Cargo handling equipment, cargo handling methods, and cargo handling programs

Abstract

To improve article gripping performance.SOLUTION: A cargo handling device 10 is equipped with a gripping method determining section 50B, and a hand section 20. The gripping method determining section 50B determines a gripping method of a cargo. The hand section 20 has an edge gripping section 21 and a tip end holding section 22 that grip a cargo by holding, and a sucking section 24 that grips a cargo by sucking, and grips a cargo C according to the determination result of a gripping method.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] Embodiments of the present invention relate to a cargo handling device, a cargo handling method, and a cargo handling program.

Background Art

[0002] Devices for assisting in the handling of articles are known. For example, a system is disclosed that grips an article by sandwiching or hooking it and sends it out along a predetermined path such as a conveyor.

[0003] However, in the prior art, it has been difficult to grip articles that are difficult to sandwich or hook. That is, in the prior art, the gripping performance of articles may decrease.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention has been made in view of the above, and an object thereof is to provide a cargo handling device, a cargo handling method, and a cargo handling program capable of improving the gripping performance of articles.

Means for Solving the Problems

[0006] The cargo handling device according to the embodiment includes a gripping method determination unit and a hand unit. The gripping method determination unit object determines a gripping method indicating either an adsorption gripping method for gripping by adsorption or a sandwiching gripping method for gripping by sandwiching the object . The hand unit has an edge gripping part and a tip sandwiching part for gripping the object by sandwiching, and an adsorption part for gripping the object by adsorption, and according to the determination result of the gripping method, the object The gripping method ,before Suction gripping method So the object cannot be grasped. After the decision has been made ,before Regarding the gripping and holding method: To grip the object more firmly It is switchable. [Brief explanation of the drawing]

[0007] [Figure 1] Schematic diagram of a cargo handling device. [Figure 2] Enlarged schematic diagram of the hand unit. [Figure 3A] Enlarged schematic diagram of the edge gripping section. [Figure 3B] Enlarged schematic diagram of the edge gripping section and storage mechanism section. [Figure 4A] Diagram illustrating the edge gripping mechanism in its stored state. [Figure 4B] An explanatory diagram of the edge gripping section in its deployed state. [Figure 5] Enlarged schematic diagram of the clamping tip. [Figure 6] A block diagram illustrating the functional configuration of a cargo handling device. [Figure 7A] An explanatory diagram for gripping luggage using suction. [Figure 7B] An explanatory diagram for gripping luggage by clamping. [Figure 8A] A diagram illustrating the process of gripping an object using a clamping mechanism. [Figure 8B] A diagram illustrating the process of gripping an object using a clamping mechanism. [Figure 8C] A diagram illustrating the process of gripping an object using a clamping mechanism. [Figure 8D] A diagram illustrating the process of gripping an object using a clamping mechanism. [Figure 8E] A diagram illustrating the process of gripping an object using a clamping mechanism. [Figure 8F] A diagram illustrating the process of gripping an object using a clamping mechanism. [Figure 8G] A diagram illustrating the process of gripping an object using a clamping mechanism. [Figure 9A] An explanatory diagram showing the process of switching from gripping by suction to gripping by clamping. [Figure 9B] Explanatory drawing when switching from gripping by suction to gripping by clamping. [Figure 10] Flowchart showing the flow of information processing. [Figure 11] Diagram showing the hardware configuration.

Mode for Carrying Out the Invention

[0008] The cargo handling device, cargo handling method, and cargo handling program will be described in detail below with reference to the attached drawings.

[0009] FIG. 1 is a schematic diagram of an example of the cargo handling device 10 of the present embodiment.

[0010] The cargo handling device 10 is a device for assisting in cargo handling such as loading and unloading, transporting, stacking, taking out, sorting, and aligning of articles. In the present embodiment, an example will be described in which the article to be handled is a package C. Note that the article to be handled is not limited to the package C.

[0011] The cargo handling device 10 includes a hand unit 20 and an arm unit 30. The hand unit 20 is a gripping mechanism for gripping the package C. The arm unit 30 is a support mechanism for supporting the hand unit 20.

[0012] The cargo handling device 10, for example, grips the package C loaded on a cage, pallet, etc. with the hand unit 20, and places the package C at a predetermined location by driving the hand unit 20 and the arm unit 30. The predetermined location is, for example, on a conveyor 31 for transporting the package C.

[0013] In FIG. 1 and the drawings described later, the Z direction will be described as the direction along the vertical direction. Also, the X direction and the Y direction will be described as the directions along the horizontal direction. That is, the X direction and the Y direction are directions orthogonal to the Z direction. The X direction and the Y direction are directions orthogonal to each other.

[0014] Figure 2 is an enlarged schematic diagram of an example of the handle section 20 in the cargo handling device 10.

[0015] The hand portion 20 has an edge gripping portion 21 and a tip gripping portion 22 for gripping the luggage C by clamping, and a suction portion 24 for gripping the luggage C by suction, and grips the luggage C according to the determination result of the gripping method.

[0016] In detail, the hand portion 20 includes an edge gripping portion 21, a tip clamping portion 22, a clamping drive portion 23, and a suction portion 24.

[0017] The clamping drive unit 23 is a drive unit for driving the edge gripping unit 21 and the tip clamping unit 22, respectively. The clamping drive unit 23 includes a first clamping drive unit 23A, a second clamping drive unit 23B, and a third clamping drive unit 23C. The first clamping drive unit 23A includes an air cylinder 23A1 and a motor 23A2. Details of these clamping drive units 23 will be described later.

