Transfer system

Abstract

To determine availability of transferring of an article without trying, and replace the article when transferring is not possible.SOLUTION: A transfer system (1) includes: a first determination unit (15c) that determines whether an article (2) can be transferred by being held by a transfer unit (12), from a posture of the article imaged by a camera unit (13); and an adjustment unit (15d) that, when it is determined that the transferring is not possible, controls a drive unit (12b) and a holding direction change unit (12g) to adjust posture and position of the article (2) to change the article (2) to the posture and the position that enable transferring of the article (2).SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] In a logistics warehouse or the like, in order to efficiently sort articles, a transfer system equipped with a picking device (transfer device) is often used. Regarding this transfer system, Patent Document 1 describes an article conveyance facility equipped with a transfer device, in which the holding position of an article held by the transfer device is set for each type of article, and when the type of the article cannot be determined by an imaging device, the article conveyance facility that rearranges the article is described.

[0003] Further, Patent Document 2 describes a luggage transfer device that attempts to hold luggage at a preset reference holding position corresponding to each piece of luggage, and when it fails, attempts to hold the luggage at a preliminary holding position again.

[0004] Patent Document 3 describes a control device for a robot that picks parts from a box. When it is determined that the gripping of the part has failed, the control device generates an operation trajectory to pull the part to the center of the box.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, the conventional technologies described above have the following problems. For example, the technology described in Patent Document 1 rearranges the item when the type of item cannot be identified, and rearranges the item even if it is possible to grip the item in its current position.

[0007] Furthermore, the technologies described in Patent Documents 2 and 3 attempt to take some kind of countermeasure when gripping an article fails, but do not take any countermeasures until failure occurs.

[0008] One aspect of the present invention has been made in view of the above-mentioned problems, and its purpose is to realize a transfer system that can determine whether or not an article can be transferred without trial and error, and if the article cannot be transferred, rearranges it to make it transferable. [Means for solving the problem]

[0009] To solve the aforementioned problems, a transfer system according to one aspect of the present invention is a transfer system comprising a transfer unit for transferring an article from a container to the outside of the container, wherein the transfer unit comprises a picking head for holding the article by suction, a drive unit for driving the picking head in a horizontal and vertical direction, and a holding direction changing unit for changing the holding direction of the picking head, a camera unit for photographing the article inside the container, a first determination unit for determining whether or not it is possible to transfer the article by holding it with the transfer unit based on the posture of the article photographed by the camera unit, and, if the first determination unit determines that the article cannot be transferred, an adjustment unit for adjusting the posture and position of the article by controlling the drive unit and the holding direction changing unit of the transfer unit to change the posture and position of the article to one that can be held and transferred by the transfer unit.

[0010] To solve the aforementioned problems, a control method for a transfer system according to one aspect of the present invention is a transfer unit for transferring an article from a container to the outside of the container, comprising: a transfer unit having a picking head for holding the article by suction; a drive unit for driving the picking head in a horizontal and vertical direction; and a holding direction changing unit for changing the holding direction of the picking head; and a camera unit for photographing the article inside the container, the control method for a transfer system comprising: a determination step of determining whether or not it is possible to transfer the article by holding it with the transfer unit, based on the posture of the article photographed by the camera unit; and, if it is determined in the determination step that the article cannot be transferred, an adjustment step of controlling the drive unit and the holding direction changing unit of the transfer unit to adjust the posture and position of the article, thereby changing the posture and position of the article to one that can be held and transferred by the transfer unit. [Effects of the Invention]

[0011] According to one aspect of the present invention, it is possible to determine whether an article can be moved without trial and error, and if it cannot be moved, the article can be repositioned to make it movable. [Brief explanation of the drawing]

[0012] [Figure 1] This is a perspective view showing an overview of a transfer system according to one embodiment of the present invention. [Figure 2] This is a plan view showing an overview of the transfer system. [Figure 3] This is a functional block diagram showing an overview of the transfer system. [Figure 4] This diagram schematically shows the shape of the transfer section. [Figure 5] This diagram shows an example of a situation where goods cannot be transferred. [Figure 6] This diagram shows an example of a situation where goods cannot be transferred. [Figure 7] This is a diagram illustrating how to rearrange items. [Figure 8] This is a diagram illustrating how to rearrange items. [Figure 9]This is a diagram for explaining a method of rearranging an article. [Figure 10] This is a diagram showing an example of holding when rearranging an article. [Figure 11] This is a diagram showing an example of holding when rearranging an article. [Figure 12] This is a flowchart showing the flow of processing in a transfer system. [Figure 13] This is a flowchart showing the flow of processing in a transfer system. [Figure 14] This is a functional block diagram showing an overview of a transfer system according to another embodiment of the present invention. [Figure 15] This is an explanatory diagram for estimating a surface on which an article can be held, and shows the direction of the surface on which the article can be held. [Figure 16] This is a functional block diagram showing an overview of a transfer system according to still another embodiment of the present invention. [Figure 17] This is a diagram for explaining the determination process of the second determination unit, and shows the destination position and movement path of the article determined by the adjustment unit.

Mode for Carrying Out the Invention

[0013] 〔Embodiment 1〕 An embodiment of the present invention will be described with reference to FIGS. 1 to 13. In the following description, a case where a transfer system for transferring an article 2 from a first container 17 to a second container 18 is configured will be exemplified. The first container 17 and the second container 18 may each constitute a shipping container shipped outside the transfer system 1.

[0014] (Overview of the transfer system) First, an overview of the transfer system 1 will be described with reference to Figures 1 and 2. Figure 1 is a perspective view showing an overview of the transfer system 1 according to this embodiment. Figure 2 is a plan view showing an overview of the transfer system 1. The transfer system 1 is used to transfer goods 2 in a logistics warehouse or the like. As shown in Figures 1 and 2, the transfer system 1 of this embodiment includes a transport unit 11, a transfer unit 12, a camera unit 13, a support frame 14, a control unit 15, and a terminal unit 16.

[0015] (Transportation section) The transport unit 11 transports the first container 17 and the second container 18, which contain the articles 2, in the Y direction (front-to-back direction, first direction). Specifically, the transport unit 11 includes an input conveyor 11a and 11b provided on the lower side in the Z direction, and an output conveyor 11c and 11d provided on the upper side in the Z direction. The input conveyors 11a and 11b transport the first container 17 and the second container 18 to the front side in the Y direction, respectively. The output conveyors 11c and 11d transport the first container 17 and the second container 18 to the rear side in the Y direction, respectively.

