Information processing device, information processing system, information processing method, and program

Abstract

According to the present invention, a plan for stacking objects to be handled is generated in consideration of highly accurate weight imbalance values. An information processing device according to the present disclosure comprises: an acquisition unit that acquires the density of a first object, the density of a second object, and respective center-of-gravity positions of the first object and the second object, the respective center-of-gravity positions being calculated on the basis of weight imbalance in two mutually orthogonal directions; a determination unit that, using a determination criterion and on the basis of the density of the first object, the density of the second object, the center-of-gravity position of the first object, and the center-of-gravity position of the second object, determines whether the second object can be stacked on the first object; a creation unit that, on the basis of the determination, creates work instruction data for stacking the second object on the first object; and an output unit that outputs the work instruction data to a working body that performs the stacking operation.

Description

Information processing apparatus, information processing system, information processing method and program

[0001] The present disclosure relates to an information processing apparatus, an information processing system, an information processing method, and a program.

[0002] Patent Document 1 discloses a robot system that palletizes various items using a robot arm. A movable robot arm is used to pick different types of items and stack them on a pallet. The system generates a plan for stacking items based on factors including the size, weight, density, weight distribution, stiffness of the items, and their ability to support the weight of items stacked on top thereof.

[0003] Japanese Unexamined Patent Publication No. 2023-171915

[0004] In generating a plan for stacking cargo handling objects, there is a demand for generating the plan in consideration of more accurate weight deviation.

[0005] In view of the above problem, an object of the present disclosure is to provide an information processing apparatus, an information processing system, an information processing method, and a program capable of generating a plan for stacking cargo handling objects in consideration of more accurate weight deviation.

[0006] The information processing apparatus according to the present disclosure comprises: an acquisition unit that acquires a center of gravity position of a first object and a center of gravity position of a second object, respectively, the center of gravity positions being calculated based on a density of the first object, a density of the second object, and weight deviation in two mutually orthogonal directions; a determination unit that uses determination criteria to determine whether the second object can be stacked on the first object based on the density of the first object, the density of the second object, the center of gravity position of the first object, and the center of gravity position of the second object; a creation unit that creates work instruction data for stacking the second object on the first object based on the determination; and an output unit that outputs the work instruction data to a working body that performs the stacking work.

[0007] The information processing system according to this disclosure includes: an acquisition unit that acquires the center of gravity position of the first object and the center of gravity position of the second object, respectively, calculated based on the density of the first object, the density of the second object, and the weight distribution in two mutually orthogonal directions; a determination unit that uses a determination criterion to determine whether or not the second object can be stacked on the first object based on the density of the first object, the density of the second object, the center of gravity position of the first object, and the center of gravity position of the second object; a creation unit that creates work instruction data for stacking the second object on the first object based on the determination; and an output unit that outputs the work instruction data to a work unit that performs the stacking work.

[0008] The information processing method relating to this disclosure involves a computer performing the following steps: acquiring the center of gravity of the first object and the center of gravity of the second object, respectively, calculated based on the density of the first object, the density of the second object, and the weight distribution in two mutually orthogonal directions; determining whether the second object can be stacked on the first object based on the density of the first object, the density of the second object, the center of gravity of the first object, and the center of gravity of the second object, using a determination criterion; creating work instruction data for stacking the second object on the first object based on the determination; and outputting the work instruction data to a work unit that performs the stacking work.

[0009] The program relating to this disclosure causes a computer to perform the following steps: a process of obtaining the center of gravity of the first object and the center of gravity of the second object, respectively, calculated based on the density of the first object and the density of the second object and the weight distribution in two mutually orthogonal directions; a process of determining whether the second object can be stacked on the first object, based on the density of the first object and the density of the second object and the center of gravity of the first object and the center of gravity of the second object, using a determination criterion; a process of creating work instruction data for stacking the second object on the first object based on the determination; and a process of outputting the work instruction data to a work unit that performs the stacking work.

[0010] According to this disclosure, it is possible to generate a stacking plan for cargo that takes into account more accurate weight distribution.

[0011] This is a block diagram showing the configuration of the information processing device of the present disclosure. This is a diagram showing an example of a first object that is the object to be handled. This is a diagram showing a state in which a second object is stacked on top of the first object. This is a flowchart showing the information processing method of the present disclosure. This is a block diagram showing the configuration of the information processing system of the present disclosure. This is a block diagram showing the overall configuration of the information processing system of the present disclosure. This is a block diagram showing the functional configuration of the forklift in Figure 6. This is a block diagram showing the functional configuration of the server in Figure 6. This is a diagram illustrating the center of gravity position of each object when a second object is stacked on top of the first object. This is a sequence diagram showing the information processing method of the present disclosure. This is a sequence diagram showing the information processing method of the present disclosure. This is a diagram illustrating the relationship between load distribution and center of gravity position when a fork equipped with multiple weight sensors is inserted into the insertion hole of a pallet. This is a diagram illustrating the relationship between load distribution and center of gravity position when a fork equipped with multiple weight sensors is inserted into the insertion hole of a pallet.