[0018] The edge gripping part 21 is a mechanism for gripping the edge of the luggage C.

[0019] Figure 3A is an enlarged schematic diagram of an example of the edge gripping portion 21. The edge gripping portion 21 has, for example, a first claw portion 21A and a second claw portion 21B. The edge gripping portion 21 is configured to grip the edge of the luggage C by the first claw portion 21A and the second claw portion 21B.

[0020] For example, the first claw portion 21A is connected to the third clamping drive portion 23C. The third clamping drive portion 23C is an example of a clamping drive portion 23 for driving the edge gripping portion 21. In this embodiment, the third clamping drive portion 23C generates a force that pushes the first claw portion 21A toward the second claw portion 21B. By pushing the first claw portion 21A toward the second claw portion 21B, the first claw portion 21A and the second claw portion 21B can grip and hold the edge of the load C.

[0021] The second claw portion 21B is provided with a first grip detection unit 42A. The first grip detection unit 42A is an example of a grip detection unit 42 for detecting the gripping of luggage C. The first grip detection unit 42A is a sensor for detecting that the edge grip portion 21 has gripped luggage C. For the first grip detection unit 42A, for example, a known sensor capable of detecting the approach or contact of luggage C to the second claw portion 21B may be used.

[0022] Returning to Figure 2, let's continue the explanation. The edge gripping portion 21 is supported by the storage mechanism portion 25.

[0023] The storage mechanism 25 is a mechanism for switching the edge gripping portion 21 to either a stored state or an extended state. The storage mechanism 25 is also a mechanism for moving the edge gripping portion 21 in a direction toward or away from the luggage C to be gripped. By switching the edge gripping portion 21 to the stored state, it is possible to prevent the edge gripping portion 21 from interfering with the gripping of the luggage C by suction.

[0024] The stored state refers to the state in which the edge gripping portion 21 is stored in a position that does not interfere with the luggage C. The deployed state refers to the state in which the edge gripping portion 21 is deployed in a position that allows it to grip the luggage C.

[0025] Figure 3B is an enlarged schematic diagram of an example of the edge gripping portion 21 and the storage mechanism portion 25.

[0026] The storage mechanism 25 comprises a parallel link 25A, a linear guide 25B, a belt pulley 25C, and an air cylinder 23A1. The parallel link 25A is a mechanism that supports the edge gripping portion 21. The air cylinder 23A1 and motor 23A2 are an example of the first clamping drive unit 23A. The first clamping drive unit 23A is an example of a clamping drive unit 23 for driving the edge gripping portion 21.

[0027] Motor 23A2 is a first gripping drive unit 23A for moving the edge gripping portion 21 toward or toward the load C to be gripped. The driving force of motor 23A2 is transmitted to the parallel link 25A via belt pulley 25C. Therefore, the edge gripping portion 21 is driven linearly along the linear guide 25B which is arranged parallel to the arrow Y direction (horizontal direction). That is, the edge gripping portion 21 moves toward or toward the load C to be gripped by the drive of motor 23A2 of the first gripping drive unit 23A, the linear guide 25B and belt pulley 25C. By controlling the position of the edge gripping portion 21 along the arrow Y direction using motor 23A2, it is possible to adjust the position of the edge gripping portion 21 to a position according to the size of the load C, etc.

[0028] The air cylinder 23A1 is the first clamping drive unit 23A for changing the state of the parallel link 25A. The state of the parallel link 25A is changed by the drive of the air cylinder 23A1, and the edge gripping portion 21 supported by the parallel link 25A is switched between a retracted state and an extended state.

[0029] By using an air cylinder 23A1 as the first clamping drive unit 23A, the mechanism can be made lighter and easier to control compared to an electric motor.

[0030] Figure 4A is an explanatory diagram of an example of the edge gripping portion 21 in its retracted state. The state of the parallel link 25A changes when the air cylinder 23A1 of the first clamping drive unit 23A is driven. For example, when the parallel link 25A is folded in the direction of arrow WA, the edge gripping portion 21 is switched to a retracted state in which it is stored in a position that does not interfere with the load C.

[0031] Figure 4B is an explanatory diagram of an example of the edge gripping portion 21 in its deployed state. The state of the parallel link 25A changes when the air cylinder 23A1 of the first gripping drive unit 23A is driven. For example, when the parallel link 25A is deployed in the direction of arrow WA, the edge gripping portion 21 is switched to a deployed state in which it is deployed to a position where it can grip the load C.

[0032] Returning to Figure 2, we continue the explanation.

[0033] The tip gripping portion 22 is a mechanism for gripping the load C between it and the edge gripping portion 21.

[0034] Figure 5 is an enlarged schematic diagram of an example of the tip clamping portion 22. The tip clamping portion 22 has a tip link portion 22A and a claw portion 22B. The claw portion 22B is a member for clamping the load C. The claw portion 22B is supported by the tip link portion 22A. In this embodiment, the claw portion 22B is provided at one end of the tip link portion 22A in the extension direction.

[0035] The other end of the tip link portion 22A in the extension direction is connected to the second clamping drive portion 23B via a drive mechanism or the like. The second clamping drive portion 23B is a clamping drive portion 23 for driving the tip clamping portion 22. The second clamping drive portion 23B is, for example, a cylinder.

