding to each cargo. Here, one item information does not necessarily have to correspond to one cargo; the smallest rectangular prism containing multiple item information corresponding to multiple adjacent cargoes may be treated as one item information corresponding to the multiple cargoes. The input information acquisition unit 21 also acquires information about the pallet to which the cargo will be stacked, input from the input unit 10, as container information (pallet information).

[0030] Next, the stacking position planning information generation unit 22 determines the stacking position on the destination pallet for the cargo corresponding to the item information by assigning predetermined item information to the available space information of the pallet based on the information acquired by the input information acquisition unit 21. Known techniques can be used for the method by which the stacking position planning information generation unit 22 determines the stacking position of the cargo on the pallet. The stacking position planning information generation unit 22 acquires the information of the determined cargo's stacking position as the corresponding cargo's stacking position planning information.

[0031] The stacking position planning information generation unit 22 obtains the coordinates of a predetermined position in the corresponding item information, with a predetermined position in the pallet information as the origin, as the stacking position planning information for each package. Figure 3(a) is a top view of a state in which the corner of item information A corresponding to package α is aligned with the rear left corner of pallet information P, and item information B corresponding to package β is aligned with the front left end of item information A in the horizontal direction. In this case, the stacking position planning information generation unit 22 obtains the coordinates a(0,0) of the rear left corner of item information A, with the rear left corner of pallet information P as the origin p(0,0), the width direction as the x-axis, and the depth direction as the y-axis, as the stacking position planning information for package α. Similarly, the stacking position planning information generation unit 22 obtains the coordinates b(x1,0) of the rear left corner of item information B as the stacking position planning information for package β.

[0032] The stacking position planning information generation unit 22 adds coordinate information, which is the stacking position planning information for each determined package, to the corresponding item information and stores it in the stacking position planning information storage unit 30 (S3).

[0033] Next, the output information generation unit 24 generates image information of the generated stacking position plan information as output information based on the stacking position information of each item stored in the stacking position plan information storage unit 30, and outputs it to the output unit 40. The stacking worker stacks the goods on the pallet based on the output image information of the stacking position plan information.

[0034] If a user notices that the stacked cargo is unstable on the pallet and performs an operation to instruct the system to correct the stacking position planning information, the input unit 10 inputs this operation information to the CPU 20.

[0035] When operation information instructing correction of the stacking position plan information is obtained (YES in S5), the stacking position plan information correction unit 23 executes the correction process for the stacking position plan information stored in the stacking position plan information storage unit 30 (S6).

[0036] The stacking position planning information correction unit 23 is configured, as a correction processing condition (1), to allow the coordinates of the item information to be moved, as described later, to be movable only in the positive x-axis and positive y-axis directions. In other words, the stacking position planning information correction unit 23 can move the item information away from the back left corner of the pallet information, which is the origin of the coordinates. If a corner other than the back left corner within the pallet information is set as the origin, the stacking position planning information correction unit 23 is configured, and the correction processing condition (1) is set to allow the item information to be moved away from that origin.

[0037] Furthermore, as a condition (2) for the correction process, the stacking position planning information correction unit 23 is set to be able to move the item information so that the end of the item information to be moved does not exceed the end of the pallet information. Also, if the item information to be moved is overlapping with other item information, the stacking position planning information correction unit 23 is set to be able to move the item information so that the end of the item information to be moved does not exceed the end of the other item information.

[0038] Figure 4 is a flowchart showing the flow of the stacking location plan information correction process performed by the stacking location plan information correction unit 23. When the stacking location plan information correction unit 23 starts the stacking location plan information correction process, it acquires the stacking location plan information stored in the stacking location plan information storage unit 30 (S61).

[0039] Next, the stacking position plan information correction unit 23 determines the dependency relationships between item information based on the acquired stacking position plan information (S62). Here, the dependency relationships between item information refer to the positional relationship between two different items of item information.

[0040] In the stacking position planning information where item information A and B are assigned in a two-dimensional arrangement as shown in Figure 3(a), the stacking position planning information correction unit 23 needs to move item information B simultaneously when moving item information A in the y-axis direction. In this case, the stacking position planning information correction unit 23 determines that "item information B depends on item information A." At this time, item information B is horizontally dependent on item information A. Hereafter, this determined dependency relationship will be referred to as "A→B".