[0012] Embodiments of this disclosure will be described in detail below with reference to the drawings. In each drawing, the same or corresponding elements are denoted by the same reference numerals, and redundant explanations will be omitted where necessary for clarity.

[0013] The embodiment relates to a technology that supports the stacking of cargo in warehouses, logistics centers, cargo handling docks, freight terminals, large retail stores, etc. The following description will explain an example in which objects to be handled are transported using a movable work vehicle within a warehouse.

[0014] In this embodiment, a forklift is used as an example of a workpiece. However, the workpiece is not limited to a forklift; various workpieces capable of picking up objects from a storage location and transporting them to a designated location can be used. Examples of workpieces include AGVs (Automatic Guided Vehicles) and AMRs (Autonomous Mobile Robots). The workpiece may be remotely controlled or autonomously controlled.

[0015] Embodiment 1. An example of the configuration of the information processing device 1 will be described with reference to Figure 1. Figure 1 is a block diagram showing the configuration of the information processing device 1 of the present disclosure. As shown in Figure 1, the information processing device 1 includes an acquisition unit 2, a determination unit 3, a creation unit 4, and an output unit 5.

[0016] Here, the object to be handled is assumed to be "a load loaded on a pallet" because it is transported by a forklift. Figure 2 shows an example of the first object O1 (first load T1 loaded on pallet P0) which is the object to be handled. The x, y, and z coordinates shown in Figure 2 are for convenience to explain the positional relationships of the components. In Figure 2, the x direction corresponds to the width direction of pallet P0, the y direction corresponds to the depth direction of pallet P0, and the z direction corresponds to the height direction of pallet P0.

[0017] As shown in Figure 2, the pallet P0 has a rectangular parallelepiped-shaped bottom plate member P1 on which the first load T1 is placed. The bottom plate member P1 has insertion holes Px and Py formed therein, into which the forks of a forklift are inserted. The two insertion holes Px are formed parallel to each other on the side surface of the bottom plate member P1 that is parallel to the yz plane, and each extends in the x direction. The insertion holes Px are formed to penetrate from one side surface to the opposite side surface.

[0018] The two insertion holes Py extend parallel to each other in the y direction on the side surface of the bottom plate member P1 that is parallel to the xz plane. The insertion holes Py are formed to penetrate from one side surface to the opposite side surface. Therefore, the forks A3 can be inserted into the bottom plate member P1 of the pallet P0 from four sides. The insertion holes Px and Py are formed to be perpendicular to each other.

[0019] The number and position of the insertion holes are merely examples and are not particularly limited. The bottom plate member P1 only needs to have at least two insertion holes formed therein, extending in two mutually orthogonal directions in the xy plane. The pallet P0 may also have four wall members (not shown) at the front, rear, left, and right ends of the bottom plate member P1. The four wall members may be rotatably mounted relative to the bottom plate member P1. These wall members may be locked in an upright position when the first object O1 is being transported.

[0020] Here, as shown in Figure 3, the information processing device 1 determines whether the second object O2 can be stacked on top of the first object O1, with the first object O1 as the first layer and the second object O2 as the second layer. The second object O2 is a second load T2 stacked on pallet P0, similar to the first object O1.

[0021] The information processing device 1 transmits work instruction data to the forklift, instructing it to pick up objects from their storage location and transport them to a designated location. The information processing device 1 also determines whether the objects can be stacked, and if so, transmits work instruction data to the forklift for stacking operations. In other words, the information processing device 1 can function as a Warehouse Control System (WCS) that controls forklift operations within the warehouse.

[0022] The information processing device 1 can communicate with external devices via a network. Specifically, the information processing device 1 can be connected to a Warehouse Management System (WMS) for managing goods in a warehouse, or to a forklift for transporting objects, etc., via a communication line such as the Internet. However, the communication line is not limited to the Internet; it may be a combination of the Internet and other communication lines, or a communication line other than the Internet. As for the communication method, wireless or wired communication such as 4G (Generation), 5G, Local 5G, Wi-Fi (registered trademark), and LTE (Long Term Evolution) may be used. Note that the communication method is not limited to these examples.

[0023] A Warehouse Management System (WMS) is responsible for the inbound and outbound movement of goods within a warehouse, as well as inventory management. In most cases, storage shelves in a warehouse are fitted with shelf location identification codes, such as barcodes, indicating their location within the warehouse. Similarly, goods are fitted with item identification codes, such as barcodes (or JAN (Japanese Article Number) codes). The WMS can manage these items by associating them with shelf location identification codes. This information, including information identifying goods and their storage locations within the warehouse, is referred to as "management information." When operating a forklift, it can use the management information transmitted from the WMS to identify goods and their storage locations.