[0036] The second clamping drive unit 23B rotates the tip link portion 22A around the center P of the other end of the tip link portion 22A, thereby switching the tip clamping portion 22, which consists of the tip link portion 22A and the claw portion 22B, from the retracted state to the deployed state. The second clamping drive unit 23B also rotates the tip link portion 22A around the center P of the other end of the tip link portion 22A, thereby switching the tip clamping portion 22, which consists of the tip link portion 22A and the claw portion 22B, from the deployed state to the retracted state.

[0037] Switching the tip gripping portion 22 to the deployed state means switching to a state where the tip gripping portion 22 is deployed to a position where it can grip the luggage C. Switching the tip gripping portion 22 to the retracted state means that the tip gripping portion 22 is retracted to a position where it does not interfere with the luggage C. By switching the tip gripping portion 22 from the retracted state to the deployed state, it becomes possible, for example, to insert the tip gripping portion 22 into the gap between the luggage C and another object. Also, by switching the tip gripping portion 22 to the retracted state, it is possible to prevent the tip gripping portion 22 from interfering with the gripping of the luggage C by suction.

[0038] The claw portion 22B is provided with a second clamping detection unit 42B. The second clamping detection unit 42B is an example of a clamping detection unit 42 for detecting the clamping of luggage C. The second clamping detection unit 42B is a sensor for detecting that the tip clamping portion 22 has clamped luggage C. For the second clamping detection unit 42B, for example, a known sensor capable of detecting the approach or contact of luggage C to the claw portion 22B may be used.

[0039] In this embodiment, the tip gripping portion 22 is provided with a gap detection portion 46. The gap detection portion 46 is a sensor for detecting the gap between the luggage C to be gripped and other objects in the area facing the tip gripping portion 22 within the surrounding space of the luggage C. Any known sensor capable of detecting gaps may be used for the gap detection portion 46.

[0040] Returning to Figure 2, we continue the explanation.

[0041] The suction unit 24 is a mechanism for gripping the luggage C by suction. The suction unit 24 includes a suction mechanism 24A and a suction drive unit 24B.

[0042] The suction mechanism 24A is a component for adhering to the surface of the luggage C. The suction mechanism 24A is composed of, for example, one or more suction pads. In this embodiment, a configuration in which the suction mechanism 24A is composed of multiple suction pads will be described as an example.

[0043] The suction drive unit 24B is a mechanism for adjusting the suction force of the suction unit 24. The suction drive unit 24B is, for example, a vacuum pump that controls the suction force of the suction pad.

[0044] The suction force of each of the multiple suction pads, which constitute the suction mechanism 24A, is adjusted by the drive of the suction drive unit 24B, thereby controlling the suction and release of the luggage C.

[0045] The suction drive unit 24B is further configured to allow adjustment of the angle of the suction mechanism 24A. By adjusting the angle of the suction mechanism 24A, the angle of the load C that is adsorbed by the suction mechanism 24A is adjusted. In this embodiment, the angle of the adsorbed load C refers to the angle of the load C with respect to the horizontal direction.

[0046] In this embodiment, the suction unit 24 is provided with a weight detection unit 44.

[0047] The weight detection unit 44 is a sensor for detecting the weight of the package C. In this embodiment, the weight detection unit 44 detects the weight of the package C that has been picked up by the suction unit 24. Any known sensor capable of detecting the weight of the package C can be used for the weight detection unit 44.

[0048] The arm portion 30 is a member that supports the hand portion 20. The arm portion 30 includes an arm body portion 30A and an arm drive portion 30B. The arm body portion 30A is the main body of the arm portion 30 and is a member that supports the hand portion 20. The arm drive portion 30B is a drive portion for adjusting the position of the hand portion 20 supported by the arm body portion 30A.

[0049] Next, the functional configuration of the cargo handling device 10 of this embodiment will be described.

[0050] Figure 6 is a block diagram showing an example of the functional configuration of the cargo handling device 10.

[0051] The cargo handling device 10 comprises a hand unit 20, an arm unit 30, a camera unit 40, a weight detection unit 44, a gap detection unit 46, and a control unit 50. The hand unit 20, arm unit 30, camera unit 40, weight detection unit 44, gap detection unit 46, and control unit 50 are communicated together via a bus 48 or the like.

[0052] The imaging unit 40 obtains an image, which is image data, by taking a picture. The imaging unit 40 is positioned to acquire an image of the area including the luggage C that is to be grasped by the hand unit 20. For example, as shown in Figure 1, the imaging unit 40 is positioned on a support member or the like included in the cargo handling device 10. Returning to Figure 6, the explanation continues. In addition, the imaging unit 40 has its shooting angle of view and shooting direction adjusted in advance so that it can acquire an image of the area including the luggage C that is to be grasped.

[0053] The control unit 50 performs information processing in the cargo handling device 10. The control unit 50 is, for example, a dedicated or general-purpose computer.

[0054] The control unit 50 includes an item detection unit 50A, a gripping method determination unit 50B, and a drive control unit 50C. At least one of the item detection unit 50A, the gripping method determination unit 50B, and the drive control unit 50C is implemented by, for example, one or more processors. For example, each of the above units may be implemented by having a processor such as a CPU (Central Processing Unit) execute a program, i.e., by software. Each of the above units may be implemented by a processor such as a dedicated IC (Integrated Circuit), i.e., by hardware. Each of the above units may be implemented by using both software and hardware. When multiple processors are used, each processor may implement one of the above units, or two or more of the above units.