[0016] Furthermore, the transport unit 11 includes a moving mechanism 11e and a housing 11f. The moving mechanism 11e sequentially moves the first container 17 from the loading conveyor 11a to the first transfer position P1, and sequentially moves the second container 18 from the loading conveyor 11b to the second transfer position P2. The moving mechanism 11e also sequentially moves the first container 17 positioned at the first transfer position P1 to the unloading conveyor 11c, and sequentially moves the second container 18 positioned at the second transfer position P2 to the unloading conveyor 11c. The housing 11f houses the moving mechanism 11e.

[0017] (Transfer section) The transfer unit 12 is installed on the front end (one end) in the Y direction of the transport unit 11, and holds the article 2 contained in the first container 17 located at the first transfer position P1, and transfers it to the second container 18 located at the second transfer position P2. The transfer unit 12 is installed on the upper side in the Z direction of the moving mechanism 11e and housing 11f of the transport unit 11 by a stand or the like (not shown).

[0018] The transfer unit 12 includes a picking head 12a for holding the article 2, and a drive unit 12b for raising and lowering the picking head 12a in the Z direction and moving the picking head 12a in two directions, the X direction and the Y direction, in a plan view. The picking head 12a is composed of, for example, one or more suction pads for adsorbing the article 2. The picking head 12a adsorbs onto the article 2 contained in the first container 17 from above and holds the article 2 in a suspended state.

[0019] The drive unit 12b includes a fixed rail 12c, a first movable rail 12d, a second movable rail 12e, and a support arm 12f. The fixed rail 12c is installed along the X direction. The first movable rail 12d is installed along the Z direction and reciprocates along the fixed rail 12c in the X direction. The second movable rail 12e is installed along the Y direction and reciprocates along the first movable rail 12d in the Z direction.

[0020] The support arm 12f is installed along the Z direction and reciprocates in the Y direction along the second movable rail 12e. A picking head 12a is attached to the lower side of the support arm 12f in the Z direction. As a result, the transfer unit 12 can move the picking head 12a back and forth in the three directions of X, Y, and Z by controlling the operation of the drive unit 12b.

[0021] The transfer unit 12 has a simpler structure compared to transfer units such as a 6-axis robot, and is easily adaptable to multi-lane conveyor layouts. Therefore, using the transfer unit 12 improves the flexibility of the layout design of the transfer system 1.

[0022] (Camera Club) The camera unit 13 is positioned above the transfer unit 12 and photographs the article 2 to create an image. The camera unit 13 includes a first camera 13a and a second camera 13b. The first camera 13a photographs the first container 17 located at the first transfer position P1, thereby photographing one or more articles 2 contained in the first container 17. The second camera 13b photographs the second container 18 located at the second transfer position P2, thereby photographing one or more articles 2 contained in the second container 18. The camera unit 13 may also include a light, and the first camera 13a and the second camera 13b may each photograph the article 2 while it is illuminated at a predetermined illuminance by the light, etc.

[0023] (Support frame) The support frame 14 is a frame that supports the camera unit 13. The support frame 14 includes support sections 14a, 14a that are installed adjacent to each other in the X direction (left-right direction, second direction) perpendicular to the Y direction with respect to the transfer unit 12 in a plan view, and beam members 14b, 14b that are installed between the support sections 14a, 14a. The first camera 13a and the second camera 13b are installed at appropriate locations on the beam member 14b on the front side in the Y direction. Note that there may be one beam member 14b or three or more.

[0024] Each of the support sections 14a-14a includes two column members 14c-14d, a girder member 14e, and a reinforcing member 14f. The column members 14c-14d are arranged in the Y direction and are fixed to the installation site of the transfer system 1 by fixing members 14g-14h. The girder member 14e and the reinforcing member 14f are erected between the column members 14c-14d.

[0025] The beam members 14b and 14b may be installed on the girder member 14e, or on the column members 14c and 14d. Furthermore, there may be two or more reinforcing members 14f, or they may be omitted. Also, if each of the support sections 14a and 14a is erected by four or more column members, the beam members 14b and 14b may be omitted. In this case, the first camera 13a and the second camera 13b should be installed at appropriate locations on the support sections 14a and 14a, respectively.

[0026] (Control unit and terminal unit) The control unit 15 controls each part of the transfer system 1 and is composed of a computer including, for example, a CPU (Central Processing Unit) and memory. The operation control of the various components is performed by having the computer execute a control program. Further details of the control unit 15 will be described later.

[0027] The terminal unit 16 is for operator S (Figure 2) to operate the transfer system 1. The terminal unit 16 has an input unit 16a such as a keyboard, touch panel, or joystick, and a display unit 16b that displays predetermined information. These control unit 15 and terminal unit 16 are examples of control equipment for the transfer system 1, and are installed outside the front guard unit 24 (described later) and on the side opposite to the side where the transfer unit 12 is provided (the front side in the Y direction) relative to the work area 25.

[0028] Specifically, the control unit 15 is connected to the transport unit 11, the transfer unit 12, the camera unit 13, and the terminal unit 16 via electrical wiring (not shown). The control unit 15 acquires predetermined information such as operating status from the transport unit 11 and the transfer unit 12, and outputs predetermined command signals such as instruction signals to the transport unit 11 and the transfer unit 12, respectively. The control unit 15 outputs predetermined instruction signals such as on / off signals to the first camera 13a and the second camera 13b of the camera unit 13, and acquires captured data from the first camera 13a and the second camera 13b, respectively. The control unit 15 receives instruction signals and the like from the terminal unit 16 in response to the operator S's operations, and transmits the information acquired from the transport unit 11, the transfer unit 12, and the camera unit 13 to the terminal unit 16.

[0029] (guard) In the transfer system 1 of this embodiment, the transfer unit 12 performs an operation to move the picking head 12a back and forth in the three directions of X, Y, and Z. For this reason, as shown in Figures 1 and 2, a guard is provided around the transfer unit 12 to significantly reduce the possibility of workers S coming into contact with the transfer unit 12 from a safety standpoint. Specifically, in this embodiment, the guard consists of a lateral guard unit 21, a front guard unit 24, and a rear guard unit 41, which are provided sequentially from the control equipment side toward the rear in the Y direction.

[0030] (Side guard section) As shown in Figures 1 and 2, each of the support sections 14a, 14a includes a lateral guard section 21 that separates the transfer section 12 from the outside in the X direction. The lateral guard section 21 includes a transparent plate 22 and a frame member 23 that holds the transparent plate 22. This prevents people, including workers S, from entering from the X direction and coming into contact with the transfer section 12, thereby improving the safety of the transfer system 1.