[0024] The acquisition unit 2 acquires the density of the first object O1, the density of the second object O2, and the center of gravity positions of the first object O1 and the second object O2, which are calculated based on the weight distribution in two mutually perpendicular directions. Specifically, the acquisition unit 2 acquires the weight and size of the first object O1 and the second object O2. From the acquired weight and size of the objects, the acquisition unit 2 can calculate the density of each object. For example, the acquisition unit 2 can detect the weight and size of each object using various sensors installed on a forklift that transports the objects.

[0025] The forklift can transmit data about the detected object to the information processing device 1. Examples of various sensors include a weight sensor that detects the weight of an object loaded on the forklift's forks, and a camera (image sensor) that photographs the object. The weight sensor may be, for example, a pressure sensor that detects the hydraulic pressure of the lift cylinder that raises and lowers the cargo handling forks.

[0026] Furthermore, the forklift can detect weight imbalances in the y-direction by inserting its forks into insertion holes Px extending in the x-direction. The forklift can also detect weight imbalances in the x-direction by inserting its forks into insertion holes Py extending in the y-direction. The acquisition unit 2 can calculate the center of gravity of the object based on the weight imbalances in the x-direction and the weight imbalances in the y-direction.

[0027] Furthermore, the forklift can capture an image of the entire object using a camera and generate an image. The acquisition unit 2 analyzes the generated image to determine the lengths of the three sides of the object and to identify its volume. It is also possible to use a laser sensor capable of measuring the three-dimensional shape of an object as a sensor for measuring the size of the object. The sensor for detecting the size of the object does not necessarily have to be installed on the forklift; it may be installed in a loading area in a warehouse, for example. The size of an object can be determined, for example, by capturing an image of it with a laser sensor such as LiDAR®, an infrared ToF (Time Of Flight) camera, or a 3D camera before loading it onto the forklift, and then analyzing the results.

[0028] The determination unit 3 uses the determination criteria to determine whether the second object O2 can be stacked on the first object O1, based on the density and center of gravity of the first object O1 and the second object O2. The "determination criteria" may include criteria regarding the density of objects that allow for safe stacking of the first and second layers. For example, the density of the second object O2 may be less than or equal to that of the first object O1.

[0029] Furthermore, the "judgment criteria" may include a criterion for the center of gravity position that allows for safe stacking of the first and second layers. The criterion for the center of gravity position may be the range in which the second object O2 can remain stably stationary on the first object O1 when the horizontal bottom surface of the second object O2 is in contact with the horizontal top surface of the first object O1. The judgment criteria may be either a criterion related to the center of gravity position or a criterion related to density, or a combination thereof. The information processing device 1 may store judgment criteria obtained empirically based on past data in a storage unit (not shown).

[0030] Based on the determination of the determination unit 3, the creation unit 4 creates work instruction data for stacking the second object O2 on the first object O1. Specifically, if the determination unit 3 determines that the second object O2 can be stacked on the first object O1, the creation unit 4 can create work instruction data. The work instruction data may include the storage locations of the first object O1 and the second object O2, the transport route, the placement position of the second object O2 relative to the first object O1, etc.

[0031] The creation unit 4 outputs the work instruction data to the forklift that performs the stacking work. The forklift can then perform picking, transporting, and stacking operations within the warehouse according to the work instruction data.

[0032] Next, the processing performed by the information processing device 1 will be explained with reference to Figure 4. Figure 4 is a flowchart showing the information processing method performed by the information processing device 1 of this disclosure.

[0033] First, the acquisition unit 2 acquires the density of the first object O1, the density of the second object O2, and the center of gravity positions of the first object O1 and the second object O2, which are calculated based on the weight distribution in two mutually orthogonal directions (Step S1). As described above, the acquisition unit 2 can calculate the center of gravity position of an object based on the weight distribution in the mutually orthogonal x and y directions. The acquisition unit 2 can also calculate the density of the first object O1 and the second object O2 using their respective weights and volumes.

[0034] Next, the determination unit 3 uses the determination criteria to determine whether the second object O2 can be stacked on the first object O1 based on its density and center of gravity (step S2). Based on the determination of the determination unit 3, the creation unit 4 creates work instruction data for stacking the second object O2 on the first object O1 (step S3). The output unit 5 then outputs the work instruction data to the forklift that will perform the stacking operation. If the forklift is capable of autonomous movement, it can stack the second object O2 on the first object O1 according to the work instruction data.

[0035] As described above, the information processing device 1 according to Embodiment 1 can determine whether or not objects can be stacked by using the center of gravity position calculated based on the weight distribution in two mutually orthogonal directions and the density. This makes it possible to generate a stacking plan for objects to be handled, taking into account a more accurate weight distribution, thereby reducing the possibility of cargo collapse or crushing.

[0036] The information processing device 1 includes a processor, memory, and storage device (not shown in the diagram). The storage device stores a program that causes a computer to execute each of the processes of the information processing method according to Embodiment 1. The processor loads the program from the storage device into memory and executes the program. In this way, the processor realizes the functions of the acquisition unit 2, the determination unit 3, the creation unit 4, and the output unit 5.