[0041] The stacking position planning information correction unit 23 generates a directed graph as shown in Figure 3(b), where "A" and "B" are nodes and the direction of dependency from node "A" to node "B" is indicated by edges, based on the dependency relationship "A→B" information determined from the stacking position planning information in Figure 3(a).

[0042] Furthermore, when the dependency relationship is "A → B", the stacking position planning information correction unit 23 recognizes item information B as a "child" item information that depends on item information A, and recognizes item information that depends on item information B as a "descendant" item information of item information A. The stacking position planning information correction unit 23 also recognizes item information A as a "parent" item information for item information B, and as an "ancestor" item information for the aforementioned "descendant" item information. In this way, the stacking position planning information correction unit 23 recognizes the dependency relationships between multiple item information within the stacking position planning information.

[0043] Figure 5(a) is a side view of the stacking position plan information generated by assigning item information A, B, and C in a three-dimensional arrangement on pallet information P. In this stacking position plan information, item information A is assigned to point p(0,0) at the rear left corner of pallet information P, with the x-axis representing the width direction and the z-axis representing the height direction, aligning its corner with point p at the rear left corner of pallet information P. In this stacking position plan information, item information B is assigned to the horizontal right of item information A, and item information C is assigned above item information A and B, spanning both of them. In other words, item information C is assigned to a position perpendicular to item information A and B.

[0044] In the stacking position planning information shown in Figure 5(a), when item information A is moved in the x-axis direction, item information B also needs to be moved accordingly. Therefore, the stacking position planning information correction unit 23 determines that "item information B depends on item information A." Here, item information B is horizontally dependent on item information A, and this dependency relationship is indicated by "A → B."

[0045] Furthermore, within this stacking position planning information, if item information A and B are moved in the x-axis direction while the position of item information C is fixed, the contact area between item information A and B and item information C becomes smaller, causing item information C to become unstable. As a result, the stacking position planning information correction unit 23 determines that when item information A and B are moved in the x-axis direction, item information C must also be moved accordingly, and that "item information C depends on item information A and B." Here, item information C depends on item information A and B in the perpendicular direction, and this dependency relationship is indicated by "A→C" and "B→C".

[0046] The stacking position planning information correction unit 23 generates the directed graph shown in Figure 5(b) based on the dependency relationships "A→B", "A→C", and "B→C" related to the stacking position planning information shown in Figure 5(a).

[0047] Figure 6(a) is a side view of the stacking position plan information generated by assigning item information A, B, C, and D in a three-dimensional arrangement on pallet information P. In this stacking position plan information, item information A is assigned with its corner aligned with point p at the back left of pallet information P. In this stacking position plan information, item information B is assigned to the horizontal right of item information A, item information C is assigned above item information A, and item information D is assigned above item information B. In other words, item information C is assigned to a position perpendicular to item information A, and item information D is assigned to a position perpendicular to item information B.

[0048] The stacking position planning information correction unit 23 determines, similar to the case in Figure 5(a), that "item information B depends on item information A" based on the stacking position planning information shown in Figure 6(a). Furthermore, item information B is horizontally dependent on item information A, and this dependency relationship is indicated by "A → B".

[0049] Furthermore, within this stacking position planning information, if item information A is moved in the x-axis direction while the position of item information C remains fixed, item information C becomes unstable. As a result, the stacking position planning information correction unit 23 determines that when item information A is moved in the x-axis direction, item information C must also be moved accordingly, and therefore "item information C depends on item information A". Here, item information C depends on item information A in the perpendicular direction, and this dependency relationship is indicated by "A → C".

[0050] The stacking position planning information correction unit 23 also determines that when item information B is moved in the x-axis direction, item information D must also be moved accordingly, and that "item information D depends on item information B." Here, item information D depends on item information B in the perpendicular direction, and this dependency is represented as "B→D".

[0051] Furthermore, within this stacking position planning information, item information C can be moved within the range that does not extend beyond the top surface of item information A, and item information D can be moved within the range that does not extend beyond the top surface of item information B. In other words, item information C and item information D can be moved independently of each other, and there is no dependency between item information C and item information D.

[0052] The stacking position planning information correction unit 23 generates a directed graph as shown in Figure 6(b) based on the "A→B", "A→C", and "B→D" information that indicates the dependencies related to the stacking position planning information in Figure 6(a).