[0031] Furthermore, since each of the support sections 14a and 14a is provided with a lateral guard section 21, there is no need to newly provide a guard section on the outside of the support sections 14a and 14a in the X direction to separate the transfer section 12 from the outside in the X direction. As a result, the transfer system 1 can be made more space-saving.

[0032] Incidentally, since the two support parts 14a·14a are installed adjacent to the transfer unit 12 in the X direction, they are also adjacent to the housing 11f of the transport unit 11, which is located below the transfer unit 12 in the Z direction. Therefore, in this embodiment, the lateral guard part 21 is omitted in the lower region of the support part 14a, that is, the region facing the housing 11f. This reduces the area where the lateral guard part 21 is provided. On the other hand, the housing 11f prevents the worker S from entering from below the support part 14a and coming into contact with the transfer unit 12. In other words, the housing 11f acts as a partition between the transfer unit 12 and the outside in the X direction in the lower region of the support part 14a.

[0033] (Front guard section) As shown in Figures 1 and 2, in the transfer system 1, a front guard section 24 is provided to separate the work area 25, which is set on the opposite side of the transport section 11 from the transfer section 12 in a plan view, from the outside. The front guard section 24 is connected to two support sections 14a, 14a.

[0034] The work area 25 is a space for manual transfer, in which worker S holds and moves the item 2. In other words, the transfer system 1 of this embodiment is capable of both automatic transfer, in which the transfer unit 12 holds and automatically moves the item 2, and manual transfer, in which worker S enters the work area 25, holds and moves the item 2. The front guard unit 24 is provided around the work area 25, adjacent to the work area 25.

[0035] Specifically, the front guard section 24 includes a plurality of fixed guard sections 26 and a movable guard section 27 connected together. The fixed guard section 26 includes a transparent plate 31 and a frame member 32 that holds the transparent plate 31. The lower corner of the frame member 32 in the Z direction is fixed to the installation location of the transfer system 1 by a fixing member 26a. In addition, the fixed guard sections 26, 26 on the rear side in the Y direction are connected to the front side in the Y direction of the support sections 14a, 14a, respectively.

[0036] The movable guard section 27 constitutes an entrance / exit door for workers S to the work area 25, and includes a fixed frame member 33 and a movable member 34 provided within the fixed frame member 33. The lower corner of the fixed frame member 33 in the Z direction is fixed to the installation location of the transfer system 1 by a fixed member 33a. The movable member 34 is rotatably provided with respect to the fixed frame member 33 via a hinge member (not shown) or the like. The movable member 34 includes a transparent plate 35 and a frame member 36 that holds the transparent plate 35.

[0037] As a result, it is possible to prevent people, including worker S, from inadvertently entering the work area 25 and coming into contact with the transfer unit 12, thereby improving the safety of the transfer system 1. Furthermore, since the front guard unit 24 is provided adjacent to the work area 25, it is possible to suppress the increase in the installation space required for the transfer system 1 due to the provision of the front guard unit 24.

[0038] Furthermore, if the transfer system 1 is only capable of automatic transfer, the work area 25 may be set as a monitoring area for a supervisor to monitor the transfer unit 12. Alternatively, the work area 25 may be omitted. In this case, the front guard unit 24 should be provided adjacent to the transfer unit 12 on the front side in the Y direction of the transfer unit 12.

[0039] (Rear guard section) As shown in Figures 1 and 2, the transfer system 1 is provided with rear guard sections 41 and 41 adjacent to the front end of the transport section 11 in the Y direction in the X direction, and separating the front end from the outside in the X direction. The rear guard section 41 includes a transparent plate 42 and a frame member 43 that holds the transparent plate 42. The front side of the rear guard sections 41 and 41 in the Y direction is connected to the rear side of the support sections 14a and 14a in the Y direction. In addition, the lower corner of the frame member 43 in the Z direction is fixed to the installation location of the transfer system 1 by a fixing member 43a. Furthermore, reinforcing members 44 and 45 are provided between the rear guard sections 41 and 41.

[0040] This prevents people, including worker S, from entering from the transport section 11 and coming into contact with the transfer section 12, thereby improving the safety of the transfer system 1. Furthermore, since the rear guard section 41 is provided adjacent to the transport section 11, it is possible to suppress the increase in the installation space required for the transfer system 1 due to the provision of the rear guard section 41.

[0041] Furthermore, in this embodiment, the front guard section 24, the side guard section 21, and the rear guard section 41 are provided with transparent plates 22, 31, 35, and 42 as effective guards. This allows the operator S of the transfer system 1 to monitor the transport section 11 and the transfer section 12 from outside the transfer system 1 as a supervisor. Note that fences, nets, or other types of guards may be used instead of the transparent plates 22, 31, 35, and 42.

[0042] (Operation of the transfer and transport sections) In the transfer system 1 configured as described above, the control unit 15 first instructs the loading conveyors 11a and 11b of the transport unit 11 to load the first container 17 and the second container 18 from the rear in the Y direction to the front in the Y direction, and continues this process. The control unit 15 also instructs the unloading conveyors 11c and 11d of the transport unit 11 to unload the first container 17 and the second container 18 from the front in the Y direction to the rear in the Y direction, and continues this process.

[0043] Next, the control unit 15 instructs the moving mechanism 11e of the transport unit 11 to move the first container 17 and the second container 18. As a result, the moving mechanism 11e moves the transported first container 17 and the second container 18 to the first transfer position P1 and the second transfer position P2, respectively. Next, the control unit 15 instructs the transfer unit 12 to transfer based on the images of the first container 17 and the second container 18 taken by the camera unit 13. As a result, the transfer unit 12 holds the article 2 contained in the first container 17 at the first transfer position P1 and transfers it to the second container 18 at the second transfer position P2.

[0044] Next, the control unit 15 instructs the moving mechanism 11e of the transport unit 11 to move the first container 17. As a result, the moving mechanism 11e moves the first container 17 from the first transfer position P1 to the unloading conveyor 11c, and moves the next first container 17 that has been loaded to the first transfer position P1. The first container 17 that has been moved to the unloading conveyor 11c is unloaded to the rear in the Y direction.