[0055] The item detection unit 50A detects the package C. The item detection unit 50A detects the position, size, and type of the package C to be grasped by performing image analysis on the image captured by the imaging unit 40. Any known method can be used for the image analysis.

[0056] The gripping method determination unit 50B determines the gripping method for the package C. Based on the detection result of the package C by the item detection unit 50A, the gripping method determination unit 50B determines whether the gripping method is an adhesive gripping method or a clamping gripping method.

[0057] The suction gripping method is a gripping method in which the luggage C is gripped by suction using the suction part 24. The clamping gripping method is a gripping method in which the luggage C is gripped by clamping using the edge gripping part 21 and the tip clamping part 22.

[0058] The gripping method determination unit 50B determines whether or not the luggage C can be picked up by the suction unit 24, based on the location, size, and type of luggage C included in the detection result of luggage C received from the item detection unit 50A.

[0059] For example, the control unit 50 stores information indicating whether or not the luggage C can be picked up, associated with information representing the combination of the luggage C's position, size, and type. The gripping method determination unit 50B then determines whether or not the information indicating whether or not the luggage C can be picked up, which is represented by the luggage C detection result received from the item detection unit 50A, indicates that the luggage C can be picked up.

[0060] If the gripping method determination unit 50B determines that the luggage C can be held by the suction unit 24, it determines that the gripping method is the suction gripping method. On the other hand, if the gripping method determination unit 50B determines that the luggage C cannot be held by the suction unit 24, it determines that the gripping method is the clamping gripping method.

[0061] The hand unit 20 grips the luggage C according to the gripping method determination result of the gripping method determination unit 50B. More specifically, the hand unit 20 grips the luggage C under the control of the drive control unit 50C.

[0062] Based on the determination result by the gripping method determination unit 50B, the drive control unit 50C controls the hand unit 20 or the hand unit 20 and arm unit 30 to grip the luggage C.

[0063] First, let's assume that the gripping method is determined to be suction gripping. In other words, let's assume that the gripping method determination unit 50B determines that the luggage C can be gripped.

[0064] In this case, the drive control unit 50C controls the suction unit 24 to attract the luggage C. Through the control of the suction unit 24 by the drive control unit 50C, the luggage C is grasped by suction.

[0065] Figure 7A is an explanatory diagram illustrating an example of gripping luggage C by suction.

[0066] The drive control unit 50C controls the clamping drive unit 23 to retract at least one of the edge gripping portion 21 and the tip clamping portion 22. Preferably, the drive control unit 50C controls both the edge gripping portion 21 and the tip clamping portion 22 to retract.

[0067] In detail, the drive control unit 50C controls the air cylinder 23A1 to retract the edge gripping portion 21. The control of the air cylinder 23A1 by the drive control unit 50C drives the air cylinder 23A1, and the drive of the air cylinder 23A1 causes the parallel link 25A to fold in the direction of arrow WA. As a result, the edge gripping portion 21, which is supported by the parallel link 25A, is switched to a retracted state in a position that does not interfere with the load C.

[0068] Furthermore, the drive control unit 50C controls the second clamping drive unit 23B to return the tip clamping portion 22 to its retracted state. The second clamping drive unit 23B rotates the tip link portion 22A under the control of the drive control unit 50C, thereby switching the tip clamping portion 22, which consists of the tip link portion 22A and the claw portion 22B, from the deployed state to the retracted state.

[0069] The drive control unit 50C then controls the arm drive unit 30B to move the hand unit 20, supported by the arm body unit 30A, to a position where it can pick up the luggage C. More specifically, the drive control unit 50C controls the arm drive unit 30B to move the suction mechanism 24A provided on the hand unit 20 to a position where it can pick up the luggage C. For example, the drive control unit 50C reads the information regarding the position and size of the luggage C included in the detection result of the luggage C by the item detection unit 50A to determine the position of the luggage C in the horizontal plane, which is the XY plane. Then, it controls the arm drive unit 30B so that the suction mechanism 24A is positioned opposite to that position.

[0070] Furthermore, the drive control unit 50C controls the suction drive unit 24B so that the suction mechanism 24A of the suction unit 24 picks up the luggage C. For example, the drive control unit 50C controls the suction drive unit 24B and the arm drive unit 30B so that the luggage C is picked up and lifted up until it reaches a height where the weight detection unit 44 provided on the suction unit 24 can detect the weight of the luggage C.

[0071] The drive control unit 50C, when the weight of the luggage C detected by the weight detection unit 44 is within the weight that the suction unit 24 can hold, controls the suction unit 24 to continue holding onto the luggage C, thereby gripping the luggage C. The drive control unit 50C then controls the arm drive unit 30B to place the luggage C, which has been gripped by the suction unit 24, onto a predetermined position such as the conveyor belt 31.

[0072] The drive control unit 50C pre-stores information representing the weight that can be picked up by the suction unit 24. Then, the drive control unit 50C determines that the weight of the luggage C detected by the weight detection unit 44 is less than or equal to the weight that can be picked up by the suction unit 24 if it is less than or equal to the weight that can be picked up in advance.

[0073] Next, we will explain the case where the gripping method is determined to be a clamping gripping method. In other words, we will explain the case where the gripping method determination unit 50B determines that the luggage C cannot be gripped.

