Control device, loading system, control method, and program

Abstract

Provided is a robot control device, a loading system, a robot control method, and a program for efficiently loading articles delivered from a physical distribution warehouse. Specifically, the present invention provides a control device or the like comprising: an information acquisition unit that acquires distribution information indicating a distribution based on at least one of the size, the weight, and the number of scheduled loading articles that are articles scheduled to be loaded by a robot; a planning unit that acquires, on the basis of the distribution information, a loading plan including at least the installation location of the scheduled loading article; and a control unit that controls the robot on the basis of the loading plan.

Description

Control device, loading system, control method, and program

[0001] The present invention relates to a robot control device, an article loading system, a robot control method, and a program.

[0002] The bin packing problem is a formalized problem for efficiently loading goods into containers in logistics warehouses, etc. The bin packing problem is an optimization problem, and various strategies and heuristics have been proposed.

[0003] Patent Document 1 includes the following description regarding the task of sorting and boxing tomatoes: "The fruit and vegetable handling condition allocation means allocates each sorting robot to handle fruits and vegetables of a predetermined class to a boxing position, and also to temporarily place other specific classes of fruits and vegetables in a temporary storage container. The boxing control means then causes the sorting robots handling each of the fruits and vegetables to perform a boxing operation of removing the fruits and vegetables transported by the conveyor from the conveyor and storing them in an empty box provided by the empty box supply means, and a boxing operation of temporarily placing the fruits and vegetables in a temporary storage container located near each sorting robot, according to the allocation by the fruit and vegetable handling condition allocation means and the class of each fruit and vegetable determined by the class calculation means. By performing this temporary storage operation, fruits and vegetables with a low distribution can be temporarily stored in the temporary storage container, thereby reducing the number of fruits and vegetables that pass by without being sorted." (Specification paragraph

[0015] )

[0004] In this way, the sorting robot can temporarily store tomatoes of a specific class that are less prevalent in the total amount in a temporary storage unit, thereby enabling efficient boxing.

[0005] Japanese Patent Application Laid-Open No. 2001-139001

[0006] The disclosures of the above prior art documents are incorporated herein by reference. The following analysis has been carried out by the present inventors.

[0007] In relation to the bin packing problem, there is a heuristic for loading items of different sizes more efficiently, which involves loading larger or heavier items first, such as an algorithm called FFD (First Fit Decrease).

[0008] In order to implement a strategy of loading larger and heavier items first when different sizes of items are randomly delivered one after another from a logistics warehouse, etc., it is thought that an effective algorithm would be to temporarily store the items in a sheltered location and have them wait there, and then load the delivered item when a larger, heavier item is delivered, and conversely, to deliver the temporarily sheltered item when a smaller, lighter item is delivered. However, adopting such a strategy poses a problem in that the loading time per item (takt time) increases due to the frequent pick-and-place of items via the temporary sheltered location.

[0009] In consideration of the above problems, one object of the present invention is to provide a robot control device, loading system, robot control method, and program that efficiently loads items to be removed from a logistics warehouse.

[0010] According to a first aspect of the present invention and disclosure, there is provided a control device having an information acquisition unit that acquires distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded, which are items that the robot is scheduled to load; a planning unit that acquires a loading plan including at least installation locations of the items to be loaded based on the distribution information; and a control unit that controls the robot based on the loading plan.

[0011] According to a second aspect of the present invention and disclosure, there is provided a loading system including: a warehouse management device having an information output unit that outputs information for acquiring distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded, which are items to be loaded by a robot; a control device having an information acquisition unit that acquires the distribution information, a planning unit that acquires a loading plan including at least installation locations of the items based on the distribution information, and a control signal transmission unit that transmits control signals for loading items based on the loading plan; and a loading device having a control signal acquisition unit that acquires the control signals, and an installation unit that performs installation based on the control signals.

[0012] According to a third aspect of the present invention and disclosure, there is provided a control method including the steps of: a computer acquiring distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded, which are items to be loaded by a robot; a computer acquiring a loading plan based on the distribution information, which includes at least installation locations of the items to be loaded; and a computer controlling the robot based on the loading plan.

[0013] According to a fourth aspect of the present invention and disclosure, there is provided a program for causing a computer to execute the following processes: acquiring distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded, which are items that are planned to be loaded by a robot; acquiring a loading plan including at least installation locations of the items to be loaded based on the distribution information; and controlling the robot based on the loading plan.

