Transfer assistance device and transfer system

Abstract

This transfer assistance device is provided with a loadable region setting unit (103), a loading position calculation unit (104), and a presentation unit (105) or a control unit (107). The loadable region setting unit (103) divides a cargo room into a plurality of loading regions on the basis of information relating to a worker or a work apparatus (106) for loading a cargo, and sets a loadable region for the cargo to be loaded from among the plurality of loading regions on the basis of information on the cargo to be loaded and information on the state in the cargo room. The loading position calculation unit (104) sets, to the loadable region, a recommended loading position which is a recommended position for loading of a newly measured cargo. The presentation unit (105) presents the recommended position to the worker. The control unit (107) controls the work apparatus (106) on the basis of the recommended position.

Description

Transfer support device and transfer system

[0001] The present disclosure relates to a transfer assistance device that assists in the transfer of luggage into a luggage compartment.

[0002] Due to the recent rise in transportation costs, it has become important for logistics centers to improve the loading rate of trucks and other vehicles used for delivery. When loading a variety of cargo, such as boxes and bags, the method of loading the cargo depends on the experience of an experienced worker. Therefore, there is a need for an application that can visualize the current loading rate and automatically calculate and display the next loading position for unskilled workers.

[0003] Many applications of algorithms for three-dimensional loading problems assume that information about all packages is known in advance. However, in reality, the information about each package is measured sequentially because the information about subsequent packages is unknown. Furthermore, there are many sites where workers or work equipment (e.g., robots) must load packages in the order they arrive. Therefore, a technology that can increase the loading rate of a cargo space even under such constraints is desired.

[0004] For example, Patent Document 1 listed below proposes a technology that calculates an evaluation value of the filling rate for each candidate loading position for the next cargo based on the occurrence probability of each size of subsequent cargo, and determines a recommended loading position for the next cargo based on each evaluation value.

[0005] Japanese Patent Application Laid-Open No. 2020-119089

[0006] The technology in Patent Document 1 does not take into account the characteristics of the workers or work equipment who proceed with loading work sequentially from the back of the cargo space to the front, and there was a problem that the calculated recommended loading position for the next cargo could be a position that is difficult for these workers to load.

[0007] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a transfer assistance device that determines a recommended loading position that is suited to the characteristics of a worker or work equipment.

[0008] The transfer assistance device according to the present disclosure includes a loading area setting unit that divides a cargo compartment into multiple loading areas based on information about the worker or work equipment loading the cargo, and sets a loading area for the cargo to be loaded from among the multiple loading areas based on information about the cargo to be loaded and information about the state of the interior of the cargo compartment; a loading position calculation unit that sets a recommended loading position, which is a recommended position for loading newly measured cargo, in the loading area; and a presentation unit that presents the recommended position to the worker, or a control unit that controls the work equipment based on the recommended position.

[0009] According to the present disclosure, it is possible to determine a recommended loading position that is suited to the characteristics of the worker or work equipment.

[0010] FIG. 1 is a block diagram showing the configuration of a transfer assistance device according to a first embodiment. FIG. 2 is a schematic diagram for explaining a method of dividing a cargo compartment according to the first embodiment. FIG. 3 is a diagram showing an example of a cargo loading operation when the depth of the loadable area is appropriate. FIG. 4 is a diagram showing an example of a cargo loading operation when the depth of the loadable area is too long. FIG. 5 is a schematic diagram for explaining a method of searching for a BL stable point according to the first embodiment. FIG. 6 is a schematic diagram for explaining a method of dividing a cargo compartment according to a second embodiment. FIG. 7 is a block diagram showing the configuration of a transfer assistance device according to a sixth embodiment. FIG. 8 is a block diagram showing the configuration of a transfer assistance device according to a seventh embodiment. FIG. 9 is a diagram showing an example of the hardware configuration of a transfer assistance device. FIG. 10 is a diagram showing an example of the hardware configuration of a transfer assistance device.

[0011] <First Embodiment> Fig. 1 is a block diagram showing the configuration of a transfer assistance device according to the first embodiment. As shown in Fig. 1, the transfer assistance device according to the first embodiment includes a first sensor 101, a second sensor 102, a loading area setting unit 103, a loading position calculation unit 104, and a presentation unit 105. In this embodiment, the subject who performs the work of loading luggage into a luggage compartment is a human worker.

[0012] The first sensor 101 is installed at a luggage measurement location (hereinafter simply referred to as the "measurement location") and acquires information about luggage that will be newly loaded into the luggage compartment. In this embodiment, the first sensor 101 is a ranging camera, and the acquired luggage information is the size of the luggage. The ranging camera can calculate the position and size of an object present in the imaging area by acquiring 3D point cloud data. If the luggage placed at the measurement location is a box, the first sensor 101 acquires the lengths of the three sides of the box. If the luggage placed at the measurement location is an irregular-shaped object such as a bag, the first sensor 101 recognizes the luggage as an irregular-shaped object through image matching processing, approximates the luggage with a bounding box of a single rectangular parallelepiped, and acquires the lengths of the three sides of the bounding box. However, the bounding box is not limited to a single rectangular parallelepiped. The luggage may be approximated with a primitive shape such as a cylinder or multiple rectangular parallelepipeds, as long as the first sensor 101 can acquire the size of the approximated luggage shape.