[0074] In this case, the drive control unit 50C controls the hand unit 20 to grip the load C between the edge gripping unit 21 and the tip gripping unit 22. That is, in this case, the drive control unit 50C controls the gripping unit 20 to grip the load C by clamping.

[0075] Figure 7B is an explanatory diagram illustrating an example of gripping luggage C by clamping.

[0076] The drive control unit 50C controls the edge gripping portion 21 and the tip gripping portion 22 to be deployed (see arrow WB direction). The drive control unit 50C then controls the clamping drive unit 23 to clamp the load C between the edge gripping portion 21 and the tip gripping portion 22. Through the control of the clamping drive unit 23 by the drive control unit 50C, the load C is gripped by the edge gripping portion 21 and the tip gripping portion 22.

[0077] The process for gripping luggage C by clamping will be explained in detail.

[0078] Figures 8A to 8G are explanatory diagrams illustrating an example of the processing flow when gripping luggage C by clamping.

[0079] First, as shown in Figure 8A, we will describe a scenario where the edge gripping portion 21 and the tip clamping portion 22 are in their retracted state. In this state, we will assume that the gripping method determination unit 50B determines the clamping gripping method.

[0080] Then, as shown in Figure 8B, the drive control unit 50C controls the arm drive unit 30B to move the hand unit 20, supported by the arm body unit 30A, to a position where it can grip the luggage C (see arrow YA direction). More specifically, the drive control unit 50C controls the arm drive unit 30B to move the edge gripping part 21 and the tip gripping part 22 provided on the hand unit 20 to a position where they can grip the luggage C after deployment. For example, the drive control unit 50C identifies the position of luggage C by reading the information regarding the position and size of luggage C included in the detection result of luggage C by the item detection unit 50A. Then, the drive control unit 50C controls the arm drive unit 30B so that the edge gripping part 21 and the tip gripping part 22, when deployed, are positioned near that position.

[0081] Furthermore, as shown in Figure 8B, the drive control unit 50C controls the air cylinder 23A1 to deploy the edge gripping portion 21. The control of the air cylinder 23A1 by the drive control unit 50C drives the air cylinder 23A1, and the parallel link 25A is deployed in the direction of arrow WB by the drive of the air cylinder 23A1. As a result, the edge gripping portion 21, which is supported by the parallel link 25A, is switched to a deployed state in which it can grip the luggage C. Then, the drive control unit 50C drives the air cylinder 23A1 to adjust the position of the edge gripping portion 21 to a position in which it can grip the luggage C.

[0082] Next, the drive control unit 50C drives at least one of the arm portion 30 and the hand portion 20 to form a gap S between it and the load C into which the tip gripping portion 22 can be inserted.

[0083] More specifically, as shown in Figure 8C, the drive control unit 50C controls the third clamping drive unit 23C to grip the edge of the load C with the first claw portion 21A and the second claw portion 21B. For example, the drive control unit 50C controls the third clamping drive unit 23C to generate a force that pushes the first claw portion 21A toward the second claw portion 21B. As the first claw portion 21A is pressed toward the second claw portion 21B, the first claw portion 21A and the second claw portion 21B grip the edge of the load C.

[0084] The drive control unit 50C then controls the arm drive unit 30B to lift the hand unit 20 in the counter-vertical direction (arrow ZA direction).

[0085] Next, as shown in Figure 8D, the drive control unit 50C controls the arm drive unit 30B to pull the load C towards the edge gripping unit 21, i.e., towards arrow YB.

[0086] The drive control unit 50C continues this process until it determines that a gap S has been formed between the luggage C to be gripped and another adjacent item into which the edge gripping portion 21 can be inserted.

[0087] The drive control unit 50C can determine whether a gap S into which the edge gripping portion 21 can be inserted has been formed between the luggage C to be gripped and other adjacent items by analyzing the captured image taken by the imaging unit 40. Furthermore, the drive control unit 50C can determine whether the detection result by the gap detection unit 46 indicates that a gap S into which the edge gripping portion 21 can be inserted has been formed between the luggage C to be gripped and other adjacent items.

[0088] The drive control unit 50C can quickly and reliably determine whether or not a gap S into which the edge gripping unit 21 can be inserted has been formed by using both the captured image taken by the imaging unit 40 and the detection result from the gap detection unit 46.

[0089] Then, when the drive control unit 50C determines that a gap S has been formed, it controls the second clamping drive unit 23B of the clamping drive unit 23 to insert the tip clamping portion 22 into the gap S, as shown in Figure 8E. Specifically, the drive control unit 50C controls the tip link portion 22A to rotate by driving the second clamping drive unit 23B. Through this control, the drive control unit 50C switches the tip clamping portion 22, which consists of the tip link portion 22A and the claw portion 22B, from a retracted state to an extended state. By switching to the extended state, the tip clamping portion 22 is inserted into the formed gap S. Also, the claw portion 22B of the tip clamping portion 22 is extended.

[0090] Next, as shown in Figure 8F, the drive control unit 50C controls the first clamping drive unit 23A and the third clamping drive unit 23C to clamp the luggage C between the tip clamping unit 22 and the edge gripping unit 21. This control causes the luggage C to be clamped and gripped by the edge gripping unit 21 and the tip clamping unit 22. The drive control unit 50C can determine whether the luggage C is clamped by the edge gripping unit 21 and the tip clamping unit 22 by determining whether it has received a detection result indicating that the luggage C is clamped from the first clamping detection unit 42A and the second clamping detection unit 42B, respectively.