[0014] According to each aspect of the present invention and disclosure, a control device, a loading system, a control method, and a program are provided that contribute to the efficient loading of items to be shipped from a logistics warehouse.

[0015] FIG. 1 is a block diagram showing an example of the configuration of a control device according to an embodiment of the present disclosure. FIG. 2 is a schematic diagram showing an overview of the processing of a control device according to a first embodiment of the present disclosure. FIG. 3 is a block diagram showing an example of the configuration of a control device according to the present disclosure. FIG. 4 is a diagram showing an example of "distribution" according to the present disclosure. FIG. 5 is a diagram showing an example of "distribution information" according to the present disclosure. FIG. 6 is a diagram showing an example of a loading plan acquired by a planning unit of a control device according to the present disclosure. FIG. 7 is a diagram showing an example of loaded item information in a control device according to the present disclosure. A flowchart showing an overview of a series of operations of a control device according to the present disclosure. A flowchart showing details of the operation of a control device according to the present disclosure. A block diagram showing an example of the hardware configuration of a control device according to the present disclosure. A block diagram showing an example of the configuration of a loading system according to the present disclosure. A flowchart for explaining an example of the operation of a loading system according to the present disclosure.

[0016] [Overview of Processing of One Embodiment] First, an overview of processing of one embodiment will be described. Note that the drawing reference numerals attached to this overview are attached to each element for convenience as an example to facilitate understanding, and the description of this overview is not intended to be limiting in any way. In this disclosure, the drawings relate to one or more embodiments. Furthermore, connection lines between blocks in each drawing include both bidirectional and unidirectional. Unidirectional arrows are used to schematically indicate the flow of main signals (data) and do not exclude bidirectionality. Furthermore, although not explicitly shown, input and output ports exist at the input and output ends of each connection line in the circuit diagrams, block diagrams, internal configuration diagrams, connection diagrams, etc. shown in this disclosure. The same applies to input / output interfaces.

[0017] [Configuration of an embodiment] Next, the configuration of a control device according to an embodiment will be described with reference to the drawings. Fig. 1 is a block diagram showing an example of the configuration of a control device 10 according to an embodiment. As shown in this diagram, the control device 10 according to an embodiment includes an information acquisition unit 11, a planning unit 12, and a control unit 13.

[0018] The information acquisition unit 11 acquires distribution information indicating a distribution based on at least one of size, weight, and number of items to be loaded by the robot. The planner 12 acquires a loading plan including at least installation locations of the items to be loaded based on the distribution information. The control unit 13 controls the robot based on the loading plan.

[0019] In this way, the control device 10 of one embodiment is able to control the robot based on the acquired distribution by acquiring distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded.

[0020] Specific embodiments will be described in more detail below with reference to the drawings. Note that the same components in each embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0021] First Embodiment FIG. 2 is a schematic diagram illustrating an overview of the processing of a control device 10 according to a first embodiment of the present disclosure. As shown in this diagram, the control device 10 of this embodiment acquires distribution information 201 based on the size, weight, and number of items to be loaded from a warehouse management device 20 equipped with a WMS (warehouse management system). The control device 10 generates a loading plan for the items based on the acquired distribution information. For example, the loading plan generates a loading plan that includes an installation location, such as loading an item 204 that has been removed from a warehouse 202 and is at a picking location 203 onto a truck 205 or placing it in a temporary evacuation location 206. The control device 10 references this loading plan and controls a robot 207.

[0022] [Configuration of First Embodiment] The configuration of the control device 10 of the first embodiment will be described using the diagram. Fig. 3 is a block diagram showing an example of the configuration of the control device 10 of this embodiment of the present disclosure. As shown in this diagram, the control device 10 according to one embodiment has an information acquisition unit 11, a planning unit 12, a control unit 13, and an update unit 14.

[0023] The configuration of the control device 10 of this embodiment is characterized in that it is based on the control device 10 of the first embodiment and newly includes an update unit 14. Details of each component will be described below.