[0013] The second sensor 102 is installed in the trunk and acquires information about the state of the trunk, including information about the trunk and information about the loading status of the luggage in the trunk. In this embodiment, the second sensor 102 is a distance measuring camera, and the acquired trunk information is the size of the trunk, and the luggage loading status information is the position and size of each luggage. From this information acquired by the second sensor 102, the current volume filling rate of the trunk and the maximum height of the luggage position can be calculated. For example, if the trunk is the trunk of a truck and information about the trunk can be obtained from the truck model number, the second sensor 102 may acquire only information about the loading status of the luggage.

[0014] The first sensor 101 and the second sensor 102 may be external elements to the transfer assistance device. In this case, the transfer assistance device acquires the information acquired by the first sensor 101 and the second sensor 102 via communication.

[0015] The loading area setting unit 103 divides the cargo room into multiple loading areas at intervals determined using information from the worker in the direction from the back of the cargo room to the front. The process by which the loading area setting unit 103 divides the cargo room into multiple loading areas will be described using the schematic diagram of the cargo room shown in FIG. 2 . As shown in FIG. 2 , the cargo room coordinate system has a Z axis in the vertical direction, a Y axis in the direction from the back of the cargo room to the front, and an X axis perpendicular to the Z axis. The lengths of the cargo room in the X, Y, and Z directions are defined as W, L, and H, respectively. The loading area setting unit 103 divides the cargo room into multiple loading areas by dividing it in the Y direction at predetermined intervals ΔL. That is, each loading area is a rectangular parallelepiped area with lengths W, ΔL, and H in the X, Y, and Z directions, respectively. In this embodiment, the loading areas are referred to as "area 1," "area 2," ... in order from the smallest Y coordinate.

[0016] The loading area setting unit 103 selects one of the multiple loading areas as a loading area where new cargo is to be loaded. The loading position calculation unit 104 then performs loading position calculation to search for a recommended loading position, which is a recommended position for loading the new cargo, for the loading area selected by the loading area setting unit 103.

[0017] Like the loading area, the loadable area is a rectangular parallelepiped area with lengths W, ΔL, and H in the X, Y, and Z directions, respectively. The length ΔL of the loading area in the Y direction, which is the depth of the loadable area, is set according to the worker's reach (distance that can be reached by hand). If ΔL is appropriate, the recommended loading position for the next load determined by the loading position calculation unit 104 will be a position where the worker can easily place the load, as shown in FIG. 3. However, if ΔL is inappropriate (too long), the recommended loading position for the next load may be a position where it is difficult for the worker to place the load, as shown in FIG. 4.

[0018] Since a person's reach is correlated with their height, if information about the worker, including their height, is registered in advance in the transfer assistance device, the loading area setting unit 103 can automatically set ΔL based on the reach estimated from the worker's height information. Also, the worker may be able to set or correct ΔL by inputting information about their reach or height into the transfer assistance device using an interface device such as a tablet terminal.

[0019] The loading area setting unit 103 may also estimate the physique (skeletal information) of the worker from an image of the worker acquired by an imaging device (not shown) and set ΔL based on the estimated physique of the worker. For example, if the worker has a large physique, the loading area setting unit 103 may determine that the worker can load cargo even if ΔL is large and set ΔL to a large value. The loading area setting unit 103 may also set ΔL based on information such as the worker's age and exercise habits. Since the worker's age and exercise habits are considered to be related to the worker's physical flexibility, for example, if the worker is elderly, ΔL may be set to a small value. ΔL may also be set based on a combination of this information about the worker and reach information.

[0020] The loading area setting unit 103 selects loading areas in order from the smallest Y coordinate (i.e., in the order of area 1, area 2, ...) as loading areas. The timing at which the loading area setting unit 103 moves the loading area from area i-1 to the adjacent area i may be, for example, when the loading position calculation unit 104 performs a loading position calculation for a new cargo and a solution that fits the cargo into area i-1 cannot be obtained, or when the volume filling rate of area i-1 reaches a predetermined upper limit.

[0021] Note that after the loading area is moved to area i, the space remaining in area i-1 (space where no cargo is loaded) may be treated as an additional loading area in the loading position calculation for area i. In other words, the space remaining in area i-1 may be considered as part of area i, and the loading position calculation for area i may be performed. That is, when i is 2 or greater, the loading area setting unit 103 may set an area including area i-1 and area i as the loading area. In other words, the loading area setting unit 103 may treat the area combining the currently selected loading area and the adjacent previously selected loading area as the loading area. By doing so, for example, even if a solution for loading a certain cargo into area i-1 cannot be found and the loading area is moved to area i, the loading position calculation unit 104 can return to area i-1 to find a solution for loading the next cargo if it can be loaded into area i-1. The loading position calculation unit 104 may also find a solution for loading across the boundary between area i-1 and area i, thereby improving the filling rate of the loading area.