[0091] Then, as shown in Figure 8G, the drive control unit 50C controls the arm drive unit 30B to move the load C, which is gripped by the edge gripping unit 21 and the tip gripping unit 22, toward a predetermined position such as on the conveyor belt 31.

[0092] Next, we will explain the process when the gripping method is determined to be suction gripping, and the weight detection unit 44 determines that the weight is too heavy for the suction unit 24 to grip.

[0093] In other words, although the suction gripping method is determined to be the gripping method, there are cases where the weight of the load C detected by the weight detection unit 44 is determined to be too heavy to be gripped. In this case, the drive control unit 50C should control the suction unit 24 to form a gap S into which the tip gripping unit 22 can be inserted between it and the load C, and then control the gripping drive unit 23 to grip the load C between the edge gripping unit 21 and the tip gripping unit 22. In other words, in this case, the drive control unit 50C should perform control to switch from gripping by suction to gripping by gripping.

[0094] Figures 9A and 9B are explanatory diagrams illustrating an example of switching from gripping by suction to gripping by clamping.

[0095] As shown in Figure 9A, for example, the drive control unit 50C controls the suction drive unit 24B so that the suction mechanism 24A of the suction unit 24 picks up the luggage C. For example, the drive control unit 50C controls the suction drive unit 24B and the arm drive unit 30B so that the luggage C is picked up to a height where the weight detection unit 44 provided on the suction unit 24 can detect the weight of the luggage C.

[0096] If the weight of the luggage C detected by the weight detection unit 44 is too heavy for suction, the drive control unit 50C controls the suction drive unit 24B to tilt the suction unit 24, thereby lifting the edge gripping unit 21 side of the luggage C. More specifically, the drive control unit 50C controls the suction mechanism 24A to tilt by controlling the suction drive unit 24B. Furthermore, the drive control unit 50C controls the arm drive unit 30B to move the luggage C in the direction of arrow YB, thereby creating a gap S between the luggage C and other items.

[0097] Then, as shown in Figure 9B, the drive control unit 50C can control the gripping drive unit 23 and the arm drive unit 30B in the same way as when the suction gripping method was determined, so that the edge gripping unit 21 and the tip gripping unit 22 grip the load C by gripping it.

[0098] Furthermore, the drive control unit 50C may control the gripping drive unit 23 to grip the luggage C with the edge gripping unit 21 and the tip gripping unit 22 while maintaining the state of the luggage C being held by the suction unit 24. In this case, the drive control unit 50C can control the gripping of the luggage C by both suction by the suction unit 24 and gripping by the edge gripping unit 21 and the tip gripping unit 22. In addition, it becomes possible to grip luggage C that would be difficult to grip by gripping by the edge gripping unit 21 and the tip gripping unit 22, or by suction by the suction unit 24 alone.

[0099] Next, an example of the information processing flow performed by the cargo handling device 10 of this embodiment will be described.

[0100] Figure 10 is a flowchart showing an example of the information processing flow performed by the cargo handling device 10 of this embodiment.

[0101] The item detection unit 50A detects the luggage C to be grasped (step S100). The item detection unit 50A detects the position, size, and type of the luggage C to be grasped by performing image analysis on the image captured by the imaging unit 40.

[0102] The gripping method determination unit 50B determines the gripping method for the luggage C (step S102). Based on the detection result of luggage C in step S100, the gripping method determination unit 50B determines whether the gripping method is an adhesive gripping method or a clamping gripping method.

[0103] If the gripping method is determined to be a clamping gripping method in step S102, the process proceeds to step S104. In step S104, the drive control unit 50C controls the arm drive unit 30B to move the hand unit 20, which is supported by the arm body unit 30A, to a position where it can clamp the load C (step S104).

[0104] Next, the drive control unit 50C controls the air cylinder 23A1 to deploy the edge gripping portion 21 (step 106). As a result of the process in step S106, the edge gripping portion 21 is switched to the deployed state. Then, the drive control unit 50C drives the air cylinder 23A1 to adjust the position of the edge gripping portion 21 to a position where it can grip the luggage C.

[0105] Next, the drive control unit 50C controls the third gripping drive unit 23C to grip the edge of the luggage C with the first claw portion 21A and the second claw portion 21B (step S108). The drive control unit 50C determines whether or not the gripping of the luggage C by the edge gripping portion 21 has been detected by the first gripping detection unit 42A (step S110). If the determination in step S110 is negative (step S110: No), the process returns to step S108. If the determination in step S110 is positive (step S110: Yes), the process proceeds to step S112.

[0106] In step S112, the drive control unit 50C controls the arm drive unit 30B to lift the hand unit 20 in an anti-vertical direction (step S112). The control in step S112 is controlled so that the edge gripping unit 21 side of the load C is lifted.

[0107] Next, the drive control unit 50C controls the arm drive unit 30B to pull the load C toward the edge gripping unit 21 (step S114).

[0108] Next, the drive control unit 50C analyzes the image captured by the imaging unit 40 to determine whether a gap S into which the edge gripping unit 21 can be inserted has been formed between the luggage C to be gripped and other adjacent items (step S116). If the determination in step S116 is negative (step S116: No), the process returns to step 114. If the determination in step S116 is positive (step S116: Yes), the process proceeds to step S118.