[0024] The information acquisition unit 11 acquires distribution information indicating a distribution based on at least one of the size, weight, and number of items to be loaded by the robot. A "robot" refers to an autonomous device capable of lifting or transporting items in response to a control signal, or a system combining these. A "to-be-loaded item" refers to an item stored in a warehouse that is to be loaded after being retrieved. Items are typically packaged in appropriate sizes at least when entering or leaving the warehouse. These items may be under the control of a WMS from the time they are received until they are retrieved. "Size" is a measure of the "size" of an item, and is expressed, for example, by the sum of the lengths of the three sides of the packaged item or the volume of the packaged item. Furthermore, there may be several standardized package sizes, such as cardboard box sizes, and the size may be expressed in stages, such as extra large, large, medium, small, and extra small.

[0025] "Distribution" is information that can be expressed as a graph (curve interpolation is performed in the figure, but a histogram may also be used) with the horizontal axis representing the size or weight of the items to be loaded and the vertical axis representing the number (frequency), as shown in distribution information 201 in Figure 2. Note that the shape of the graph of distribution information 201 in Figure 2 does not necessarily reflect the actual distribution. Figure 4 shows an example of a distribution. Figure 4(a) shows the distribution by size, and Figure 4(b) shows the distribution by weight.

[0026] "Distribution information" is information that constitutes "distribution" and is shown in Figure 5. Typically, in a WMS, an ID is assigned to each item for management, and various attributes are associated with each item and stored in a database. The distribution information acquired by the information acquisition unit 11 is information (dataset) that has been extracted by selecting attributes such as package size and weight from the attributes of the items to be loaded.

[0027] The planning unit 12 acquires a loading plan that includes at least the installation locations of the items to be loaded based on the distribution information. The "installation location" refers to the target location for controlling the robot, and corresponds to information identifying the truck if loading onto a truck, or information identifying the temporary evacuation location if evacuating to a temporary evacuation location. A "loading plan" is a statement that associates information for identifying the installation location for each item to be loaded. For example, a loading plan may be a statement that associates some or all of the robot's control information. Figure 6 shows an example of a loading plan acquired by the planning unit 12. In this figure, the loading plan is created by combining distribution information with information on the set location and control information.

[0028] Although not shown, the loading plan naturally includes information related to the installation location as well as the delivery address after loading and other necessary information.

[0029] The control unit 13 controls the robot based on the loading plan. Specifically, it references the loading plan and generates control information for controlling the robot. In FIG. 6, conv(ID, destination) is used as an example. This is a control command meaning to transport (ID) to (destination). The level of abstraction of the control command actually applied varies depending on the intelligence level of the robot that is the target of the command.

[0030] The planning unit 12 may further acquire a reference value based on at least one of the size and weight of the items to be loaded based on the distribution information, and acquire a loading plan for loading the items to be loaded at the loading location of the items to be loaded or evacuating them to a temporary evacuation location according to the reference value. In other words, this is a process of acquiring a reference value for allocating large and heavy objects to be loaded directly and small and light objects to be moved to a temporary evacuation location based on the distribution information of the upcoming objects obtained by the robot from the WMS.

[0031] When at least one of the size and weight of the items to be loaded exceeds the reference value, the planning unit 12 acquires a loading plan for loading the items to be loaded directly to the loading location.

[0032] Furthermore, if at least one of the size and weight of the items to be loaded is equal to or less than a reference value, the planning unit 12 compares the items to be loaded with the items installed at the temporary evacuation site. If the comparison result shows that the items already installed at the temporary evacuation site are larger (heavier), the planning unit 12 loads the items already installed at the temporary evacuation site and installs the items to be loaded at the temporary evacuation site. Conversely, if the items to be loaded are larger (heavier) or the same, the planning unit 12 obtains a loading plan for loading the items to be loaded at the loading site.

[0033] The "reference value" may be based on the average value of at least one of the size and weight of the items to be loaded, or may be based on the median or quartile value. The optimal reference value may be selected depending on the shape of the distribution of the distribution information of the items to be loaded. For example, in the case of a distribution with many outliers or a skewed distribution, it is preferable to use the median instead of the average value, as this allows for a more stable reference value to be obtained.

[0034] The reference value may have a feedback mechanism for correcting the value upward or downward depending on the takt time measured for each item.

[0035] The update unit 14 acquires loaded item information, which is information on at least the size and weight of the loaded items, and updates the distribution information based on the distribution information, the loaded item information, and information on items placed in the temporary evacuation area. Specifically, new distribution information is acquired by subtracting the acquired loaded item information and information on items placed in the temporary evacuation area from the distribution information. Figure 7 is a diagram showing an example of loaded item information in the control device of the present disclosure. As shown in this figure, a column indicating the status is added to the distribution information, and three states are shown: loaded, placed in the temporary evacuation area, and scheduled to be loaded. Of these, rows with the status "loaded" correspond to loaded item information, and rows with the status "evacuated" represent information on items placed in the temporary evacuation area.