[0045] The control unit 15 repeatedly issues movement instructions for the first container 17 and transfer instructions, thereby filling the second container 18 with the required items 2. The control unit 15 then issues movement instructions for the first container 17 and the second container 18 to the movement mechanism 11e of the transport unit 11. This moves the first container 17 from the first transfer position P1 to the discharge conveyor 11c, and the second container 18 from the second transfer position P2 to the discharge conveyor 11d. The first container 17, which has been moved to the discharge conveyor 11c, and the second container 18, which has been moved to the discharge conveyor 11d, are then discharged to the rear in the Y direction.

[0046] (Details of control in transfer system 1) Figure 3 is a functional block diagram showing an overview of the transfer system 1 of this embodiment. As described above, the transfer system 1 includes a transfer unit 12, a camera unit 13, a control unit 15, and a terminal unit 16, and the transfer unit 12 transfers the article 2 in the first container 17. If the transfer system 1 determines that the article 2 cannot be transferred as is based on its orientation in the first container 17, it rearranges the article 2 to make it transferable. A detailed explanation follows below.

[0047] The camera unit 13 photographs the first container 17 at the first transfer position P1 and creates an image. The camera unit 13 transmits the image data showing the above image to the control unit 15.

[0048] The control unit 15 includes an image acquisition unit 15a, an image processing unit 15b, a first determination unit 15c, an adjustment unit 15d, and a drive control unit 15x.

[0049] The image acquisition unit 15a acquires image data of the item 2 contained in the first container 17 from the camera unit 13. The image acquisition unit 15a sends the acquired image data to the image processing unit 15b.

[0050] The image processing unit 15b performs image processing on the captured image to acquire image data of item 2 for determining whether or not item 2 can be transferred. The image processing unit 15b sends the acquired image data to the first determination unit 15c. The image data is data of the portion of the captured image that shows item 2. The image processing unit 15b may be configured with a distance image sensor capable of acquiring distance, or it may be equipped with other distance measuring sensors in addition to the image sensor. This allows distance data to be acquired along with the image data of the item. The distance data may be obtained by dividing the image of the image data into predetermined sections and indicating the distance from the camera unit 13 to each section.

[0051] The first determination unit 15c determines whether it is possible to transfer the item 2 by having the transfer unit 12 hold it, based on the data of the item 2 (shape, length, width, height, etc.) and the item image data that have been stored in advance. For example, the first determination unit 15c may make the determination based on whether the holdable surface, which is the surface of the item 2 that the picking head 12a can hold the item 2, is within a predetermined angle with respect to the horizontal. The predetermined angle is, for example, 45°. The holdable surface is, for example, the surface of the item 2 that is larger than a predetermined area. The predetermined area is, for example, the area that can simultaneously pick up all the picking heads 12a.

[0052] Furthermore, the first determination unit 15c may make a determination based on whether or not at least a part of the item 2 to be determined is overlapped by another item 2.

[0053] The first determination unit 15c then sends the determination result to the adjustment unit 15d. Details of the determination made by the first determination unit 15c will be described later.

[0054] If the first determination unit 15c determines that the item 2 cannot be transferred, the adjustment unit 15d sends an instruction to the drive control unit 15x to reposition the item 2. Specifically, it sends an instruction to the drive control unit 15x to reposition the item 2 so that its orientation and position within the first container 17, which would otherwise be untransferable, become a position and location that allows for transfer.

[0055] For example, if the first determination unit 15c determines that the holdable surface of the target article 2 is not within a predetermined angle with respect to the horizontal and therefore cannot be transferred, the adjustment unit 15d may adjust the holding direction to a direction perpendicular to the holdable surface of the target article 2, thereby adjusting the posture and position of the target article 2.

[0056] For example, as shown in 1002 of Figure 10, which will be described later, if the holdable surface of the article 2 is not within a predetermined angle with respect to the horizontal, the adjustment unit 15d adjusts the holding direction of the transfer unit 12 to a direction perpendicular to the holdable surface of the article 2, thereby holding the article 2 and adjusting the posture and position of the article 2.

[0057] Furthermore, if the picking head 12a is equipped with multiple suction pads (suction members) and the holding surface of the target article 2 is not within a predetermined angle with respect to the horizontal, the adjustment unit 15d may adjust the posture and position of the target article 2 by attaching at least some of the multiple suction pads of the picking head 12a to the holding surface.

[0058] Furthermore, if the first determination unit 15c determines that the target item 2 cannot be transferred because a part of it is overlapping with another item 2, the adjustment unit 15d may adjust the posture and position of the target item 2 by holding the picking head 12a on the holdable surface of the target item 2, lifting it vertically, and moving it in the opposite direction to the other item 2.

[0059] The drive control unit 15x controls the drive unit 12b so that the picking head 12a holds and transfers the item 2. The drive control unit 15x also temporarily holds the item 2 with the picking head 12a according to the instructions of the adjustment unit 15d, and changes the orientation and position of the item 2 within the first container 17.

[0060] The terminal unit 16 sends instructions from the worker S to the control unit 15, which drives the transfer unit 12. For example, when worker S inputs an instruction to the terminal unit 16 to transfer item 2 from the first container 17 to the second container 18, the terminal unit 16 sends the instruction to the control unit 15, and the control unit 15 drives the transfer unit 12 to execute the instruction from worker S.

[0061] The transfer unit 12 includes the picking head 12a and drive unit 12b described above, as well as a holding direction changing unit 12g. The holding direction changing unit 12g changes the holding direction of the picking head 12a. The holding direction can be changed from -85° to +85°, with the vertical direction being 0°. Note that the angle of the holding direction is just an example, and it may be a wider or narrower angle.

[0062] Figure 4 is a schematic diagram showing the shape of the transfer unit 12. As shown in 401 of Figure 4, the transfer unit 12 has a shape in which a holding direction changing unit 12g is provided between the drive unit 12b and the picking head 12a. Then, as shown in 402 and 403 of Figure 4, the holding direction is changed by changing the direction of the picking head 12a with respect to the holding direction changing unit 12g.

[0063] Furthermore, as an example, three picking heads 12a may be arranged, and these may be positioned near each vertex of the triangle when viewed from the -Z direction, as shown at 410 in Figure 4.

[0064] (Details of the processing in the first determination unit 15c) Next, with reference to Figures 5 and 6, the details of the processing in the first determination unit 15c will be explained. Figures 5 and 6 show examples of cases where item 2 cannot be transferred. Here, item 2 is assumed to be in the shape of a rectangular parallelepiped.