[0022] The loading position calculation unit 104 calculates recommended loading positions for N new pieces of luggage measured by the first sensor 101 in an area i where K pieces of luggage measured by the second sensor 102 have been loaded. Here, K is an integer equal to or greater than 0, i is an integer equal to or greater than 1, and N is an integer equal to or greater than 1. The loading position calculation unit 104 outputs the orientation and coordinates of each piece of luggage as the recommended loading position. The recommended loading position is a position where the value of an evaluation function relating to the volumetric filling rate of the luggage compartment and the maximum height of the luggage position is favorable. In other words, the loading position calculation unit 104 outputs recommended loading positions for each piece of luggage so as to achieve dense loading from as low a position as possible.

[0023] Any method for solving a three-dimensional loading problem can be applied to search for a recommended loading position. Known methods for solving three-dimensional loading problems include mathematical programming and heuristic algorithms. The following describes the use of the Bottom-Left method (BL method), which is one of the heuristic algorithms.

[0024] The 2D BL method, which is the basis of the 3D BL method, is a solution method that determines the order in which N rectangles are packed into a rectangular packable area, and repeatedly packs each rectangle as far down as possible, or as far to the left as possible if the rectangles are the same height. It is known that BL stable points, points from which a newly packed rectangle cannot be moved down or to the left, can be efficiently found using no-fit polygons (NFPs), which determine overlap with already fixed rectangles. In other words, the BL stable points can be found by scanning the packable area along the Y axis for the number of overlaps of NFPs on the X axis (overlap number).

[0025] As shown in Figure 5, the BL stable point is the point on the edge of the top surface where the overlap number changes from 1 or more to 0. When packing a figure other than a rectangle, by approximating it with a rectilinear figure, which is a combination of multiple rectangles, the BL stable point can be searched for as the boundary of the loadable area or the point where one of the rectangles constituting the already placed rectilinear figure meets one of the rectangles constituting the new rectilinear figure to be packed.

[0026] Three-dimensional loading using the BL method can be achieved by scanning the loadable area in the Z-axis direction using the above two-dimensional BL stable point enumeration as a subroutine. The BL stable points are checked in the order they are found to see if they satisfy the constraints, and if they do, the cargo is secured at that position. One of the constraints checked here is stability to prevent cargo from collapsing. It can be required that a threshold or greater percentage of the base area of ​​a newly placed cargo be supported by the top surface of an existing cargo or the bottom of the cargo compartment. Another constraint is that for irregularly shaped objects on which heavy objects should not be placed, a no-loading flag can be set when information is acquired by the first sensor 101, so that a BL stable point where a new cargo would be placed on such an object is not adopted. Once the loading position of the new cargo is determined, the values ​​of the evaluation functions (evaluation values) related to the volume filling rate and the maximum height of the cargo position are calculated, and the provisional optimal solution is updated.

[0027] The above search is repeated by randomly changing the orientation and order of the N packages, and the solution with the best evaluation value within the set time limit or maximum number of attempts is finally determined as the recommended loading position. This is an approach called randomized greedy. The BL method can also be combined with metaheuristic techniques such as hill climbing, simulated annealing, beam search, and Monte Carlo tree search.

[0028] The presentation unit 105 is a display device such as a tablet terminal, and presents to the worker the recommended loading position determined by the loading position calculation unit 104. The presentation unit 105 may visualize and present the loading state when the cargo is placed at the recommended loading position.

[0029] It is not a problem if the worker loads the cargo at a position different from the recommended loading position presented to him / her. Regardless of the position at which the cargo is loaded, the actual loading state is measured by the second sensor 102, and therefore, in subsequent calculations of the loading position of the cargo, a new recommended loading position for the cargo can be determined based on the actual loading state.

[0030] The transfer assistance device according to the first embodiment can calculate a recommended loading position for a load that is suited to the characteristics (reach) of the worker performing the work, and can assist in the transfer work. This prevents the recommended loading position from being a position that makes it difficult for the worker to load, and can contribute to improving the filling rate of the cargo compartment.

[0031] <Embodiment 2> The configuration of the transfer assistance device according to embodiment 2 is the same as that of embodiment 1 (Fig. 1). In the transfer assistance device according to embodiment 2, the loading area setting unit 103 divides the cargo room into multiple loading areas by dividing the cargo room not only in the Y direction, i.e., the direction from the back of the cargo room to the front, but also in the X direction, i.e., the width direction of the cargo room, which is perpendicular to the Y direction. In other respects, the configuration is basically the same as in embodiment 1, so explanations that overlap with embodiment 1 will be omitted.