[0037] Each component of the information processing device 1 may be implemented with dedicated hardware. Furthermore, some or all of the components of each device may be implemented by general-purpose or linear circuits, processors, etc., or combinations thereof. These may be configured as a single chip or as multiple chips connected via a bus. Some or all of the components of each device may be implemented by a combination of the aforementioned circuits, etc., and programs. Additionally, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), FPGA (Field-Programmable Gate Array), quantum processor (quantum computer control chip), etc., may be used as the processor.

[0038] Furthermore, if some or all of the components of the information processing device 1 are realized by multiple devices or circuits, these multiple devices or circuits may be centrally located or distributed. Figure 5 is a block diagram showing the configuration of the information processing system 101 of this disclosure. As shown in Figure 5, the information processing system 101 includes an acquisition unit 102, a determination unit 103, a creation unit 104, and an output unit 105. The detailed operation of each component of the information processing system 101 corresponds to the operation of each component of the information processing device 1, as described above. The devices and circuits that realize each component of Figure 5 may be realized in a form in which each is connected via a communication network, such as a client-server system or a cloud computing system. In addition, the functions of the information processing device 1 may be provided in SaaS (Software as a Service) format.

[0039] Embodiment 2. Embodiment 2 is a specific example of Embodiment 1 described above. Figure 6 is a block diagram showing the overall configuration of the information processing system 100 of the present disclosure. The information processing system 100 includes a server 10, a WMS 20, and a forklift 30. The server 10, WMS 20, and forklift 30 are each connected via a network N. Here, the network N is a wired or wireless communication line, for example, the Internet.

[0040] The information processing system 100 is a system that, for example in a warehouse, determines whether or not objects to be handled can be stacked and creates work instruction data for a forklift. Here, we will describe an example using an autonomously controllable forklift 30. The forklift 30 is an unmanned forklift that operates automatically under the control of the server 10.

[0041] <WMS20> WMS20 is responsible for the receiving, dispatching, and inventory management of goods in and out of the warehouse. For example, WMS20 receives a request from the consignor in advance to store goods in the warehouse. This storage request includes information about the goods to be stored. In addition, goods received in the warehouse are assigned a package identification code that indicates the above package information.

[0042] WMS20 manages information about packages and their storage locations. In most cases, storage shelves installed in a warehouse are fitted with shelf location identification codes, such as barcodes, that indicate the shelf's location within the warehouse. WMS20 can manage these shelf location identification codes in association with package identification codes.

[0043] <Forklift 30> The forklift 30 is a workpiece that picks up objects from their storage locations within the warehouse and transports them to designated locations. The forklift 30 also performs stacking operations when stacking is possible.

[0044] As shown in Fig. 6, the forklift 30 includes a main body A1, a lift portion A2, and a fork A3. The lift portion A2 is provided on the front side of the main body A1. The fork A3 is attached to the main body A1 so as to be liftable and lowerable by the lift portion A2. The fork A3 extends toward the front of the main body A1. In the case of the forklift 30, the cargo handling target is an object including a cargo loading pallet and a cargo loaded thereon. As described above, the pallet has an insertion hole into which the fork A3 is inserted from the horizontal direction. Note that when conveying is performed without using a pallet, the cargo handling target is the cargo itself.

[0045] The lift portion A2 is constituted by, for example, a lift cylinder, a lift chain, or the like. A drive source such as a motor or an engine that supplies power for lifting and lowering the fork A3 relative to the lift portion A2 may be provided in the main body A1. The forklift 30 may include an operation unit including a wheel drive unit (not shown) that drives wheels for moving the entire forklift 30, a fork drive unit that drives the fork A3, a handle that receives an operation when manually operating the forklift 30, and the like.

[0046] Fig. 7 is a block diagram showing the functional configuration of the forklift of Fig. 6. The forklift 30 includes a weight detection unit 31, an imaging unit 32, a storage unit 33, a memory 34, a communication unit 35, and a control unit 36. The weight detection unit 31 measures the weight of an object loaded on the cargo handling fork A3 under the control of the control unit 36. For example, the weight detection unit 31 may be a pressure sensor that detects the hydraulic pressure of a lift cylinder that lifts and lowers the fork A3. The imaging unit 32 is an imaging device that captures an image under the control of the control unit 36. The imaging unit 32 captures an image of the entire object that is the cargo handling target to generate an image.

[0047] The storage unit 33 is an example of a storage device including a non-volatile memory such as a flash memory or an SSD. The storage unit 33 stores a program in which each process such as weight measurement processing by the weight detection unit 31 and imaging processing by the imaging unit 32 is implemented. The memory 34 is a volatile storage device such as a RAM, and is a storage area for temporarily holding information when the control unit 36 operates. The communication unit 35 is a communication interface with the network N.

[0048] The control unit 36 is a processor that controls the entire forklift 30. The control unit 36 causes a program to be read from the storage unit 33 into the memory 34 and executes the program. Thereby, the control unit 36 implements the functions of a measurement control unit 361 and a transmission control unit 362.