[0065] The condition in which item 2 cannot be transferred means that, although it is possible to hold item 2 by attaching at least a part of the picking head 12a to it, it cannot be safely transferred in that state.

[0066] The following explanation will use an example where the item 2 cannot be transferred unless the picking head 12a is attached to a predetermined position (for example, approximately in the center) on the item 2's holding surface (surface PA).

[0067] In this case, as shown in Figures 501 to 503, the item 2 is upright (vertically placed) (501, 503) or in a near-upright position (502). In this case, the picking head 12a cannot be directly attached to the predetermined position on the surface PA, so the first determination unit 15c determines that the item cannot be transferred in that position.

[0068] Furthermore, there are cases where, with one article 2 resting on another article 2, the picking head 12a cannot be attracted to a predetermined position on the surface P of the upper article 2. For example, as shown in 601 of Figure 6, article 2B rests on article 2A and is close to the side wall of the first container 17. In this case, the picking head 12a cannot be attracted to either the surface PA of article 2A or the surface PA of article 2B. Therefore, the first determination unit 15c determines that the transfer of articles 2 (2A, 2B) is impossible.

[0069] More details are as follows. First, the first determination unit 15c determines whether the image of article 2 shown in the article image data represents one article 2 or multiple articles 2. This can be determined by comparing the area of ​​each face of article 2, which can be determined from the shape data of article 2 that is stored in advance, with the area shown in the image of article 2. Since the article image data is an image of the first container 17 taken from the +Z direction, if the area shown in the image of article 2 is larger than the area of ​​the widest face of article 2 in the shape data, then the image represents multiple articles 2.

[0070] If it is determined that there is only one item 2, the first determination unit 15c then determines whether the area of ​​the image of item 2 is the same as the area of ​​the faces of item 2 other than the widest face in the shape data. If they are the same, it can be recognized that item 2 in the item image data is in a vertical position (state 501 or 503 in Figure 5). In this case, the first determination unit 15c determines that it cannot be transferred as is.

[0071] Furthermore, if the area of ​​item 2 in the item image data is the same as the area of ​​the widest surface of item 2 in the shape data, it can be recognized that item 2 in the item image data is in a flat position. In this case, the first determination unit 15c determines that it can be transferred as is.

[0072] Furthermore, if the area of ​​item 2 in the item image data is smaller than the area of ​​the widest surface of item 2 in the shape data, but larger than the areas of the other surfaces, it can be recognized that item 2 in the item image data is leaning against the side wall of the first container 17 (state 502 in Figure 5). In this case, the first determination unit 15c determines that it cannot be transferred as is.

[0073] Furthermore, if it is determined that there are multiple items, the first determination unit 15c uses the distance data described above to determine the overlapping state of item 2. The distance data is obtained by dividing the image data of the item into predetermined sections and indicating the distance from the camera unit 13 to each section. Therefore, if the distance between the camera unit 13 and the item 2 can be determined for each section, it is possible to recognize the orientation in which each item 2 is overlapping. Based on the orientation and degree of overlap of the item 2, the first determination unit 15c determines that transfer is impossible if any of the following conditions are met.

[0074] (1) The lower item 2 is in a vertical position.

[0075] (2) The shortest distance between the upper item 2 and the side of the first container 17 is less than or equal to a predetermined value.

[0076] In the above explanation, we described a case where the article 2 cannot be transferred unless the picking head 12a is attracted to a predetermined position (for example, approximately in the center) on the article 2's holding surface (surface PA). However, the present invention is not limited to this. For example, if, in addition to surface PA, a surface perpendicular to surface PA is also a holding surface, and the picking head 12a cannot be attracted to a predetermined position on each of these surfaces, it will be determined that transfer is impossible.

[0077] (Details of the repositioning process by the adjustment unit 15d) Next, referring to Figures 7 to 11, the process of rearranging item 2 according to the instructions of the adjustment unit 15d will be explained. Figures 7 to 9 are schematic diagrams showing the process of rearranging item 2. Here, we will explain the case where item 2 is standing upright along the side of the first container 17.

[0078] Figure 701 shows the state in which the item 2 is placed inside the first container 17, viewed from the +Y direction. Figure 702 shows the same state viewed from the +Z direction.

[0079] From the item image data generated by the image processing unit 15b, the adjustment unit 15d can recognize the position and orientation of item 2. This allows the adjustment unit 15d to recognize that item 2 is in an upright position. In addition, the adjustment unit 15d can recognize the distance LA from the camera unit 13 to item 2 and the distance LB from the camera unit 13 to the bottom surface of the first container 17 from the distance data.

[0080] Having recognized from the above item image data that item 2 is upright, the adjustment unit 15d controls the transfer unit 12 so that the holding direction of the picking head 12a is approximately perpendicular to the surface PA, which is the holdable surface of item 2 (Figure 8). Then, the transfer unit 12 controls the center CA of the picking head 12a to a position that is a predetermined distance LC from the surface PB of item 2, which can be photographed by the camera unit 13, towards the bottom surface of the first container 17.

[0081] The predetermined distance LC is, for example, approximately 22.5 mm (= 25 / 2 + 10) when the length LH of one side of the holding direction changing section 12g equipped with the picking head 12a (see 410 in Figure 4) is 25 mm. This allows at least a portion of the picking head 12a to be attracted to the holding surface while maintaining a predetermined margin (10 mm).

[0082] Then, as shown at 901 in Figure 9, the adjustment unit 15d moves the article 2 (902) while holding the surface PA of the article 2, so that the surface PA of the article 2 becomes horizontal (903), and places it on the bottom surface of the first container 17. As a result, the surface PA of the article 2 is placed facing the transfer unit 12, so that the article 2, which was placed in a state where it could not be transferred, can be repositioned in a state where it can be transferred.

[0083] Figure 10 shows examples of holding an item 2 that is positioned in a way that makes it impossible to move, in order to temporarily hold the item 2 for repositioning. Figure 1001 shows an example of holding the item 2 when it is standing upright along the side wall of the first container 17. Figure 1002 shows an example of holding the item 2 when it is leaning against the side wall of the first container 17 and is in a nearly upright position. Figure 1003 shows an example of holding the item 2 when it is standing upright in the first container 17. In cases 1001 and 1002, the item 2 is held by attaching the picking head 12a to the surface PA of the item 2. In case 1003, the item 2 is held by attaching at least one of the picking heads 12a to the surface PB of the item 2. By holding the item 2 in this way, the orientation and position of the item 2 can be changed, and the item 2 can be positioned in a way that makes it possible to move it.