[0032] The process by which the loading area setting unit 103 divides the cargo room into multiple loading areas will be described using the schematic diagram of the cargo room shown in FIG. 6 . As shown in FIG. 6 , the loading area setting unit 103 divides the cargo room into multiple loading areas by dividing the cargo room in the Y direction at predetermined intervals ΔL and in the X direction at predetermined intervals ΔW. That is, each loading area is a rectangular parallelepiped area with lengths ΔW, ΔL, and H in the X, Y, and Z directions, respectively. The length ΔW in the X direction and the length ΔL in the Y direction of the loading area are set according to the reach (reach distance) of the worker. In area i divided in the Y direction, the areas divided in the X direction will be referred to as "area i_1," "area i_2," ... in order from the smallest X coordinate.

[0033] As in the first embodiment, the loading area setting unit 103 selects one of the multiple loading areas as a loading area where new cargo is to be loaded. Then, the loading position calculation unit 104 performs loading position calculation to search for a recommended loading position for the new cargo in the loading area selected by the loading area setting unit 103. Therefore, the loading area is a rectangular parallelepiped area with lengths ΔW, ΔL, and H in the X, Y, and Z directions, respectively, like the loading area.

[0034] The loading area setting unit 103 selects loading areas as loading areas in ascending order of Y coordinate, and then in ascending order of X coordinate (i.e., in the order of area 1_1, area 1_2, ..., area 2_1, area 2_2, ...). The timing at which the loading area setting unit 103 moves the loading area from area i-(j-1) to the adjacent area i_j may be, for example, when the loading position calculation unit 104 performs a loading position calculation for a new cargo and a solution that fits the cargo into area i-(j-1) cannot be obtained, or may be when the volume filling rate of area i-(j-1) reaches a predetermined upper limit.

[0035] When area i_j is selected as the loading area and the loading position calculation unit 104 calculates the loading position of area i_j, the space remaining in area (i-1)_j and the space remaining in area i_(j-1) may be treated as additional (spare) loading areas. The loading area setting unit 103 may set an area including area (i-1)_j, area i_(j-1), and area i_j as the loading area. In other words, the loading area setting unit 103 may treat the area combining the currently selected loading area and the adjacent previously selected loading area as the loading area. In this case, the opportunity to return to the previously selected area (i-1)_(j-1) to load cargo arises when area (i-1)_j is selected as the loading area and when area i_(j-1) is selected. This makes it easier to return to the previous area to load cargo, and improves the filling rate of the loading area.

[0036] According to the second embodiment, the same effects as those of the first embodiment can be obtained, and it is also possible to make it easier for workers to load new cargo into the space remaining in the previous loading area.

[0037] <Embodiment 3> The configuration of the transfer assistance device according to embodiment 3 is the same as that of embodiment 1 (Fig. 1). In the transfer assistance device according to embodiment 3, the loading position calculation unit 104 selects M pieces of luggage from among the K pieces of luggage already loaded as items to be transferred, and calculates the recommended loading positions of M + N pieces of luggage by combining them with the newly measured N pieces of luggage. Other points are basically the same as in embodiment 1, so explanations that overlap with embodiment 1 will be omitted.

[0038] There are various methods for selecting the items to be transshipped, but three examples are shown here.

[0039] A first example of a method for selecting items to be reshipped is a method in which the most recently loaded M items are selected as items to be reshipped. M is an integer equal to or greater than 1 and is set in advance as a parameter. By obtaining new information on the subsequent N items and recalculating the recommended loading positions for the M items to be reshipped, it is expected that a loading state with an even higher packing rate can be achieved.

[0040] A second example of a method for selecting items to be reloaded is a method in which items whose lengths in some or all of the X, Y, and Z directions are equal to or less than predetermined thresholds are selected as items to be reloaded. This method has the advantage of reducing the labor required by workers to reload large boxes. Furthermore, by sorting the items so that the recommended loading positions are searched for in descending order of size when calculating the loading positions for M+N items, it is possible to ensure that the largest items are loaded as close to the bottom as possible when loading is complete.

[0041] A third example of a method for selecting items to be reloaded is a method in which items with IDs (identifiers) specified by an operator are selected as items to be reloaded. For example, items that need to be picked up immediately due to a delivery plan can be selected as items to be reloaded, and the items can be loaded as high up as possible, making it possible to load items in a highly convenient manner.

[0042] According to this embodiment, in the transfer work in which measured cargo is successively loaded into the cargo compartment, cargo that meets specific conditions can be transferred from among the previously loaded cargo, thereby improving the filling rate and convenience.

[0043] <Fourth Embodiment> The configuration of a transfer assistance device according to the fourth embodiment is the same as that of the first embodiment (FIG. 1). In the transfer assistance device according to the fourth embodiment, the first sensor 101 acquires not only information on the size of the luggage but also information on its weight. Other than that, the fourth embodiment is basically the same as the first embodiment, and therefore, a description that overlaps with the first embodiment will be omitted.

[0044] A specific example of a weight measurement means as the first sensor 101 is to install a load cell or pressure sensor at the luggage measurement location. When measuring the center of gravity of luggage with an uneven weight distribution, multiple load cells or pressure sensors may be installed as the first sensor 101, and the center of gravity in the horizontal plane may be estimated from the force distribution. If measurements are taken on different sides of the luggage, the center of gravity in the vertical direction may also be estimated.