[0049] The measurement control unit 361 controls the weight measurement process of an object performed by the weight detection unit 31 and the entire-object photographing process performed by the imaging unit 32 through execution of a program. Specifically, the measurement control unit 361 controls the operation of each unit such that the fork A3 inserts the fork into the insertion hole Px extending in the x-direction, and causes the weight detection unit 31 to detect the weight deviation in the x-direction. Further, the measurement control unit 361 controls the operation of each unit such that the fork A3 inserts the fork into the insertion hole Py extending in the y-direction, and causes the weight detection unit 31 to detect the weight deviation in the y-direction.

[0050] The transmission control unit 362 performs processing of transmitting information about the weight of the object and weight deviations in two mutually orthogonal directions, which is obtained by the weight detection unit 31, to the server 10 described later. Further, the transmission control unit 362 performs processing of transmitting image data obtained by imaging the entire object acquired by the imaging unit 32 to the server 10. Information relating to the object transmitted from the forklift 30 to the server 10 is referred to as "measurement data".

[0051] <Server 10> The server 10 is an example of the information processing apparatus 1. The server 10 performs processing for supporting stacking work of objects. Note that the server 10 may be configured of a plurality of servers, and each functional block may be implemented by a plurality of computers. The server 10 determines whether or not a plurality of objects can be stacked, and transmits work instruction data to the forklift 30 based on the determination result.

[0052] Figure 8 is a block diagram showing the functional configuration of the server 10 in Figure 6. The server 10 comprises a storage unit 11, a memory 12, a communication unit 13, and a control unit 14. The storage unit 11 is an example of a storage device such as a hard disk or flash memory. The storage unit 11 stores various information, including a program 111, a measurement information DB 112, and a judgment criterion DB 113. The program 111 is a computer program that implements at least some of the following: (1) a process to calculate density and center of gravity based on measurement data received from the forklift 30 (calculation process); (2) a process to determine whether or not objects can be stacked based on judgment criteria (determination process); and (3) a process to create work instruction data based on the determination result and output it to the forklift 30 (creation process).

[0053] The measurement information DB112 stores the measurement data received from the forklift 30. The judgment criteria DB113 stores the judgment criteria, which include "criteria related to the density of the object" and "criteria for the center of gravity position," so that the first and second layers of stacking can be performed safely. For example, the density condition is that the density of the second object O2 is less than or equal to that of the first object O1. The center of gravity position criterion may be the range in which the second object O2 can remain stably stationary on the first object O1 when its horizontal bottom surface is in contact with the horizontal top surface of the first object O1.

[0054] Memory 12 is a volatile storage device such as RAM, and is a storage area for temporarily holding information when the control unit 14 is operating. The communication unit 13 is a communication interface with the network N.

[0055] The control unit 14 is a processor that controls each component of the server 10. The control unit 14 loads the program 111 from the storage unit 11 into the memory 12 and executes the program 111. In this way, the control unit 14 realizes the functions of the acquisition unit 141, the determination unit 142, the decision unit 143, the creation unit 144, and the output unit 145.

[0056] The acquisition unit 141 acquires the density of the first object O1, the density of the second object O2, and the center of gravity positions of the first object O1 and the second object O2, which are calculated based on the weight distribution in two mutually orthogonal directions, based on the measurement data stored in the measurement information DB 112. The measurement data includes information on the weight of the object and the weight distribution in two mutually orthogonal directions, as well as image data of the entire object. From the image data, the acquisition unit 141 can determine the lengths of the three sides of the object and identify the volume of the object. The acquisition unit 141 calculates the density from the weight and volume of the object.

[0057] Furthermore, the acquisition unit 141 can determine the center of gravity from information regarding the weight distribution in two mutually orthogonal directions. Specifically, the acquisition unit 141 can calculate the center of gravity of an object in the horizontal direction (xy plane) from the weight distribution in the y direction obtained by inserting the fork A3 into the insertion hole Px and lifting the object, and the weight distribution in the x direction obtained by inserting the fork A3 into the insertion hole Py and lifting the object.

[0058] The determination unit 142 uses the determination criteria stored in the determination criteria DB 113 to determine whether the second object O2 can be stacked on top of the first object O1, based on density and center of gravity. If the determination unit 142 determines that it is not possible to stack the second object O2 on top of the first object O1, it sorts the second object O2 into a "flat stacking group," which is to be placed directly in the storage location in the warehouse without being stacked on top of the first object O1. Other objects may be stacked on top of objects sorted into the "flat stacking group." In other words, the "flat stacking group" becomes the first layer when multiple objects are stacked.

[0059] On the other hand, if the determination unit 142 determines that it is possible to stack the second object O2 on top of the first object O1, it sorts the second object O2 into a "stacking group" that will be stacked on top of the first object O1 or higher. In other words, the second object O2 becomes the second layer when stacking multiple objects.