[0053] Using a similar method, the stacking position planning information correction unit 23 can determine dependencies between item information even from more complex stacking position planning information. For example, based on the stacking position planning information shown in Figure 7(a), the stacking position planning information correction unit 23 can determine "A→B" and "B→C" as information indicating dependencies between item information, and generate a directed graph in Figure 7(b) corresponding to this information.

[0054] Furthermore, the stacking position planning information correction unit 23 determines "A→B", "A→C", "B→C", "B→D", "C→E", and "D→E" as information indicating dependencies between item information, based on the stacking position planning information shown in Figure 8(a). The stacking position planning information correction unit 23 can then generate the directed graph shown in Figure 8(b) corresponding to this information.

[0055] Furthermore, the stacking position planning information correction unit 23 determines "A→B", "A→D", "B→C", "B→E", "C→D", and "C→E" as information indicating dependencies between item information, based on the stacking position planning information shown in Figure 9(a). The stacking position planning information correction unit 23 can then generate the directed graph shown in Figure 9(b) corresponding to this information.

[0056] Figure 10(a) is a top view of stacking position planning information in which item information A, B, C, D, and E are assigned to pallet information P. In this stacking position planning information, item information A, which has a large upper area, is assigned with its corner aligned with point p in the back left, and item information groups B, C, D, and E are assigned to the top surface of item information A, filling in from the back left. The stacking position planning information correction unit 23 recognizes the smallest rectangular parallelepiped containing item information groups B, C, D, and E in the stacking position planning information shown in Figure 10(a) as a single item information F corresponding to item information groups B, C, D, and E. Based on the stacking position planning information in Figure 10(a), the stacking position planning information correction unit 23 determines "A→F" as information indicating the dependency between item information, and can generate the corresponding directed graph in Figure 10(b).

[0057] Returning to the flowchart in Figure 4, the stacking position planning information correction unit 23 determines whether or not there is movable item information based on a directed graph showing the dependencies between item information in the stacking position planning information (S63).

[0058] In stacking position planning information for multiple items, to improve stability and loading efficiency, information for other items may be assigned to overlap the information for multiple items. When cargo is stacked based on such stacking position planning information, moving one of the multiple items supporting the top item from below may cause the top item to fall.

[0059] For example, if cargo is loaded based on the loading position planning information in Figure 8(a), moving the cargo corresponding to item information C may cause item information E to fall. To avoid such a situation, the loading position planning information correction unit 23 selects only the item information that can be safely moved according to its positional relationship with other item information, based on the generated directed graph, as the item to be moved.

[0060] Specifically, the stacking position planning information correction unit 23 searches for all paths that trace from the "child" item information or "descendant" item information of a predetermined item information subject to movement feasibility determination, to the "parent" item information and the "ancestor" item information. If all the paths found pass through the item information subject to movement feasibility determination, the stacking position planning information correction unit 23 determines that the item information subject to movement feasibility determination and the item information dependent on that item information are movable. The stacking position planning information correction unit 23 also determines that item information that does not have "children," that is, item information that does not have any item information dependent on it, is movable.

[0061] For example, the stacking position planning information correction unit 23 determines that item information C that does not have children is movable, based on the directed graph in Figure 5(b).

[0062] Furthermore, the stacking position planning information correction unit 23 recognizes, based on the directed graph in Figure 6(b), that the path tracing back from item information D, which is a child of item information B, passes through item information B. As a result, the stacking position planning information correction unit 23 determines that item information B can be moved together with the item information D that depends on it.

[0063] Furthermore, the stacking position planning information correction unit 23 recognizes, based on the directed graph in Figure 7(b), that the path tracing back from item information A to its ancestors from its child item information B or its descendant item information C passes through item information A. As a result, the stacking position planning information correction unit 23 determines that item information A can be moved together with the dependent item information B and C.

[0064] Furthermore, the stacking position planning information correction unit 23 recognizes, based on the directed graph in Figure 7(b), that the path tracing back from item information C, which is a child of item information B, passes through item information B. As a result, the stacking position planning information correction unit 23 determines that item information B can be moved together with the item information C that depends on it.

[0065] Furthermore, the stacking position planning information correction unit 23 determines that item information C without children is movable based on the directed graph in Figure 7(b).