[0045] If the first sensor 101 can acquire information on the weight and / or center of gravity of each piece of luggage, the loading position calculation unit 104 designs an evaluation function using that information when calculating the loading position. For example, an evaluation function can be set in which the evaluation value of the solution improves the lower the center of gravity of all the luggage loaded in the luggage compartment is located, and a recommended loading position can be searched for. In addition, by sorting the luggage so that the loading position is searched for starting with the heaviest luggage when calculating the loading position, it is possible to ensure that the heaviest luggage is loaded as low as possible when loading is completed.

[0046] The fourth embodiment may be applied to the third embodiment, and cargoes already loaded whose weight is equal to or less than a threshold value may be selected as the cargoes to be reloaded. This method has the advantage of reducing the labor required by workers to reload heavy boxes.

[0047] According to the transfer assistance device of this embodiment, by utilizing information on the weight of the luggage, it is possible to improve both the stability of the loaded luggage and the filling rate of the luggage compartment.

[0048] <Embodiment 5> The configuration of the transfer assistance device according to embodiment 5 is the same as that of embodiment 1 (Fig. 1). In the transfer assistance device according to embodiment 5, the presentation unit 105 presents multiple recommended loading positions for each piece of luggage to be newly loaded. Other points are basically the same as those in embodiment 1, so explanations that overlap with embodiment 1 will be omitted.

[0049] For example, a worker may find it easier to load items at a loading position with the second or lower evaluation value calculated by the loading position calculation unit 104 than at a loading position with the best evaluation value. Therefore, in this embodiment, the loading position calculation unit 104 stores, in a storage medium (not shown), multiple solutions (loading positions) with the highest evaluation values ​​found in a search within a set time limit or a set upper limit on the number of attempts. The presentation unit 105 presents each of the multiple solutions stored in the storage medium to the worker as a recommended loading position, and leaves it up to the worker to select one. The top evaluation value solutions to be stored in the storage medium and the top evaluation values ​​to be presented to the worker as recommended loading positions are set in advance as parameters in the transfer assistance device.

[0050] The operator may select any of the recommended loading positions presented to perform loading, or may load the cargo at a position different from any of the recommended loading positions presented. Regardless of the position at which the cargo is loaded, the actual loading state is measured by the second sensor 102, and therefore, in subsequent calculations of the cargo loading position, a new recommended loading position for the cargo can be determined based on the actual loading state.

[0051] The fifth embodiment may be applied to the third embodiment, and the plurality of recommended loading positions presented by the presentation unit 105 may be solutions with the highest evaluation values ​​obtained for each of the plurality of reloading conditions. For example, in a case where M most recently loaded cargoes are to be reloaded, the loading position calculation unit 104 may change the reloading conditions as M=1, 2, ..., and store the solutions with the best evaluation values ​​for each reloading condition in a storage medium, and the presentation unit 105 may present these solutions to the worker as recommended loading positions.

[0052] According to this embodiment, the worker can select a loading position that he or she considers preferable (for example, a loading position that makes loading easy) from among the plurality of recommended loading positions presented, and proceed with the transfer work.

[0053] <Sixth Embodiment> Fig. 7 is a block diagram showing the configuration of a transfer assistance device according to a sixth embodiment. As shown in Fig. 7, the transfer assistance device according to the sixth embodiment includes a first sensor 101, a second sensor 102, a loading area setting unit 103, a loading position calculation unit 104, a work device 106, and a control unit 107. In this embodiment, the main entity that performs the work of loading luggage into the luggage compartment is the work device 106. Descriptions of the first sensor 101, the second sensor 102, the loading area setting unit 103, and the loading position calculation unit 104 that overlap with those of the first embodiment will be omitted.

[0054] The work implement 106 is a robot capable of loading cargo. Possible forms of robots capable of loading cargo from the back to the front of a cargo compartment include an automated guided vehicle (AGV) equipped with a robot arm, and a linear guide equipped with a robot arm. Even when the work implement 106 loads cargo, if the depth of the loading area, i.e., the Y-direction length ΔL of the loading area obtained by dividing the cargo compartment in the Y direction, is not appropriate due to the reach of the arm (the distance the arm can reach), it may be difficult to place the next cargo at the recommended loading position. Therefore, the loading area setting unit 103 sets ΔL based on design values ​​such as the length of each part of the work implement 106 included in the information about the work implement 106.

[0055] The loading area setting unit 103 may also set ΔL based on information about the movable range of each joint of the arm of the work device 106. For example, it is expected that the loading area setting unit 103 will set ΔL to a size that will prevent the arm of the work device 106 from interfering with already loaded cargo, based on the movable range of each joint of the arm of the work device 106. The loading area setting unit 103 may also set ΔL based on information about the length of the wiring of the work device 106. For example, it is expected that if the wiring of the work device 106 is short, the loading area setting unit 103 will determine that the movable range of the work device 106 will be narrow and set ΔL small, and if the wiring of the work device 106 is long, the loading area setting unit 103 will determine that the movable range of the work device 106 will be wide and set ΔL large. ΔL may also be set based on a combination of this information about the work device 106 and reach information.