[0060] Furthermore, when the determination unit 142 sorts an object into a "flat stacking group" or a "stacked group," it may rewrite the management information stored in the WMS 20 before sorting. For example, suppose the information stored in the WMS 20 regarding the storage location of the second object O2 is section A, where "flat stacking" is performed. In this case, when the second object O2 is sorted into the "stacked group," the determination unit 142 can rewrite the information regarding the storage location of the second object O2 to section B, where "stacking" is performed, and to the upper layer of the first object O1.

[0061] The determination unit 143 uses the center of gravity position of each object to determine the stacking position of the second object O2 relative to the first object O1. Figure 9 is a diagram illustrating the center of gravity positions of each object when the second object O2 is stacked on top of the first object O1. As shown in Figure 9, if the center of gravity C1 of the first object O1 is slightly to the left in the x-direction, the load can be prevented from collapsing if the center of gravity C2 of the second object O2 is positioned slightly to the right in the x-direction in order to maintain overall balance.

[0062] Thus, in Embodiment 2, objects can be sorted into "flat stacking groups" and "stacked groups" based on measurement data. Furthermore, by considering the center of gravity of the objects sorted into the "flat stacking group" and the center of gravity of the objects sorted into the "stacked group," it is possible to combine objects that can be stacked stably. In addition, by considering the center of gravity of each object, the stacking position of the second layer of objects relative to the first layer of objects can be determined.

[0063] The creation unit 144 creates work instruction data based on the sorting group determined by the determination unit 142. Specifically, if the second object O2 is sorted into the "flat stacking group", the creation unit 144 creates work instruction data for flat stacking the second object O2. On the other hand, if the second object O2 is sorted into the "stacked group", the creation unit 144 creates work instruction data for stacking the second object O2 on top of the first object O1. If the determination unit 143 has determined the stacking position of the second object O2 relative to the first object O1, the creation unit 144 can create work instruction data that includes the stacking position.

[0064] The output unit 145 outputs work instruction data to the forklift 30 that will perform the work. The forklift 30 can either stack the second object O2 flat or stack it on top of the first object O1 according to the work instruction data.

[0065] Now, with reference to Figures 10 and 11, the information processing method of Embodiment 2 will be described. Figure 10 is a sequence diagram showing the flow of processing for calculating the density and center of gravity of an object that is to be handled. First, the server 10 acquires management information transmitted from the WMS 20 (step S101) and outputs instructions to the forklift 30 to measure the weight and size of the object (step S102).

[0066] The forklift 30 measures each object according to the measurement instructions (step S103). Specifically, the forklift 30 takes an image of the entire object with the imaging unit 32. The forklift 30 also measures the weight of the first object O1 and the second object O2. At this time, the forklift 30 measures the weight imbalance in the y direction when the forks A3 are inserted into the insertion holes Px and objects are loaded onto the forks A3, and the forklift 30 measures the weight imbalance in the x direction when the forks A3 are inserted into the insertion holes Py and objects are loaded onto the forks A3. The forklift 30 transmits the measurement data to the server 10.

[0067] The server 10 calculates the densities of the first object O1 and the second object O2 based on the measurement data (step S104). The server 10 also calculates the center of gravity based on the weight distribution in two mutually orthogonal directions (step S105). The calculated densities and center of gravity may be stored in the measurement information DB 112.

[0068] Figure 11 is a sequence diagram showing the process flow for determining whether objects can be stacked and creating work instruction data based on the determination result. First, the server 10 obtains the density and center of gravity of the first object O1 and the second object O2 calculated by the process shown in Figure 10 (step S201). Then, the server 10 uses the determination criteria to determine whether it is possible to stack the second object O2 on top of the first object O1 (step S202). If stacking is possible (step S202, YES), the second object O2 is sorted into the "stacked group" (step S203). On the other hand, if stacking is not possible (step S202, NO), the second object O2 is sorted into the "flat stacking group" (step S204).

[0069] Then, when the second object O2 is sorted into a "flat stacking group" or a "stacked group," the server 10 rewrites the management information stored in the WMS 20 before sorting (step S205). After that, the server 10 receives the rewritten management information transmitted from the WMS 20 (step S206) and creates work instruction data based on the sorting group (step S207). If the stacking position of the second object O2 relative to the first object O1 has been determined, the server 10 creates work instruction data including the stacking position and outputs it to the forklift 30 that will perform the work (step S208). The forklift 30 can either flat stack the second object O2 or stack it on top of the first object O1 according to the work instruction data (step S209).

[0070] In typical forklift operations, operators determine whether stacking is possible based on information about the items being handled and their visually observed appearance. In contrast, forklift operations using remote control systems determine the stacking order of the items based on the top width, top shape, and weight of the items being handled, as acquired by cameras and weight sensors installed on the forklift.