[0066] Similarly, the stacking position planning information correction unit 23 determines, based on the directed graph in Figure 8(b), that item information A, along with its dependent item information B, C, D, and E, is movable. The stacking position planning information correction unit 23 also determines, based on the directed graph in Figure 8(b), that item information E, which has no children, is movable.

[0067] Similarly, the stacking position planning information correction unit 23 determines that item information D and E, which do not have children, are movable based on the directed graph in Figure 9(b).

[0068] Similarly, the stacking position planning information correction unit 23 determines that item information F, which has no children, is movable based on the directed graph in Figure 10(b). The stacking position planning information correction unit 23 also recognizes that, with respect to item information A, the path tracing its ancestors from its child item information F passes through item information A. As a result, the stacking position planning information correction unit 23 determines that item information A, together with the item information F that depends on it, is movable.

[0069] On the other hand, the stacking position planning information correction unit 23 recognizes, for example, based on the directed graph in Figure 8(b), that among the multiple paths tracing the ancestors of item information D from its child item information E, there is a path that does not go through item information D, namely "item information E → C → B → A". In this case, the stacking position planning information correction unit 23 determines that item information D is immovable.

[0070] Similarly, the stacking position planning information correction unit 23 recognizes, based on the directed graph in Figure 8(b), that among the multiple paths tracing back from item information E, which is a child of item information C, there is a path that does not go through item information C: "item information E → D → B → A". In this case, the stacking position planning information correction unit 23 determines that item information C is immovable.

[0071] Similarly, the stacking position planning information correction unit 23 recognizes, based on the directed graph in Figure 9(b), that among the multiple paths tracing back from item information D, which is a descendant of item information B, there is a path "item information D → A" that does not pass through item information B. In this case, the stacking position planning information correction unit 23 determines that item information B is immovable.

[0072] Similarly, the stacking position planning information correction unit 23 recognizes, based on the directed graph in Figure 9(b), that among the multiple paths tracing back from item information D, which is a child of item information C, there is a path "item information D → A" that does not pass through item information C. In this case, the stacking position planning information correction unit 23 determines that item information C is immovable.

[0073] If the above process determines that there is movable item information (YES in S63), the loading position planning information correction unit 23 selects the item information to be moved from the movable item information (S64). By selecting the item information to be moved in this way, only item information for luggage that can be moved safely can be selected as the item to be moved.

[0074] The following describes a case in which, based on the stacking position planning information in Figure 10(a), the stacking position planning information correction unit 23 identifies only item information F as a target for movement among the movable item information A and F, and performs correction processing.

[0075] The stacking position planning information correction unit 23 determines the direction and amount of movement of the item information to be moved so that the stacked goods are stable on the pallet based on the stacking position planning information (S65).

[0076] Based on the correction processing conditions (1) described above, the stacking position planning information correction unit 23 can identify the direction in which the item information F moves as the direction in which it moves away from the origin p of the pallet information P, which is in the positive x-axis direction and the positive y-axis direction from the current position.

[0077] Furthermore, the stacking position planning information correction unit 23 can move item information F so that the end of item information F does not exceed the end of item information A, based on the correction processing condition (2) described above. In other words, the stacking position planning information correction unit 23 can calculate the amount of movement of item information F in a specified direction of movement, within the range in which item information F does not extend beyond the top surface of item information A. In Figure 10(a), the maximum distance that is possible within the range in which item information F does not extend beyond the top surface of item information A is a distance d1 in the positive x-axis direction and a distance d2 in the positive y-axis direction.

[0078] The stacking position planning information correction unit 23 determines the direction and amount of movement of the item information F to be moved so that the first item information to be moved is directed toward, for example, the center of the pallet information P, or the center of the second item information, item information A, which supports the item information F from below.

[0079] The stacking position planning information correction unit 23 moves the assignment position of item information F horizontally relative to pallet information P based on the calculated information on the direction and amount of movement (S66).

[0080] Figure 11(a) shows the stacking position plan information after the stacking position plan information correction unit 23 moves the item information F towards the center of the pallet information P. There are two methods for moving the assigned position of item information F to the center of the pallet information P: (i) moving the center of item information F to align with the center of pallet information P, and (ii) aligning the centroids of item information groups B, C, D, and E to the center of pallet information P.