[0056] The control unit 107 controls the work equipment 106 based on the recommended loading position calculated by the loading position calculation unit 104. Specifically, the control unit 107 generates an operation command for the work equipment 106 so that the work equipment 106 can place the cargo at the recommended loading position. At this time, the control unit 107 can generate a path (interference-avoidance path) for placing the cargo without interfering with the walls of the cargo compartment or the loaded cargo by using a path generation method such as RRT (Rapidly-exploring Random Tree) or PRM (Probabilistic Roadmap Method) with the cargo measurement location as the start point, the recommended loading position as the end point, and the walls of the cargo compartment and the loaded cargo as obstacles. If such a path cannot be generated, the loading position calculation unit 104 calculates another recommended loading position.

[0057] According to the transfer assistance device of this embodiment, the work equipment 106 is the main operator in loading the cargo, so the transfer work is automated. Furthermore, by calculating a recommended loading position for the cargo that is suited to the characteristics (reach) of the work equipment 106, it is possible to assist the transfer work by the work equipment 106. This prevents the recommended loading position from being a position that is difficult for the work equipment 106 to load, which contributes to improving the filling rate of the cargo compartment.

[0058] The sixth embodiment may be combined with the first embodiment. That is, the transfer assistance device may include both a control unit 107 that controls the work equipment 106 and a presentation unit 105 that presents a recommended loading position. In this case, the transfer work can be carried out while a person checks the recommended loading position presented by the work equipment 106 each time. Furthermore, the transfer work may be carried out in cooperation with a human and a robot, such as by the human (worker) loading the luggage if the work equipment 106 is unable to generate an interference-avoidance path for the work equipment 106 relative to the recommended loading position.

[0059] <Seventh embodiment> Fig. 8 is a block diagram showing the configuration of a transfer assistance device according to a seventh embodiment. The configuration of the transfer assistance device according to the seventh embodiment is obtained by adding a simulator 108 to the configuration of the sixth embodiment (Fig. 7). For the other components, descriptions that overlap with those of the first and sixth embodiments will be omitted.

[0060] The simulator 108 simulates the loading operation by the work equipment 106. For loading into the recommended loading position calculated by the loading position calculation unit 104, the operation command generated by the control unit 107 is executed on the simulator 108. This allows the transfer work to proceed while a person checks the simulation results of how the cargo is loaded into the recommended loading position by the work equipment 106 each time. Note that the operation command for the simulation may be generated within the simulator 108 rather than the control unit 107.

[0061] The simulator 108 may perform simulations not only to check how the work equipment 106 loads cargo into the recommended loading position, but also to evaluate the takt time until loading is complete, the part wear level of the work equipment 106, current consumption, and power consumption. The takt time is determined using information such as the speed parameters of the actual work equipment 106. The part wear level is determined by calculating the load torque associated with the part based on the design information and operation command information of the work equipment 106. The current consumption and power consumption are determined by calculating the current consumption of each actuator equipped in the work equipment 106.

[0062] Every time the loading position calculation unit 104 obtains a tentative solution, the simulator 108 may perform a simulation of loading cargo at a loading position (candidate for a recommended loading position) corresponding to the tentative solution, to determine the takt time, the degree of wear of parts, the current consumption, the power consumption, and the like, and use any of these as the evaluation function used by the loading position calculation unit 104. In other words, the loading position calculation unit 104 may determine a recommended loading position from among a plurality of candidates based on the value of the evaluation function (evaluation value) calculated by the simulator 108.

[0063] According to this embodiment, the loading operation by the work equipment 106 can be simulated and manually checked as the work progresses. Furthermore, by using the takt time of the loading operation, the degree of wear of parts, current consumption, power consumption, and the like as evaluation functions, it is possible to contribute to shortening the takt time of the transfer operation, improving the lifespan of parts of the work equipment 106, and saving energy.

[0064] 9 and 10 are diagrams illustrating an example of the hardware configuration of a transfer assistance device. The functions of the components of the transfer assistance device illustrated in FIG. 1 are realized, for example, by a processing circuit 50 illustrated in FIG. 9 . That is, the transfer assistance device includes a processing circuit 50 for dividing a cargo compartment into multiple loading areas based on information about the worker or work equipment loading the cargo, determining a loading area for the cargo to be loaded from among the multiple loading areas based on information about the cargo to be loaded and information about the state of the cargo compartment, setting a recommended loading position in the loading area, and presenting the recommended position to the worker or controlling the work equipment based on the recommended position. The processing circuit 50 may be dedicated hardware or may be configured using a processor (also referred to as a central processing unit (CPU), processing device, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes a program stored in memory.

[0065] When the processing circuitry 50 is dedicated hardware, the processing circuitry 50 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of these. The functions of the components of the transfer assistance device may be realized by individual processing circuits, or these functions may be realized together by a single processing circuit.