[0036] [Outline of Operation] Figure 8 is a flowchart showing an outline of a series of operations of the control device 10 according to the present disclosure. When the operation starts, distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded by the robot is acquired (step S101). Next, a reference value based on at least one or more of the size and weight of the items to be loaded is acquired based on the distribution information (step S102). Next, a loading plan is acquired for loading the items to be loaded onto the loading location or evacuating them to a temporary evacuation location according to the reference value (step S103). Thereafter, the robot is controlled based on the loading plan (step S104). Finally, loaded item information, which is information on at least the size and weight of the loaded items, is acquired, and the distribution information is updated based on the distribution information, the loaded item information, and information on items installed in the temporary evacuation location (step S105), thereby completing the operation. The characteristic feature of the operation of the control device 10 of this embodiment is that, as described above, a loading plan is obtained based on distribution information of the items to be loaded.

[0037] [Detailed Description of Operation] Fig. 9 is a flowchart showing the details of the operation of the control device 10 according to this embodiment of the present disclosure. As shown in this figure, first, distribution information is acquired (step S201). For example, a table such as that shown in Fig. 5 is acquired by batch processing once a day. Next, a reference value is acquired (step S202). For example, the acquired table is referenced to calculate the average value of "size" or "weight" and set as the reference value.

[0038] Next, depending on the calculated reference value, a determination is made as to whether the items to be loaded should be loaded at the loading location or evacuated to a temporary evacuation location, and a loading plan is generated. Specifically, first, it is determined whether the size or weight of the items to be loaded exceeds the reference value (step S203). If it is determined that it exceeds the reference value (step S203, Y), a plan to load the items is generated and the loading is executed (step S204). If it is equal to or less than the reference value (step S203, N), it is further determined whether the size or weight of the items exceeds the size or weight of the items at the temporary evacuation location (step S205).

[0039] If the result of the determination is that the limit is exceeded (step S205, Y), a plan to load items is generated and the loading is executed (step S204).If the result of the determination is that the size or weight of the items in the temporary evacuation location is equal to or less than the limit (step S205, N), a loading plan is generated and executed to evacuate the items to the temporary evacuation location and load the items that were in the evacuation location (step S206).If it is determined that the loading or evacuation is complete (for example, when the end of the distribution information generated by batch processing has been reached) (step S207, Y), the distribution information is updated (step S208) and the series of processes ends.If not (step S207, N), the distribution information is updated (step S208) and the process returns to the reference value acquisition process (step S202).

[0040] The above operation description is for batch processing, which acquires multiple pieces of distribution information at once, but sequential processing, which acquires distribution information one by one, is also possible. In this case, the initial value of the reference value must be calculated by sampling the distribution information.

[0041] [Hardware Configuration] The control device 10 of this embodiment can be executed by an information processing device (computer) and has the configuration illustrated in Fig. 10. The control device 10 includes a CPU (Central Processing Unit) 101, a memory 102, an input / output interface 103, and a NIC (Network Interface Card) 104 as a communication means, which are interconnected by an internal bus 105.

[0042] However, the configuration shown in Fig. 10 is not intended to limit the hardware configuration of the control device. The control device 10 may include hardware not shown, and may not include the input / output interface 103 as necessary. Furthermore, the number of CPUs and other components included in these devices is not intended to be limited to the example shown in Fig. 10; for example, the control device 10 may include multiple CPUs.

[0043] The memory 102 is a RAM (Random Access Memory), a ROM (Read Only Memory), or an auxiliary storage device (such as a hard disk).

[0044] The input / output interface 103 is a means for interfacing with a display device and an input device (not shown). The display device is, for example, a liquid crystal display. A robot to be controlled may also be connected via the input / output interface 103. The input device is, for example, a camera or sensor that receives biometric information, or a device that receives user operations such as a keyboard or mouse.