[0084] Figure 11 shows an example of temporarily holding item 2A in order to reposition it, when item 2B is placed on top of item 2A and is close to the side wall of the first container 17. In this case, at least a part of the picking head 12a is attached to the surface PA of item 2A (1101 in Figure 11). Then, item 2A is moved away from item 2B (1102 in Figure 11). If item 2A is moved away from item 2B in this manner, both item 2A and item 2B will be positioned with their surfaces PA horizontal (1103 in Figure 11). Thus, items 2A and 2B, which were positioned in a state where they could not be moved, can be positioned in a state where they can be moved.

[0085] (Processing flow in transfer system 1) Next, the processing flow in the transfer system 1 will be explained with reference to Figures 12 and 13. Figures 12 and 13 are flowcharts showing the processing flow in the transfer system 1. Here, only the processing related to the repositioning of item 2 will be explained.

[0086] As shown in Figure 12, in the transfer system 1, first, the camera unit 13 takes a photograph of the inside of the first container 17 (S101). Then, the first determination unit 15c determines whether or not it is possible to transfer the item 2 based on the state of the item 2 in the first container 17 as photographed by the camera unit 13 (S102, determination step). If it is possible to transfer the item (YES in S102), the item 2 is transferred as is (S103). On the other hand, if it is not possible to transfer the item 2 (NO in S102), the adjustment unit 15d performs a repositioning process for the item 2 (S104, adjustment step). After the repositioning process, the item 2 is transferred (S103).

[0087] (Repositioning process) Next, the repositioning process in step S104 will be explained with reference to Figure 13. In the repositioning process, the adjustment unit 15d first determines the destination position of the item 2 to be repositioned (S201). The destination position is determined by searching for an area on the bottom surface of the first container 17 where nothing is placed so that the item 2 can be laid flat. Then, the adjustment unit 15d determines the movement path from the current position of the item 2 to the destination position (S202). Having determined the destination position and movement path, the adjustment unit 15d instructs the drive control unit 15x to move the item 2 to the destination along the movement path. Upon receiving the instruction, the drive control unit 15x controls the transfer unit 12 to pick up the item 2 (S203). If the item 2 is successfully picked up, that is, if the item 2 can be picked up by the picking head 12a of the transfer unit 12 (YES in S204), the item 2 is moved to the destination position along the determined movement path (S205). On the other hand, if the pickup is unsuccessful (NO in S204), the pickup process is repeated (S203).

[0088] When the drive control unit 15x moves the item 2 to the destination position, the item 2 is placed on the bottom surface of the first container 17, and the suction of the picking head 12a is released (YES in S206). This completes the repositioning process of the item 2.

[0089] As described above, the transfer system 1 according to this embodiment includes a transfer unit 12 for transferring an article 2 from a first container 17 to the outside of the first container 17. The transfer unit 12 includes a picking head 12a for holding the article 2 by suction, a drive unit 12b for driving the picking head 12a in the horizontal and vertical directions, and a holding direction changing unit 12g for changing the holding direction of the picking head 12a.

[0090] Furthermore, the transfer system 1 includes a camera unit 13 that photographs the article 2 inside the first container 17, a first determination unit 15c that determines from the orientation of the article 2 photographed by the camera unit 13 whether or not the article 2 can be transferred by being held by the transfer unit 12, and an adjustment unit 15d that, if the first determination unit 15c determines that the article 2 cannot be transferred, controls the drive unit 12b and the holding direction changing unit 12g of the transfer unit 12 to adjust the orientation and position of the article 2, thereby changing the orientation and position so that the article 2 can be held by the transfer unit 12 and transferred.

[0091] [Embodiment 2] Other embodiments of the present invention are described below. For the sake of clarity, components having the same function as those described in the above embodiments will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0092] This embodiment is configured in which an estimation unit 15e is added to the control unit 15 in the above-described embodiment 1. Figure 14 is a functional block diagram showing an overview of the transfer system 1 according to this embodiment.

[0093] As shown in Figure 14, the control unit 15 includes an estimation unit 15e. The estimation unit 15e estimates which orientation the holdable surface of the article 2 is facing from the object image data generated by the image processing unit 15b. It then sends the estimated surface orientation to the adjustment unit 15d.

[0094] The explanation will be given with reference to Figure 15. Figure 15 is a diagram showing the orientation of the holdable surface of article 2. The article image data generated by the image processing unit 15b shows the shape and position of article 2. Distance data shows the distance to article 2 for each section. Therefore, for example, if there is article image data as shown in 1501 of Figure 5, the estimation unit 15e can recognize that there are two articles 2 (article 2A and article 2B) shown here, and that the relationship between them is as shown in 1502 of Figure 5. From this, the estimation unit 15e can estimate that the holdable surface of article 2A is oriented in the vertical direction (direction DA), and the holdable surface of article 2B is oriented in a direction shifted from the vertical direction toward the side of the first container 17 (direction DB).

[0095] The adjustment unit 15d, having received the direction of the holdable surface from the estimation unit 15e, can instruct the drive control unit 15x to pick up the picking head 12a of the transfer unit 12 in accordance with the direction of the surface PA of the article 2A.

[0096] Furthermore, if items 2A and 2B are positioned so as to overlap near the center of the first container 17, item 2B can be repositioned. In this case, the adjustment unit 15d, which has received the direction DB of the holdable surface PA of item 2B from the estimation unit 15e, can instruct the drive control unit 15x to pick up the picking head 12a of the transfer unit 12 in accordance with the orientation (direction DB) of the surface PA of item 2B.

[0097] [Embodiment 3] Further embodiments of the present invention will be described below. For the sake of clarity, components having the same function as those described in the above embodiments will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0098] In this embodiment, a second determination unit 15f is added to the control unit 15 of Embodiment 1 or Embodiment 2 described above. Figure 16 is a functional block diagram showing an overview of the transfer system 1 according to this embodiment.

[0099] As shown in Figure 16, the control unit 15 includes a second determination unit 15f. The second determination unit 15f determines whether or not there are other items 2 that would obstruct the movement of item 2 along the movement path and destination position determined by the adjustment unit 15d, in other words, whether or not there are other items 2 that would interfere with the adjustment made by the adjustment unit 15d, and sends the result to the adjustment unit 15d.

[0100] If the second determination unit 15f determines that there is another item 2 that would obstruct the movement of item 2 at the determined movement path and destination position, the adjustment unit 15d cancels the determined movement path and destination position and determines the movement path and destination position again.