[0081] When moving the assigned position of item information F using method (i) described above, the stacking position planning information correction unit 23 can easily calculate the direction and amount of movement of item information F from the shape and size information of item information F and pallet information P. On the other hand, when calculating the direction and amount of movement of item information F using method (ii), the stacking position planning information correction unit 23 requires not only the shape and size information of item information A to E and pallet information P, but also the weight information of item information B to D and E. Thus, although more information is required when calculating the direction and amount of movement of item information F using method (ii), it has the advantage of being able to generate more stable stacking position planning information.

[0082] Furthermore, Figure 11(b) shows the stacking position planning information after the stacking position planning information correction unit 23 moves item information F towards the center of item information A that supports it from below. In this case as well, either (i) moving the item information F so that its center aligns with the center of item information A, or (ii) aligning the centroids of item information groups B, C, D, and E with the center of item information A may be used.

[0083] Furthermore, if the item information to be moved includes a group of multiple item information items, the stacking position planning information correction unit 23 may specify the direction and amount of movement so that each of the multiple item information items moves toward the end of an item information item that supports them from below at a different position.

[0084] For example, the stacking position planning information correction unit 23 determines the direction and amount of movement by distributing each of the item information B, C, D, and E that constitute the item information F so that they are directed toward each of the four corner ends of item information A.

[0085] Figure 11(C) shows the stacking position plan information after the item information B, C, D, and E have been moved based on the calculated movement direction and movement amount information by the stacking position plan information correction unit 23.

[0086] By distributing and moving item information B, C, D, and E in this way, if these item information B, C, D, and E are at the top of the stack and at the same height, it becomes possible to increase the degree of freedom when stacking further on top. For example, by placing boards or pallets on top of the cargo corresponding to the distributed and assigned item information B, C, D, and E, other cargo can be stacked in a stable manner.

[0087] Furthermore, the stacking position planning information correction unit 23, with respect to the stacking position planning information in Figure 10(a), moves both item information A and F as targets for movement, and the resulting stacking position planning information after the movement is shown in Figure 12.

[0088] When moving the assigned positions of multiple item information A and F stacked vertically in this manner, the stacking position planning information correction unit 23 may determine the destination position of either the ancestor item information A or the descendant item information F first. If the stacking position planning information correction unit 23 determines the destination of item information A first, the position of the lower part, which is the base of the stacking position planning information, is determined first, and the position of item information F, which is the upper part, is determined later. By determining the destinations in this order, the stacking position planning information correction unit 23 can generate more balanced stacking position planning information.

[0089] The stacking position planning information correction unit 23 corrects the stacking position planning information for the corresponding cargo by moving the assigned positions of item information B, C, D, and E based on the movement direction and movement amount information calculated by one of the methods described above. The stacking position planning information correction unit 23 then stores the corrected stacking position planning information in the stacking position planning information storage unit 30 and terminates the process (S67).

[0090] Furthermore, in the item information correction process described above, if it is determined in step S63 that there are no movable item information ("NO" in S63), the process is terminated.

[0091] Returning to the flowchart in Figure 2, after the stacking position planning information has been corrected, the output information generation unit 24 generates image information of the stacking position planning information stored in the stacking position planning information storage unit 30 as output information and outputs it to the output unit 40. The output information generation unit 24 may also generate information and image information of the operations during the stacking position planning information correction process as output information and output it to the output unit 40.

[0092] Figure 13(a) is an example of image information generated based on the uncorrected stacking position planning information, and Figure 13(b) is an example of image information generated for the state after correcting the stacking position planning information shown in Figure 13(a). In the stacking position planning information of Figure 13(b), the center of the load is aligned with the center of the pallet P, and the stability is higher compared to Figure 13(a).

[0093] The loading operator corrects the loading position of the items on the pallet that correspond to the item information for which the loading position plan information has been corrected, based on the image information of the outputted loading position plan information.

[0094] The stacking position planning device 1 described above may be mounted on a palletizing robot (not shown) that performs stacking work, and the palletizing robot may be configured to correct the stacking position of the corresponding cargo based on the stacking position planning information corrected by the stacking position planning information correction unit 23. In this case, the operating mechanism of the palletizing robot corrects the stacking position of objects corresponding to the item information for which the stacking position planning information has been corrected, among the cargo stacked on the pallet, based on the stacking position planning information output from the output unit 40. By operating the palletizing robot in this way, the correction work of stacked cargo can be performed efficiently.

[0095] According to the above embodiment, the loading position planning device can correct the generated loading position planning information for the cargo so that the cargo can be loaded in a more stable state.