[0045] The functions of the control device 10 are realized by a group of programs (processing modules) stored in the memory 102, such as an information acquisition program, a planning program, a control program, and an update program, and a group of data used by each program, such as distribution information data, reference value data, loaded item information data, and other parameters. The processing modules are realized, for example, by the CPU 101 executing each program stored in the memory 102. The programs can be updated by downloading them via a network or using a storage medium storing the programs. Furthermore, the processing modules may be realized by semiconductor chips. That is, it is sufficient to have some means for executing the functions performed by the processing modules using some kind of hardware and / or software.

[0046] [Hardware Operation] In the control device 10, an information acquisition program is called from memory 102 and executed by the CPU 101. This program stores distribution information data (see FIG. 5 ) in memory 102 by connecting to an external database such as a WMS via the NIC 104 or by downloading data. Next, a planning program is called from memory 102 and executed by the CPU 101. This program sequentially reads the "packing size" or "weight" data in the distribution information data stored in memory 102, and calculates an average value A of either the packing size or weight value through arithmetic processing by the CPU 101.

[0047] The average value A is temporarily stored in memory 102. In addition, the packaging size or weight P of the items evacuated to the temporary evacuation location is acquired. If there are no items at the temporary evacuation location, P = 0 is set. Next, A is compared with each of the packaging sizes or weights in the distribution information data by a comparison operation. As a result, for distribution information data whose packaging size or weight exceeds A, information on the loading location is added as the installation location. Distribution information data equal to or less than A is further compared with P. As a result of the operation, information on the loading location is added as the installation location for distribution information data that exceeds P. On the other hand, as a result of the operation, for distribution information data that is less than P, the installation location is set as the temporary evacuation location. In this way, the loading plan data (see Figure 6) is generated.

[0048] It is assumed that items to be loaded in the distribution information data arrive at a picking location randomly. When an item is picked and arrives, the control program goes into execution and reads the loading plan data stored in memory 102. The ID attached to the item is referenced, matched with the ID in the loading plan data, and the corresponding record is extracted. The program references the control information of the extracted record. Based on the referenced control information, the program transmits a signal to control the robot via input / output interface 103. For example, the control information for item ID: 002359 begins with "conv(002359, load1)," and first a signal (conv) to transport the item to loading location 1 (load1) is transmitted to the robot, and the item is transported.

[0049] When the processing of one item is completed, the update program is called from the memory 102 and is executed by the CPU 101. The program selects a record for which processing (loading or temporary evacuation) has been completed from the loading plan data stored in the memory 102, and adds information indicating the status (loading planned, loaded, evacuation) (see FIG. 7).

[0050] The program selects and deletes "loaded" data from the loading plan data and stores it in memory 102 as loaded goods information. Similarly, it selects and deletes "evacuated" data and stores the remaining data in memory 102 as updated distribution information. The program calculates the average value of "packing size" or "weight" in the updated distribution information and stores it in memory 102 as a new reference value. When the number of records in the updated distribution information reaches 0, the series of processes is completed and stops until the timing of the next batch process.

[0051] [Explanation of Effects] According to the control device 10 of this embodiment, it is possible to control a robot to more efficiently load articles to be delivered from a logistics warehouse.

[0052] [Second Embodiment] This embodiment describes the configuration of a loading system including the control device described in the first embodiment. Specifically, the loading system includes a warehouse management device having an information output unit that outputs information for acquiring distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded, which are items to be loaded by a robot, a control device having an information acquisition unit that acquires the distribution information, a planning unit that acquires a loading plan including at least installation locations of the items based on the distribution information, and a control signal transmission unit that transmits control signals for loading the items based on the loading plan, and a loading device having a control signal acquisition unit that acquires the control signals and an installation unit that performs installation based on the control signals.

[0053] [Configuration of Second Embodiment] Fig. 11 is a block diagram showing an example of the configuration of a loading system according to the present disclosure. As shown in this diagram, the loading system according to this embodiment includes a control device 10, a warehouse management device 20, and a loading device 30. The control device 10 includes an information acquisition unit 11, a planning unit 12, a control signal transmission unit 15, and an update unit 14. The warehouse management device 20 includes an information output unit 21. The loading device 30 includes a control signal acquisition unit 31 and an installation unit 32.

[0054] The information acquisition unit 11, planning unit 12, and update unit 14 of the control device 10 have already been described in the above embodiment, so description thereof will be omitted. The configuration of the loading system of this embodiment is characterized in that the control device 10 has a control signal transmission unit 15 instead of the control unit 13, has a warehouse management device 20 having an information output unit 21, and has a loading device 30 having a control signal acquisition unit 31 and an installation unit 32.