[0071] However, with autonomously controlled forklifts, there is no operator present, making it impossible for an operator to make decisions regarding stacking. Furthermore, when stacking is determined solely based on the external appearance of the cargo, as in remote-controlled systems, the risk of cargo collapse or crushing cannot be eliminated if stacking is performed without knowing the overall center of gravity of the pallet or the density of the cargo.

[0072] In contrast, the embodiment allows for automatic determination of stacking feasibility, safety assessment, and stacking execution, expanding the range of applications for autonomously controlled forklifts and enabling further improvements in warehouse storage efficiency. Furthermore, the embodiment determines stacking feasibility based on the center of gravity calculated from the weight distribution in two mutually orthogonal directions and the density. By generating a work plan for autonomously controlled forklifts that takes into account a more accurate weight distribution in this way, it is possible to prevent the handling of goods from becoming unstable and thus prevent damage to the goods.

[0073] Other Embodiments In the above embodiment, when determining the center of gravity of an object, the weight distribution of the object in two mutually orthogonal directions was considered. As another example, by attaching multiple load sensors to the fork A3, the center of gravity of an object can be determined considering the load distribution and used to generate work data. Figures 12 and 13 illustrate the relationship between the load distribution and the center of gravity when a fork A3 equipped with multiple load sensors A4 is inserted into the insertion hole Px of a pallet P0.

[0074] As shown in Figure 12, multiple load sensors A4 are provided on each of the two forks A3. The load sensors A4 may be, for example, load cells. Based on the detection values ​​of each of the multiple load sensors A4, the weight distribution of the object O can be detected. For example, as shown in Figure 12, by inserting the fork A3 into the insertion hole Px along one direction (x direction) of the pallet P0 up to the base of the fork A3, the load distribution can be measured from the output of each load sensor A4. Based on this load distribution, the horizontal center of gravity C can be calculated.

[0075] Furthermore, as shown in Figure 13, even if the fork A3 cannot be inserted all the way into the pallet P0, the presence of multiple load sensors A4 makes it possible to measure the weight imbalance of the object O.

[0076] In the examples described above, the program includes a set of instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more of the functions described in the embodiments. The program may be stored on a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include RAM, read-only memory (ROM), flash memory, SSD or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include, a temporary computer-readable medium or a communication medium that includes an electrical, optical, acoustic or other form of propagating signal.

[0077] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure can be made as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0078] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments, rather than being associated with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps described in any of the drawings may be changed as appropriate.

[0079] Some or all of the above embodiments may also be described as follows, but are not limited to the following:

[0080] (Note A1) An information processing device comprising: an acquisition unit that acquires the center of gravity position of the first object and the center of gravity position of the second object, respectively, calculated based on the density of the first object and the density of the second object and the weight distribution in two mutually orthogonal directions; a determination unit that uses a determination criterion to determine whether or not the second object can be stacked on the first object based on the density of the first object and the density of the second object and the center of gravity position of the first object and the center of gravity position of the second object; a creation unit that creates work instruction data for stacking the second object on the first object based on the determination; and an output unit that outputs the work instruction data to a work body that performs the stacking work. (Note A2) The information processing device according to Note A1, further comprising a determination unit that uses the center of gravity position to determine the stacking position of the second object relative to the first object, wherein the creation unit creates work instruction data including the stacking position of the second object relative to the first object. (Note A3) The workpiece is a forklift, and the center of gravity is calculated from the weight distribution when the forks of the forklift are inserted into the first object and the second object from a first direction and a second direction perpendicular to the first direction, respectively, and the first object and the second object are loaded onto the forks, as described in Note A1.

[0081] (Appendix B1) An information processing system comprising: an acquisition unit that acquires the center of gravity position of the first object and the center of gravity position of the second object, respectively, calculated based on the density of the first object and the density of the second object and the weight distribution in two mutually orthogonal directions; a determination unit that uses a determination criterion to determine whether or not the second object can be stacked on the first object based on the density of the first object and the density of the second object and the center of gravity position of the first object and the center of gravity position of the second object; a creation unit that creates work instruction data for stacking the second object on the first object based on the determination; and an output unit that outputs the work instruction data to a work body that performs the stacking work.

[0082] (Note C1) An information processing method comprising: a computer that performs the following steps: a process of obtaining the center of gravity position of the first object and the center of gravity position of the second object, respectively, calculated based on the density of the first object and the density of the second object and the weight distribution in two mutually orthogonal directions; a process of determining whether the second object can be stacked on the first object, based on the density of the first object and the density of the second object and the center of gravity position of the first object and the center of gravity position of the second object, using a determination criterion; a process of creating work instruction data for stacking the second object on the first object based on the determination; and a process of outputting the work instruction data to a work body that performs the stacking work.

[0083] (Note D1) A program that causes a computer to perform the following steps: a process of obtaining the center of gravity of the first object and the center of gravity of the second object, respectively, calculated based on the density of the first object and the density of the second object and the weight distribution in two mutually orthogonal directions; a process of determining whether the second object can be stacked on the first object, based on the density of the first object and the density of the second object and the center of gravity of the first object and the center of gravity of the second object, using a determination criterion; a process of creating work instruction data for stacking the second object on the first object based on the determination; and a process of outputting the work instruction data to a workpiece that performs the stacking work.