[0101] The determination process of the second determination unit 15f will be explained with reference to Figure 17. Figure 17 shows the destination position and movement path of the article 2 determined by the adjustment unit 15d. As shown at 1701 in Figure 17, suppose the adjustment unit 15d has decided to move article 2A from its current position to the destination position 1711 along the movement path 1710. As shown at 1701, if there are no other articles 2 at the destination position 1711 and along the movement path 1710 that would obstruct the movement of article 2A, the second determination unit 15f determines that there are no other articles 2 that would obstruct the movement of article 2A.

[0102] On the other hand, as shown in 1702 of Figure 17, if, for example, another item 2C is present on the movement path 1710, the second determination unit 15f determines that there is another item 2 that obstructs the movement of item 2A.

[0103] [Examples of implementation using software] The function of the transfer system 1 (hereinafter referred to as the "device") is a program that causes the device to function as a computer, and can be realized by a program that causes each control block of the device (particularly each part included in the control unit 15) to function as a computer.

[0104] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., memory) as hardware for executing the program. By executing the program using this control device and storage device, the functions described in each of the embodiments are realized.

[0105] The above program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the above device. In the latter case, the program may be supplied to the above device via any wired or wireless transmission medium.

[0106] Furthermore, some or all of the functions of each of the above control blocks can also be realized by logic circuits. For example, an integrated circuit in which logic circuits functioning as each of the above control blocks are formed is also included in the scope of the present invention. In addition, it is also possible to realize the functions of each of the above control blocks by, for example, a quantum computer.

[0107] Furthermore, each process described in the above embodiments may be performed by AI (Artificial Intelligence). In this case, the AI ​​may operate on the control device described above, or it may operate on other devices (for example, an edge computer or a cloud server).

[0108] 〔summary〕 A transfer system according to embodiment 1 of the present invention is a transfer system comprising a transfer unit for transferring an article from a container to the outside of the container, wherein the transfer unit comprises a picking head for holding the article by suction, a drive unit for driving the picking head in a horizontal and vertical direction, and a holding direction changing unit for changing the holding direction of the picking head, a camera unit for photographing the article inside the container, a first determination unit for determining whether or not it is possible to transfer the article by holding it with the transfer unit based on the posture of the article photographed by the camera unit, and, if the first determination unit determines that the article cannot be transferred, an adjustment unit for adjusting the posture and position of the article by controlling the drive unit and the holding direction changing unit of the transfer unit to change the posture and position of the article to one that can be held and transferred by the transfer unit.

[0109] This allows items that are in a position where they cannot be held and transferred by the transfer unit to be repositioned into a position where they can be transferred. Furthermore, since the determination is made simply by taking a picture with the camera unit, the repositioning determination can be performed with a simple configuration.

[0110] In the transfer system according to embodiment 2 of the present invention, in embodiment 1, the first determination unit makes the determination by comparing the area of ​​the article in the image captured by the camera unit with the area of ​​any surface of the article indicated by the shape of the article that has been stored in advance.

[0111] In the transfer system according to embodiment 3 of the present invention, in embodiment 1 or 2, the holding surface on which the picking head can hold the article is predetermined, and the first determination unit makes the determination based on whether or not the holding surface of the article is within a predetermined angle with respect to the horizontal.

[0112] In the transfer system according to embodiment 4 of the present invention, in any of embodiments 1 to 3, the first determination unit makes the determination based on whether or not at least a part of the article to be determined is overlapped with another article.

[0113] In the transfer system according to embodiment 5 of the present invention, in any of embodiments 1 to 4, if the first determination unit determines that the retainable surface of the target article to be determined is not within a predetermined angle with respect to the horizontal and therefore cannot be transferred, the adjustment unit adjusts the retaining direction to a direction perpendicular to the retainable surface of the target article to adjust the posture and position of the target article.

[0114] The transfer system according to embodiment 6 of the present invention includes, in any of embodiments 1 to 5, an estimation unit that estimates the orientation of the holdable surface of the target article from an image of the target article captured by the camera unit, and the adjustment unit performs the adjustment using the orientation of the holdable surface estimated by the estimation unit.

[0115] In the transfer system according to embodiment 7 of the present invention, in any of embodiments 1 to 6, the picking head is provided with a plurality of suction members, and if the holdable surface of the target article is not within a predetermined angle with respect to the horizontal, the adjustment unit makes at least a portion of the plurality of suction members suction to the holdable surface to perform the adjustment of the target article.

[0116] In the transfer system according to embodiment 8 of the present invention, in any of embodiments 1 to 7, if the first determination unit determines that the target article cannot be transferred because a part of it is overlapping with another article, the adjustment unit adjusts the orientation and position of the target article by holding the picking head on the holdable surface of the target article, lifting it vertically, and moving it in the opposite direction to the other article.

[0117] The transfer system according to aspect 9 of the present invention, in any of aspects 1 to 8, includes a second determination unit that determines whether there are any other articles interfering with the adjustment at the holding position where the picking head holds the article, the movement path to the destination of the article, and the destination position, when the adjustment unit adjusts the posture and position of the article.

[0118] A control method for a transfer system according to embodiment 10 of the present invention is a transfer unit for transferring an article from a container to the outside of the container, comprising: a transfer unit having a picking head for holding the article by suction; a drive unit for driving the picking head in a horizontal and vertical direction; and a holding direction changing unit for changing the holding direction of the picking head; and a camera unit for photographing the article inside the container, comprising: a determination step of determining whether or not it is possible to transfer the article by holding it with the transfer unit, based on the posture of the article photographed by the camera unit; and, if it is determined in the determination step that the article cannot be transferred, an adjustment step of controlling the drive unit and the holding direction changing unit of the transfer unit to adjust the posture and position of the article, thereby changing the posture and position of the article to one that can be held and transferred by the transfer unit.

[0119] Each aspect of the present invention may be implemented by a computer, in which case a control program for the transfer system that enables the computer to implement the transfer system by operating the computer as each part (software element) of the transfer system, and a computer-readable recording medium on which the program is recorded, also fall within the scope of the present invention.