[0096] In this process, the stacking position planning device moves the assigned position of the item information to be moved so that the end of the item information to be moved does not exceed the end of the pallet information to be stacked, or the end of other item information that supports the item information to be moved from below. By moving the item information to be moved in this way, the stacking position planning device can correct the stacking position planning information so that the cargo can be stacked in a stable state.

[0097] Furthermore, the loading position planning device searches for all possible paths within the loading position planning information, tracing from the "child" or "descendant" item information of the item information subject to the movement feasibility determination to the "parent" and "ancestor" item information. If a path passes through the item information subject to the movement feasibility determination, the device determines that the assigned position of the item information subject to the movement feasibility determination is movable. By making this determination, the loading position planning device can accurately determine whether or not the cargo can be moved safely.

[0098] In the embodiments described above, the case in which the stacking position planning device 1 corrects the stacking position planning information generated within the device itself was explained. However, the invention is not limited to this, and the stacking position planning device 1 may also acquire stacking position planning information generated by another device from an external source and correct the acquired stacking position planning information.

[0099] In this case, the input unit 10 acquires stacking position planning information from other devices, and the input information acquisition unit 21 stores the acquired stacking position planning information in the stacking position planning information storage unit 30. Then, the stacking position planning information correction unit 23 corrects the stacking position planning information stored in the stacking position planning information storage unit 30.

[0100] Here, the stacking position planning information obtained from other devices only needs to be information that allows the position of each item relative to the pallet where it will be stacked to be identified. This stacking position planning information could include, for example, numerical data that directly describes the coordinates and shape of each item, as well as CAD data, photographs, and point cloud data measured by LiDAR.

[0101] In the embodiments described above, the case where the objects stacked in the container are cardboard boxes was explained, but it is not limited to this, and any object that can be approximated as a rectangular parallelepiped can be used, such as storage boxes for individual products, building materials, bags such as rice bags and cement bags.

[0102] Furthermore, although the above-described embodiment described the case where the destination container is a pallet, it is not limited to this, and may also be a cage cart, folding container, truck, construction material storage area, etc.

[0103] Furthermore, although the above-described embodiment described a case in which the stacking position planning device 1 is composed of a single device, it is not limited to this and may be composed of multiple devices. For example, the input unit 10 and the output unit 40 may be implemented as a web browser, the input unit 10 may be used to cause the stacking position planning device to perform the stacking position planning information generation process via the network, and the generated information may be transmitted to the output unit 40 via the network.

[0104] It is also possible to construct a stacking position planning information correction program that enables the computer to function as a stacking position planning device by programming the stacking position planning information acquisition function and stacking position planning information correction function of the stacking position planning information correction unit 23 of the stacking position planning device 1 described above into a computer.

[0105] Although several embodiments have been described, it is possible to modify or transform the embodiments based on the above disclosure. All components of the above embodiments, and all features described in the claims, may be taken individually and combined, provided that they do not conflict with each other. [Explanation of symbols]

[0106] 1. Stacking position planning device 10 Input section 21 Input Information Acquisition Unit 22. Stacking Position Planning Information Generation Unit 23. Stacking Position Planning Information Correction Unit 24 Output Information Generation Unit 30 Stacking position planning information storage unit 40 Output section

Claims

1. On the computer, A stacking location planning information acquisition function acquires stacking location planning information indicating the stacking location of multiple objects to be stacked within a container by assigning item information corresponding to multiple objects to be stacked to a predetermined position within container information corresponding to the container to be stacked. Within the aforementioned stacking location planning information, Item information that is assigned adjacent to a predetermined item information in the horizontal or upward direction, and therefore needs to be moved when the predetermined item information moves in either of the predetermined horizontal directions, is recognized as "child" item information that depends on the predetermined item information. Item information that is assigned adjacent to the "child" item information in the horizontal or upward direction, and therefore needs to be moved when the "child" item information moves in the predetermined direction, is recognized as the "descendant" item information of the predetermined item information. By recognizing the aforementioned predetermined item information as the "parent" item information for the "child" item information and as the "ancestor" item information for the "descendant" item information, Recognize the dependencies between multiple item information, From the item information within the acquired stacking location planning information, Select as the first item information to be moved an item information that corresponds to a single set of item information, has no dependent "child" item information, or an item information through which all paths from dependent "child" item information or its "descendant" item information to the "parent" item information and "ancestor" item information pass through itself. Move the center or center of gravity of the selected first item information horizontally relative to the container information, toward the center of the container information, or toward the center of the second item information that supports the first item information from below, The group of item information corresponding to the selected first item information is moved horizontally with respect to the container information, toward corners at different positions, such that the ends of each of the group of item information do not extend beyond the ends of the container information and the second item information. Move the center or center of gravity of each of the selected first item information items horizontally toward the center of the container information, Do at least one of the following: A stacking position planning information correction function that corrects the aforementioned stacking position planning information, A program for correcting stacking position planning information to enable the execution of this program.