[0084] Some or all of the elements (e.g., configuration and function) described in Appendices A2 to A3 that are dependent on Appendice A1 (device) may also be dependent on Appendices B1 (system), C1 (method), and D1 (program) in the same way as Appendices A2 to A3. Some or all of the elements described in any appendice may be applicable to various hardware, software, recording means for recording software, systems, and methods.

[0085] This application claims priority based on Japanese Patent Application No. 2025-057089, filed on 28 March 2025, and incorporates all of its disclosures herein.

[0086] 1 Information Processing Device 2 Acquisition Unit 3 Judgment Unit 4 Creation Unit 5 Output Unit 10 Server 11 Storage Unit 111 Program 112 Measurement Information DB 113 Judgment Criteria DB 12 Memory 13 Communication Unit 14 Control Unit 141 Acquisition Unit 142 Judgment Unit 143 Determination Unit 144 Creation Unit 145 Output Unit 20 WMS 30 Forklift 31 Weight Detection Unit 32 Imaging Unit 33 Storage Unit 34 Memory 35 Communication Unit 36 ​​Control Unit 361 Measurement Control Unit 362 Transmission Control Unit 100 Information Processing System 101 Information Processing System 102 Acquisition Unit 103 Judgment Unit 104 Creation Unit 105 Output Unit A1 Main Unit A2 Lift Unit A3 Fork A4 Weight Sensor P0 Pallet P1 Bottom plate member Px Insertion hole Py Insertion hole T1 First load T2 Second load O1 First object O2 Second object O Object C Center of gravity

Claims

1. An information processing device comprising: an acquisition unit that acquires the center of gravity position of the first object and the center of gravity position of the second object, calculated based on the density of the first object, the density of the second object, and the weight distribution in two mutually orthogonal directions; a determination unit that uses a determination criterion to determine whether or not the second object can be stacked on the first object, based on the density of the first object, the density of the second object, the center of gravity position of the first object, and the center of gravity position of the second object; a creation unit that creates work instruction data for stacking the second object on the first object based on the determination; and an output unit that outputs the work instruction data to a work body that performs the stacking work.

2. The information processing apparatus according to claim 1, further comprising a determination unit that determines the stacking position of the second object relative to the first object using the center of gravity position, wherein the creation unit creates work instruction data including the stacking position of the second object relative to the first object.

3. The workpiece is a forklift, and the center of gravity of the first object and the center of gravity of the second object are calculated from the weight distribution when the forks of the forklift are inserted into the first object and the second object respectively from a first direction and a second direction perpendicular to the first direction, and the first object or the second object is loaded onto the forks, as described in claim 1.

4. An information processing system comprising: an acquisition unit that acquires the center of gravity position of the first object and the center of gravity position of the second object, respectively, calculated based on the density of the first object, the density of the second object, and the weight distribution in two mutually orthogonal directions; a determination unit that uses a determination criterion to determine whether or not the second object can be stacked on the first object, based on the density of the first object, the density of the second object, the center of gravity position of the first object, and the center of gravity position of the second object; a creation unit that creates work instruction data for stacking the second object on the first object based on the determination; and an output unit that outputs the work instruction data to a work body that performs the stacking work.

5. An information processing method comprising: a computer performing the following steps: acquiring the center of gravity of the first object and the center of gravity of the second object, respectively, calculated based on the density of the first object, the density of the second object, and the weight distribution in two mutually orthogonal directions; a judgment criterion to determine whether the second object can be stacked on the first object based on the density of the first object, the density of the second object, the center of gravity of the first object, and the center of gravity of the second object; creating work instruction data for stacking the second object on the first object based on the judgment; and outputting the work instruction data to a work unit that performs the stacking work.

6. The information processing method according to claim 5, wherein the computer further performs a process to determine the stacking position of the second object relative to the first object using the center of gravity position, and creates work instruction data including the stacking position of the second object relative to the first object.

7. The information processing method according to claim 5, wherein the workpiece is a forklift, and the center of gravity of the first object and the center of gravity of the second object are calculated from the weight distribution when the forks of the forklift are inserted into the first object and the second object respectively from a first direction and a second direction perpendicular to the first direction, and the first object or the second object is loaded onto the forks.

8. A program that causes a computer to perform the following steps:

8. A process to obtain the center of gravity of the first object and the center of gravity of the second object, respectively, calculated based on the density of the first object and the density of the second object and the weight distribution in two mutually orthogonal directions; a process to determine whether the second object can be stacked on the first object, based on the density of the first object and the density of the second object and the center of gravity of the first object and the center of gravity of the second object, using a judgment criterion; a process to create work instruction data for stacking the second object on the first object based on the determination; and a process to output the work instruction data to a workpiece that performs the stacking work.

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