[0120] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of Symbols]

[0121] 1. Transfer System 2, 2A, 2B, 2C Goods 11 Conveying section 12 Transfer Section 12a picking head 12b Drive unit 12g Holding direction change section 13 Camera Section 15 Control Unit 15a Image acquisition unit 15b Image Processing Unit 15c 1st judgment part 15d Adjustment section 15e Estimation part 15f 2nd judgment section 15x Drive Control Unit 17 1st container 1710 Travel Route 1711 Destination location

Claims

1. A transfer system comprising a transfer unit for transferring an article having a retainable surface from a container to the outside of the container, The aforementioned transfer unit is, A picking head that holds the aforementioned article by suction, A drive unit for driving the picking head in the horizontal and vertical directions, The system includes a holding direction changing unit that changes the holding direction of the picking head, A camera unit for photographing the inside of a container containing the aforementioned article, A first determination unit determines whether or not the item can be transferred by being held by the transfer unit, based on the orientation of the item as captured by the camera unit. If the first determination unit determines that the item cannot be transferred, the adjustment unit controls the drive unit and the holding direction changing unit of the transfer unit to adjust the posture and position of the item, thereby changing the posture and position so that the item can be held and transferred by the transfer unit. A transfer system comprising: a second determination unit that, when the adjustment unit adjusts the posture and position of the article within the container, determines, using images captured by the camera unit of the inside of the container, whether there are any other articles interfering with the adjustment along the movement path of the article to its destination and at the destination position.

2. A transfer system comprising a transfer unit for transferring an article having a retainable surface from a container to the outside of the container, The aforementioned transfer unit is, A picking head that holds the aforementioned article by suction, A drive unit for driving the picking head in the horizontal and vertical directions, The system includes a holding direction changing unit that changes the holding direction of the picking head, A camera unit for photographing the inside of a container containing the aforementioned article, A first determination unit determines whether or not the item can be transferred by being held by the transfer unit, based on the orientation of the item as captured by the camera unit. If the first determination unit determines that the item cannot be transferred, the adjustment unit controls the drive unit and the holding direction changing unit of the transfer unit to adjust the posture and position of the item, thereby changing the posture and position so that the item can be held and transferred by the transfer unit. It includes a distance image sensor or distance measuring sensor for measuring the distance from the camera unit, A transfer system in which, when the adjustment unit recognizes from the image of the article captured by the camera unit that the article is in an upright position, the adjustment unit controls the transfer unit using the shortest distance from the camera unit to the article and the distance from the camera unit to the bottom surface of the container so that the holding direction of the picking head is perpendicular or nearly perpendicular to the holdable surface of the article.

3. The transfer system according to claim 1 or 2, wherein the first determination unit performs the determination by comparing the area of ​​the article in the image captured by the camera unit with the area of ​​any surface of the article indicated by the shape of the article that has been stored in advance.

4. The picking head has a predetermined holding surface on which it can hold the article. The transfer system according to claim 1, wherein the first determination unit makes the determination based on data of the article stored in advance and an image of the article obtained from the camera unit, by determining whether or not the holdable surface of the article is within a predetermined angle with respect to the horizontal.

5. The transfer system according to claim 1 or 2, wherein the first determination unit determines whether or not at least a part of the item to be determined is overlapped with another item based on data of the item stored in advance and an image of the item acquired from the camera unit, and determines whether or not the item can be transferred.

6. If the first determination unit determines that the holding surface of the target item to be determined is not within a predetermined angle with respect to the horizontal and therefore cannot be transferred, The transfer system according to claim 4, wherein the adjustment unit adjusts the holding direction to a direction perpendicular to the holding surface of the target article, thereby adjusting the posture and position of the target article.

7. The system includes an estimation unit that estimates the orientation of the holdable surface of the target item from an image of the target item captured by the camera unit, The transfer system according to claim 6, wherein the adjustment unit performs the adjustment using the orientation of the retainable surface estimated by the estimation unit.

8. The picking head is equipped with multiple suction members, If the holding surface of the target article is not within a predetermined angle with respect to the horizontal, the adjustment unit adjusts the target article by adhering at least a portion of the plurality of adsorption members to the holding surface.

9. If the first determination unit determines that the item to be determined cannot be moved because a part of it is overlapping with another item, The transfer system according to claim 5, wherein the adjustment unit adjusts the posture and position of the target article by holding the picking head on the holdable surface of the target article, lifting it vertically, and moving it in the opposite direction to the other articles.

10. The transfer system according to claim 2, further comprising a second determination unit that determines, using images captured by the camera unit of the inside of the container, whether there are any other articles interfering with the adjustment, in the movement path of the article to its destination and at the destination position, when the adjustment unit adjusts the posture and position of the article within the container.

11. A transfer unit for transferring an article having a retrievable surface from a container to the outside of the container, comprising: a picking head for holding the article by suction; a drive unit for driving the picking head in a horizontal and vertical direction; a holding direction changing unit for changing the holding direction of the picking head; and a camera unit for photographing the inside of the container containing the article, wherein the transfer unit comprises these components, A determination step of determining whether the transfer unit can transfer the item by holding it, based on the orientation of the item as captured by the camera unit, If the determination step determines that the item cannot be transferred, the adjustment step includes controlling the drive unit and the holding direction changing unit of the transfer unit to adjust the posture and position of the item, thereby changing the posture and position so that the item can be held and transferred by the transfer unit. moreover A control method for a transfer system, which includes the step of determining, using images captured by the camera unit of the inside of the container, whether there are any other articles interfering with the adjustment in the transfer path of the article to its destination and the destination position, when adjusting the posture and position of the article in the adjustment step.

12. A transfer unit for transferring an article having a holdable surface from a container to the outside of the container, comprising: a picking head for holding the article by suction; a drive unit for driving the picking head in a horizontal and vertical direction; a holding direction changing unit for changing the holding direction of the picking head; a camera unit for photographing the inside of the container containing the article; and a distance image sensor or distance measuring sensor for measuring the distance from the camera unit, wherein the transfer unit comprises: A determination step of determining whether the transfer unit can transfer the item by holding it, based on the orientation of the item as captured by the camera unit, If the determination step determines that the item cannot be transferred, the adjustment step includes controlling the drive unit and the holding direction changing unit of the transfer unit to adjust the posture and position of the item, thereby changing the posture and position so that the item can be held and transferred by the transfer unit. A method for controlling a transfer system, wherein, in the adjustment step, if it is recognized from the image of the article captured by the camera unit that the article is in an upright position, the transfer unit is controlled using the shortest distance from the camera unit to the article and the distance from the camera unit to the bottom surface of the container so that the holding direction of the picking head is perpendicular or nearly perpendicular to the holdable surface of the article.

13. A control program for causing a computer to perform the determination step and the adjustment step in the control method for a transfer system according to claim 11 or 12.

Images