[0109] In step S118, the drive control unit 50C determines whether the detection result by the gap detection unit 46 indicates that a gap S has been formed between the luggage C to be gripped and another adjacent item into which the edge gripping unit 21 can be inserted (step S118). If the determination in step S118 is negative (step S118: No), the process returns to step S114. If the determination in step S118 is positive (step S118: Yes), the process proceeds to step S120.

[0110] In step S120, the drive control unit 50C controls the second clamping drive unit 23B of the clamping drive unit 23 to insert the tip clamping portion 22 into the gap S (step S120). As a result of the process in step S120, the tip clamping portion 22 is inserted into the gap S.

[0111] Next, the drive control unit 50C controls the first clamping drive unit 23A and the third clamping drive unit 23C to clamp the luggage C between the tip clamping unit 22 and the edge gripping unit 21 (step S120). The drive control unit 50C determines whether or not the clamping of luggage C has been detected by both the first clamping detection unit 42A and the second clamping detection unit 42B (step S124). If the determination in step S14 is negative (step S124: No), the process returns to step S122. If the determination in step S124 is positive (step S124: Yes), the process proceeds to step S126.

[0112] In step S126, the drive control unit 50C controls the arm drive unit 30B to move the load C, which is gripped by the edge gripping unit 21 and the tip clamping unit 22 or suction unit 24, toward a predetermined position such as on the conveyor 31 (step S126). Then, this routine ends.

[0113] On the other hand, if the gripping method is determined to be a suction gripping method in step S102, the process proceeds to step S128. In step S128, the drive control unit 50C controls the gripping drive unit 23 to retract the edge gripping unit 21 and the tip gripping unit 22 (step S128). As a result of the process in step S128, both the edge gripping unit 21 and the tip gripping unit 22 are switched to a retracted state that does not interfere with the load C.

[0114] Next, the drive control unit 50C controls the arm drive unit 30B to move the hand unit 20, which is supported by the arm body unit 30A, to a position where it can pick up the load C (step S130).

[0115] Next, the drive control unit 50C controls the suction drive unit 24B so that the suction mechanism 24A of the suction unit 24 picks up the luggage C (step S132). The drive control unit 50C controls the suction drive unit 24B and the arm drive unit 30B so that the luggage C is picked up and lifted up until it reaches a height where the weight detection unit 44 provided on the suction unit 24 can detect the weight of the luggage C.

[0116] Next, the drive control unit 50C determines whether the weight of the luggage C picked up in step S132 is a weight that can be picked up by the suction unit 24 (step S134). The drive control unit 50C performs the process in step S134 by determining whether the weight of the luggage C detected by the weight detection unit 44 is a weight that can be picked up by the suction unit 24.

[0117] If it is determined that the weight can be adsorbed (Step S134: Yes), proceed to Step S126 above. If it is determined that the weight cannot be adsorbed (Step S134: No), proceed to Step S136.

[0118] In step S136, the drive control unit 50C controls the suction drive unit 24B so that the load C is tilted and the edge gripping portion 21 of the load C is lifted (step S136). Then, the process proceeds to step S106.

[0119] As described above, the cargo handling device 10 of this embodiment comprises a gripping method determination unit 50B and a hand unit 20. The gripping method determination unit 50B determines the gripping method for the cargo C (article). The hand unit 20 has an edge gripping unit 21 and a tip gripping unit 22 for gripping the cargo C by clamping, and a suction unit 24 for gripping the cargo C by suction, and grips the cargo C according to the result of the gripping method determination.

[0120] Thus, the cargo handling device 10 of this embodiment includes an edge gripping section 21 and a tip gripping section 22 for gripping the cargo C by clamping, and a suction section 24 for gripping the cargo C by suction. The hand section 20, which has these edge gripping section 21, tip gripping section 22, and suction section 24, grips the cargo C according to the gripping method determined according to the cargo C to be gripped.

[0121] Therefore, the cargo handling device 10 of this embodiment can grip the cargo C by switching or combining gripping methods according to the item, such as cargo C, namely gripping by suction of the suction part 24 and gripping by clamping of the edge gripping part 21 and tip clamping part 22, depending on the item. In other words, the cargo handling device 10 of this embodiment can grip cargo C using a gripping method appropriate to cargo C.

[0122] Therefore, the cargo handling device 10 of this embodiment can improve the gripping performance of the cargo C, which is an article.

[0123] Next, an example of the hardware configuration of the control unit 50 in the cargo handling device 10 of the above embodiment will be described.

[0124] Figure 11 shows an example of the hardware configuration of the control unit 50.

[0125] The control unit 50 includes a control device such as a CPU 86, storage devices such as a ROM (Read Only Memory) 88, RAM (Random Access Memory) 90, and HDD (Hard Disk Drive) 92, an I / F unit 82 which serves as an interface to various devices, and a bus 96 which connects each unit, thus having a hardware configuration that utilizes a typical computer.

[0126] In the control unit 50 of the above embodiment, each of the above parts is realized on the computer by the CPU 86 reading a program from the ROM 88 onto the RAM 90 and executing it.

[0127] The program for executing each of the above processes performed by the control unit 50 in the above embodiment may be stored in the HDD 92. Alternatively, the program for executing each of the above processes performed by the control unit 50 in the above embodiment may be pre-installed and provided in the ROM 88.