2. A computer, By assigning item information corresponding to multiple objects to be stacked to predetermined positions within container information corresponding to the container to which they will be stacked, stacking position planning information indicating the stacking positions of the objects within the container is obtained. Within the aforementioned stacking location planning information, Item information that is assigned adjacent to a predetermined item information in the horizontal or upward direction, and therefore needs to be moved when the predetermined item information moves in either of the predetermined horizontal directions, is recognized as "child" item information that depends on the predetermined item information. Item information that is assigned adjacent to the "child" item information in the horizontal or upward direction, and therefore needs to be moved when the "child" item information moves in the predetermined direction, is recognized as the "descendant" item information of the predetermined item information. By recognizing the aforementioned predetermined item information as the "parent" item information for the "child" item information and as the "ancestor" item information for the "descendant" item information, Recognize the dependencies between multiple item information, From the item information within the aforementioned stacking location planning information, Select as the first item information to be moved an item information that corresponds to a single set of item information, has no dependent "child" item information, or an item information through which all paths from dependent "child" item information or its "descendant" item information to the "parent" item information and "ancestor" item information pass through itself. Move the center or center of gravity of the selected first item information horizontally relative to the container information, toward the center of the container information, or toward the center of the second item information that supports the first item information from below, The group of item information corresponding to the selected first item information is moved horizontally with respect to the container information, toward corners at different positions, such that the ends of each of the group of item information do not extend beyond the ends of the container information and the second item information. Move the center or center of gravity of each of the selected first item information items horizontally toward the center of the container information, Do at least one of the following: A method for correcting the aforementioned stacking location planning information.

3. A stacking position planning information acquisition unit acquires stacking position planning information indicating the stacking position of multiple objects to be stacked within a container by assigning item information corresponding to multiple objects to be stacked to predetermined positions within container information corresponding to the container to be stacked. Within the aforementioned stacking location planning information, Item information that is assigned adjacent to a predetermined item information in the horizontal or upward direction, and therefore needs to be moved when the predetermined item information moves in either of the predetermined horizontal directions, is recognized as "child" item information that depends on the predetermined item information. Item information that is assigned adjacent to the "child" item information in the horizontal or upward direction, and therefore needs to be moved when the "child" item information moves in the predetermined direction, is recognized as the "descendant" item information of the predetermined item information. By recognizing the aforementioned predetermined item information as the "parent" item information for the "child" item information and as the "ancestor" item information for the "descendant" item information, Recognize the dependencies between multiple item information, From the item information within the acquired stacking location planning information, Select as the first item information to be moved an item information that corresponds to a single set of item information, has no dependent "child" item information, or an item information through which all paths from dependent "child" item information or its "descendant" item information to the "parent" item information and "ancestor" item information pass through itself. Move the center or center of gravity of the selected first item information horizontally relative to the container information, toward the center of the container information, or toward the center of the second item information that supports the first item information from below, The group of item information corresponding to the selected first item information is moved horizontally with respect to the container information, toward corners at different positions, such that the ends of each of the group of item information do not extend beyond the ends of the container information and the second item information. Move the center or center of gravity of each of the selected first item information items horizontally toward the center of the container information, Do at least one of the following: A stacking position planning information correction unit corrects the aforementioned stacking position planning information, A stacking position planning device equipped with the following features.

4. Equipped with the stacking position planning device described in claim 3, A palletizing robot equipped with an operating mechanism that corrects the stacking position of objects among the objects stacked in the container based on the stacking position plan information acquired by the stacking position plan information acquisition unit, based on the stacking position plan information corrected by the stacking position plan information correction unit, and which corresponds to the item information for which the corresponding stacking position plan information has been corrected.

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