[0066] FIG. 10 shows an example of the hardware configuration of the transfer assistance device when the processing circuit 50 is configured using a processor 51 that executes a program. In this case, the functions of the components of the transfer assistance device are realized by software, etc. (software, firmware, or a combination of software and firmware). The software, etc. is written as a program and stored in memory 52. ​​The processor 51 realizes the functions of each part by reading and executing the program stored in memory 52. ​​That is, the transfer assistance device includes memory 52 for storing a program that, when executed by the processor 51, results in the following: dividing the cargo compartment into multiple loading areas based on information about the worker or work equipment loading the cargo; setting a loading area for the cargo to be loaded from the multiple loading areas based on information about the cargo to be loaded and information about the state of the cargo compartment; setting a recommended loading position in the loading area that is a recommended position for loading a newly measured cargo; and presenting the recommended position to the worker or controlling the work equipment based on the recommended position. In other words, this program can be said to cause a computer to execute the procedures and methods of operation of the components of the transfer assistance device.

[0067] Here, the memory 52 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Programmable Read Only Memory), a HDD (Hard Disk Drive), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), and a drive device for such a disk, or any other storage medium that will be used in the future.

[0068] The above describes a configuration in which the functions of the components of the transfer assistance device are realized either by hardware or software, etc. However, this is not limited to this, and the configuration may be such that some components of the transfer assistance device are realized by dedicated hardware and other components are realized by software, etc. For example, it is possible to realize the functions of some components by a processing circuit 50 as dedicated hardware, and to realize the functions of other components by having the processing circuit 50 as a processor 51 read and execute a program stored in memory 52.

[0069] As described above, the transfer assistance device can realize the above-mentioned functions by hardware, software, etc., or a combination of these.

[0070] It is possible to freely combine the embodiments, and to modify or omit the embodiments as appropriate.

[0071] <Supplementary Notes> Various aspects of the present disclosure will be summarized below as supplementary notes.

[0072] (Supplementary Note 1) A transfer assistance device comprising: a loading area setting unit that divides a cargo compartment into a plurality of loading areas based on information about a worker loading cargo, and sets a loading area for the cargo to be loaded from among the plurality of loading areas based on information about the cargo to be loaded and information about the state of the interior of the cargo compartment; a loading position calculation unit that sets a recommended loading position, which is a recommended position for loading newly measured cargo, in the loading area; and a presentation unit that presents the recommended position to the worker.

[0073] (Appendix 2) The loading area setting unit divides the cargo room into a plurality of loading areas by dividing the cargo room in a direction from the back to the front of the cargo room, and the length of each loading area in the direction from the back to the front of the cargo room is determined based on information about the worker's reach. This is the transfer assistance device described in Appendix 1.

[0074] (Supplementary Note 3) The transfer assistance device according to Supplementary Note 1 or Supplementary Note 2, wherein the loading position calculation unit determines a plurality of the recommended loading positions having a top value of an evaluation function for evaluating the recommended loading positions, and the presentation unit presents the plurality of the recommended loading positions to the worker.

[0075] (Supplementary Note 4) A transfer assistance device comprising: a loading area setting unit that divides a cargo compartment into a plurality of loading areas based on information about work equipment that will load cargo, and sets a loading area for the cargo to be loaded from among the plurality of loading areas based on information about the cargo to be loaded and information about the state of the interior of the cargo compartment; a loading position calculation unit that sets a recommended loading position, which is a recommended position for loading newly measured cargo, in the loading area; and a control unit that controls the work equipment based on the recommended position.

[0076] (Appendix 5) The loading area setting unit divides the cargo room into a plurality of loading areas by dividing the cargo room in a direction from the back to the front of the cargo room, and the length of each loading area in the direction from the back to the front of the cargo room is determined based on reach information of the work equipment. This is the transfer assistance device described in Appendix 4.

[0077] (Supplementary Note 6) The transfer assistance device according to Supplementary Note 4 or Supplementary Note 5, further comprising a simulator that simulates loading of cargo into the recommended loading position by the work implement.

[0078] (Supplementary Note 7) The transfer assistance device according to Supplementary Note 6, wherein the simulator calculates, through the simulation, at least one of a takt time until loading is completed, a part wear rate of the work equipment, a current consumption of the work equipment, and a power consumption of the work equipment as an evaluation value for evaluating the recommended loading position, and the loading position calculation unit determines the recommended loading position from among a plurality of candidates based on the evaluation value calculated by the simulator.

[0079] (Appendix 8) A transfer assistance device described in any one of Appendices 1 to 7, wherein the loading area setting unit moves the loading area selected as the loading area to the next loading area based on information about the cargo to be loaded and information about the state of the cargo compartment, and any space remaining in the loading area that was previously the loading area is treated as part of the next loading area by the loading position calculation unit.

[0080] (Supplementary Note 9) The transfer assistance device according to any one of Supplementary Note 1 to Supplementary Note 8, wherein the loading position calculation unit uses at least one of a volume filling rate of the luggage compartment and a maximum height of luggage in the luggage compartment as an evaluation function for evaluating the recommended loading position.