[0055] The information output unit 21 outputs information for acquiring distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded, which are items to be loaded by the robot, in the warehouse management device 20. The information output unit 21 selects items in the warehouse as items to be loaded, acquires information on the size, weight, and number from the attribute information of the items, and outputs the information to the control device 10 as distribution information.

[0056] The control signal transmitter 15 transmits a control signal for loading items based on a loading plan in the control device 10. The "control signal" is a signal for controlling the loading device 30, and transmits the control information shown in FIG. 6 to the control signal acquirer 31 of the loading device 30 via a communication line. The communication line used may be a dedicated line or a public network. However, if immediate control is required, a dedicated line must be secured. If the loading device 30 is equipped with artificial intelligence (AI) and capable of advanced processing, the amount of signals communicated between devices will be reduced. For example, if the loading device 30 is equipped with AI capable of processing with only general instructions, it can autonomously process by simply sending highly abstract, goal-oriented instructions at once, enabling reliable control even over wireless communication lines, which are less stable than wired lines.

[0057] The control signal acquisition unit 31 acquires a control signal from the control signal transmission unit 15 of the control device 10 in the loading device 30. Specifically, the control signal acquisition unit 31 receives the control signal, acquires information for controlling the operation of the installation unit 32 (described later), and executes a process of passing the information to the installation unit 32.

[0058] The installation unit 32 performs installation based on the control signal. In this embodiment, installation is a concept that includes the process of installing the items to be loaded in a loading location for loading and the process of installing the items to be loaded in a temporary evacuation location for temporary evacuation.

[0059] [Explanation of Operation] FIG. 12 is a flowchart illustrating an example of the operation of the loading system of the present disclosure. As shown in this figure, first, the warehouse management device 20 selects items to be loaded and outputs distribution information (by batch processing) (step S301). Processing then shifts to the control device 10, which acquires the output distribution information (step S302). Next, based on the distribution information, a reference value, such as an average value, is acquired (step S303). After acquiring the reference value, a loading plan is acquired based on the reference value (step S304). After that, the items to be loaded are picked from the warehouse and arrive (★). Accordingly, a control signal is transmitted based on the loading plan (step S305). Processing then shifts to the loading device 30, which acquires the transmitted control signal (step S306). The items to be loaded are placed according to the control (step S307). Processing then shifts to the control device 10, which updates the distribution information (step S308). If distribution information from this batch processing remains (step S309, T), the processing returns to the process of acquiring the reference value again (step S303). When there is no more distribution information (step S309, F), the process moves to the warehouse management device 20, where the next batch process is executed and the distribution information is output (step S301).

[0060] [Explanation of Effects] In the loading system of this embodiment, the loading device can efficiently load the items to be loaded in cooperation with the warehouse-related system.

[0061] Some or all of the above-described embodiments can also be described as in the following supplementary notes. However, the following supplementary notes are merely examples of the present invention, and the present invention is not limited to such cases. [Supplementary Note 1] As in the control device according to the first aspect described above. [Supplementary Note 2] Preferably, the control device of Supplementary Note 1, wherein the planning unit acquires a reference value based on at least one of the size and weight of the items to be loaded based on the distribution information, and acquires a loading plan for loading the items to be loaded at a loading location or evacuating them to a temporary evacuation location according to the reference value. [Supplementary Note 3] Preferably, the control device of Supplementary Note 2, wherein the planning unit acquires a loading plan for loading the items to be loaded at a loading location when at least one of the size and weight of the items to be loaded exceeds the reference value. [Supplementary Note 4] When at least one of the size and weight of the items to be loaded is equal to or less than the reference value, the planning unit compares the items installed at the temporary evacuation location with the items to be loaded, and when the items installed at the temporary evacuation location are larger, loads the items installed at the temporary evacuation location and installs the items to be loaded at the temporary evacuation location, and when the items to be loaded are larger or equal to the size and weight, obtains a loading plan for loading the items to be loaded to a loading location, preferably the control device of Supplementary Note 5] The reference value is based on an average value of at least one of the size and weight of the items to be loaded, preferably the control device of any one of Supplementary Note 2 to 4. [Supplementary Note 6] The reference value is based on a median value of at least one of the size and weight of the items to be loaded, preferably the control device of any one of Supplementary Note 2 to 4. [Supplementary Note 7] A control device, preferably one of Supplements 2 to 6, having an update unit that acquires loaded item information, which is information on at least the size and weight of loaded items, and updates the distribution information based on the distribution information, the loaded item information, and information on items installed in the temporary evacuation location. [Supplementary Note 8] As in the loading system according to the second aspect. [Supplementary Note 9] As in the control method according to the third aspect.[Appendix 10] As per the program related to the fourth viewpoint mentioned above.