[0128] Furthermore, the program for executing the above-mentioned process performed by the control unit 50 in the above embodiment may be provided as a computer program product by being stored in an installable or executable file format on a computer-readable storage medium such as a CD-ROM, CD-R, memory card, DVD (Digital Versatile Disk), or flexible disk (FD). Alternatively, the program for executing the above-mentioned process performed by the control unit 50 in the above embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Alternatively, the program for executing the above-mentioned process performed by the control unit 50 in the above embodiment may be provided or distributed via a network such as the Internet.

[0129] Although embodiments of the present invention have been described above, these embodiments are presented as examples only and are not intended to limit the scope of the invention. This novel embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. This embodiment and its variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of symbols]

[0130] 10. Cargo handling equipment 20 Handball Section 21 Edge gripping part 22 Tip clamping part 23 Clamping drive unit 24 Adsorption part 30 Arm section 44 Weight detection unit

Claims

1. A gripping method determination unit that determines which of the following gripping methods is used: a suction gripping method for gripping an object by suction, and a clamping gripping method for gripping the object by clamping, The hand portion has an edge gripping portion and a tip gripping portion for gripping the object by clamping, and a suction portion for gripping the object by suction, and grips the object according to the determination result of the gripping method, Equipped with, The gripping method can be switched to gripping the object using the clamping gripping method after it has been determined that the object cannot be gripped using the suction gripping method. Cargo handling equipment.

2. A drive control unit controls the hand portion to grip the object based on the determination result of the gripping method. Equipped with, The drive control unit, If the aforementioned suction gripping method determines that the object cannot be gripped, the system switches to gripping the object using the aforementioned clamping gripping method. The cargo handling device according to claim 1.

3. The aforementioned hand portion is The adsorption portion is provided with a weight detection unit that detects the weight of the object, The drive control unit, If the result of the gripping method determination is the suction gripping method, the gripping method is switched from the suction gripping method to the clamping gripping method according to the weight of the detected object. The cargo handling device according to claim 2.

4. The drive control unit, If the result of the gripping method determination is the suction gripping method, the hand unit is controlled to suction the object and lift it to a predetermined height, and if the weight of the object detected when the suctioned object has been lifted to the predetermined height is too heavy to suction, the gripping method is switched from the suction gripping method to the clamping gripping method. The cargo handling device according to claim 3.

5. It has an arm drive unit for adjusting the position of the hand unit, and an arm unit that supports the hand unit, The drive control unit, Based on the above determination result, the hand portion and the arm portion are controlled to grasp the object. The cargo handling device according to claim 2.

6. The system includes an object detection unit that detects the aforementioned object, The grasping method determining unit includes: Based on the detection result of the object, the gripping method is determined to be either the suction gripping method or the clamping gripping method. The drive control unit, If the suction gripping method determines that the object cannot be gripped, the hand portion is controlled by the clamping gripping method to clamp the object between the edge gripping portion and the tip clamping portion. A cargo handling device according to any one of claims 2 to 5.

7. The drive control unit, If the suction gripping method determines that the object cannot be gripped, the gripping method controls the hand portion to create a gap between it and the object into which the tip gripping portion can be inserted, The hand portion is controlled so as to insert the tip gripping portion into the gap and grip the object between it and the edge gripping portion. A cargo handling device according to any one of claims 2 to 6.

8. The drive control unit, The edge gripping portion is controlled to grip the edge of the object, the hand portion is lifted in a counter-vertical direction, and the hand portion is controlled to pull the object toward the edge gripping portion until it is determined that the gap has been formed. The cargo handling device according to claim 7.

9. The drive control unit, If it is determined that the object can be grasped by the aforementioned suction gripping method, the suction part is controlled to grasp the object using the aforementioned suction gripping method. A cargo handling device according to any one of claims 2 to 8.

10. The drive control unit, If it is determined that the object can be grasped by the aforementioned suction gripping method, the hand portion is controlled to be in a stored state, where at least one of the edge gripping portion and the tip clamping portion is retracted to a position that does not interfere with the object. A cargo handling device according to any one of claims 2 to 9.

11. The drive control unit, If the suction gripping method determines that the object can be gripped, and the detected weight of the object is too heavy to be gripped, the hand portion is controlled to form a gap between itself and the object into which the tip gripping portion can be inserted, The hand portion is controlled to hold the object between the edge gripping portion and the tip gripping portion. A cargo handling device according to any one of claims 3 to 10.

12. A cargo handling method performed with a cargo handling device having a hand portion having an edge gripping portion and a tip gripping portion for gripping an object by clamping, and a suction portion for gripping the object by suction, A step of determining which of the following gripping methods is used: a gripping method that grips an object by suction, and a gripping method that grips the object by clamping. A step of controlling the hand portion to grasp the object based on the determination result of the gripping method, Includes, The gripping method can be switched to gripping the object using the clamping gripping method after it has been determined that the object cannot be gripped using the suction gripping method. Cargo handling methods.

13. A cargo handling program to be executed by a computer controlling a cargo handling device, the device having a hand portion having an edge gripping portion and a tip gripping portion for gripping an object by clamping, and a suction portion for gripping the object by suction, A step of determining which of the following gripping methods is used: a gripping method that grips an object by suction, and a gripping method that grips the object by clamping. A step of controlling the hand portion to grasp the object based on the determination result of the gripping method, Includes, The gripping method can be switched to gripping the object using the clamping gripping method after it has been determined that the object cannot be gripped using the suction gripping method. Cargo handling program.

Images