[0081] (Supplementary Note 10) The transfer assistance device described in any one of Supplementary Note 1 to Supplementary Note 9, wherein the loading area setting unit divides the cargo room into a plurality of loading areas by dividing the cargo room not only in the direction from the back to the front of the cargo room but also in the direction of the width of the cargo room.

[0082] (Appendix 11) The transfer assistance device described in any one of Appendices 1 to 10, wherein the loading position calculation unit targets for transfer any of the following among already loaded cargo: a specific number of cargoes loaded most recently, cargoes whose size is equal to or smaller than a predetermined threshold, cargoes with a specified ID, and cargoes whose weight is equal to or smaller than a predetermined threshold.

[0083] (Supplementary Note 12) The transfer assistance device according to any one of Supplementary Note 1 to Supplementary Note 11, wherein the loading position calculation unit uses a center of gravity of the luggage loaded in the luggage compartment as an evaluation function for evaluating the recommended loading position.

[0084] (Supplementary Note 13) A transfer system comprising: the transfer assistance device according to any one of Supplementary Note 4 to Supplementary Note 7, including the control unit; and the work equipment.

[0085] 101 First sensor, 102 Second sensor, 103 Loadable area setting unit, 104 Loading position calculation unit, 105 Presentation unit, 106 Work equipment, 107 Control unit, 108 Simulator

Claims

1. A transfer assistance device comprising: a loading area setting unit that divides a cargo space into a plurality of loading areas based on information about a worker who will be loading cargo, and that sets a loading area for the cargo to be loaded from among the plurality of loading areas based on information about the cargo to be loaded and information about the state of the cargo space; a loading position calculation unit that sets a recommended loading position, which is a recommended position for loading newly measured cargo, in the loading area; and a presentation unit that presents the recommended position to the worker.

2. The transfer assistance device described in claim 1, wherein the loading area setting unit divides the cargo room into a plurality of loading areas by dividing the cargo room in a direction from the back to the front of the cargo room, and the length of each loading area in the direction from the back to the front of the cargo room is determined based on information about the worker's reach.

3. The transfer assistance device according to claim 1 or claim 2, wherein the loading position calculation unit determines a plurality of recommended loading positions that have the highest value of an evaluation function for evaluating the recommended loading positions, and the presentation unit presents the plurality of recommended loading positions to the worker.

4. A transfer assistance device comprising: a loading area setting unit that divides a cargo compartment into a plurality of loading areas based on information about the work equipment that will load the cargo, and sets a loading area for the cargo to be loaded from among the plurality of loading areas based on information about the cargo to be loaded and information about the state of the interior of the cargo compartment; a loading position calculation unit that sets a recommended loading position, which is a recommended position for loading newly measured cargo, in the loading area; and a control unit that controls the work equipment based on the recommended position.

5. A transfer assistance device as described in claim 4, wherein the loading area setting unit divides the cargo room into a plurality of loading areas by dividing the cargo room in a direction from the back to the front of the cargo room, and the length of each loading area in the direction from the back to the front of the cargo room is determined based on information about the reach of the work equipment.

6. A transfer assistance device according to claim 4 or claim 5, further comprising a simulator that simulates loading of cargo into the recommended loading position by the work equipment.

7. The transfer assistance device described in claim 6, wherein the simulator calculates, through the simulation, at least one of the takt time until loading is completed, the degree of wear of the work equipment's parts, the current consumption of the work equipment, and the power consumption of the work equipment as an evaluation value for evaluating the recommended loading position, and the loading position calculation unit determines the recommended loading position from among a plurality of candidates based on the evaluation value calculated by the simulator.

8. A transfer assistance device as described in any one of claims 1 to 7, wherein the loading area setting unit moves the loading area selected as the loading area to the next loading area based on information about the cargo to be loaded and information about the state of the cargo compartment, and any space remaining in the loading area that was previously the loading area is treated as part of the next loading area by the loading position calculation unit.

9. A transfer assistance device as described in any one of claims 1 to 8, wherein the loading position calculation unit uses at least one of the volume filling rate of the luggage compartment and the maximum height of luggage in the luggage compartment as an evaluation function for evaluating the recommended loading position.

10. A transfer assistance device as described in any one of claims 1 to 9, wherein the loading area setting unit divides the cargo compartment into a plurality of loading areas by dividing the cargo compartment not only in the direction from the back to the front of the cargo compartment but also in the direction of the width of the cargo compartment.

11. A transfer assistance device as described in any one of claims 1 to 10, wherein the loading position calculation unit selects, among already loaded cargo, a specific number of cargoes loaded most recently, cargoes whose size is equal to or smaller than a predetermined threshold, cargoes with a specified ID, or cargoes whose weight is equal to or smaller than a predetermined threshold, as the target for transfer.

12. A transfer assistance device according to any one of claims 1 to 11, wherein the loading position calculation unit uses the center of gravity of the luggage loaded in the luggage compartment as an evaluation function for evaluating the recommended loading position.

13. A transfer system comprising: a transfer assistance device according to any one of claims 4 to 7, including the control unit; and the work equipment.

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