[0062] The disclosures of the above-cited patent documents and other documents are incorporated herein by reference. Modifications and adjustments of the embodiments are possible within the scope of the entire disclosure of the present invention (including the claims), and further based on the basic technical concepts thereof. Furthermore, various combinations and selections (including partial deletions) of various disclosed elements (including elements of each claim, each embodiment, each element of each embodiment, each element of each drawing, etc.) are possible within the scope of the entire disclosure of the present invention. In other words, the present invention naturally includes various modifications and alterations that would be possible by a person skilled in the art in accordance with the entire disclosure and technical concepts, including the claims. In particular, with regard to the numerical ranges described herein, any numerical value or subrange included within the range should be construed as being specifically described, even if not otherwise specified.

[0063] DESCRIPTION OF SYMBOLS 10: Control device 11: Information acquisition unit 12: Planning unit 13: Control unit 14: Update unit 15: Control signal transmission unit 20: Warehouse management device 21: Information output unit 30: Loading device 31: Control signal acquisition unit 32: Installation unit 101: CPU 102: Memory 103: Input / output interface 104: NIC 105: Internal bus 201: Distribution information 202: Warehouse 203: Picking location 204: Item 205: Truck 206: Temporary evacuation location 207: Robot

Claims

1. A control device having: an information acquisition unit that acquires distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded, which are items that a robot is to load; a planning unit that acquires a loading plan including at least installation locations of the items to be loaded based on the distribution information; and a control unit that controls the robot based on the loading plan.

2. The control device of claim 1, wherein the planning unit obtains a reference value based on at least one of the size and weight of the items to be loaded based on the distribution information, and obtains a loading plan for loading the items to be loaded at a loading location for the items to be loaded or evacuating them to a temporary evacuation location according to the reference value.

3. The control device of claim 2, wherein the planning unit obtains a loading plan for loading the items to be loaded to the loading location when at least one of the size and weight of the items to be loaded exceeds the reference value.

4. The control device of claim 2, wherein the planning unit compares the items installed at the temporary evacuation location with the items to be loaded when at least one of the size and weight of the items to be loaded is equal to or less than the reference value, and when the items installed at the temporary evacuation location are larger, the planning unit loads the items installed at the temporary evacuation location and installs the items to be loaded at the temporary evacuation location, and when the items to be loaded are larger or equal to the size of the items to be loaded, obtains a loading plan for loading the items to be loaded to the loading location.

5. The control device according to claim 2, wherein the reference value is based on an average value of at least one of the size and weight of the items to be loaded.

6. The control device according to claim 2, wherein the reference value is based on the median of at least one of the size and weight of the items to be loaded.

7. A control device according to any one of claims 2 to 6, further comprising: an update unit that acquires loaded item information, which is information on at least the size and weight of loaded items, and updates the distribution information based on the distribution information, the loaded item information, and information on items installed in the temporary evacuation location.

8. A loading system comprising: a warehouse management device having an information output unit that outputs information for acquiring distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded, which are items to be loaded by a robot; an information acquisition unit that acquires the distribution information; a control device having: a planning unit that acquires a loading plan including at least installation locations of the items based on the distribution information; a control signal transmission unit that transmits control signals for loading items based on the loading plan; a control signal acquisition unit that acquires the control signals; and an installation unit that performs installation based on the control signals.

9. A control method comprising: a step in which a computer acquires distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded, which are items to be loaded by a robot; a step in which a computer acquires a loading plan including at least installation locations of the items to be loaded based on the distribution information; and a step in which a computer controls the robot based on the loading plan.

10. A program for causing a computer to execute the following processes: a process in which the computer acquires distribution information indicating a distribution based on at least one or more of the size, weight, and number of items to be loaded, which are items that the robot is to load; a process in which the computer acquires a loading plan including at least the installation locations of the items to be loaded based on the distribution information; and a process in which the computer controls the robot based on the loading plan.

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