JP2021080067A - Cargo handling control device and cargo handling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cargo handling control device capable of preventing a decrease in the efficiency of cargo handling work of a cargo handling device, and a cargo handling system. According to an embodiment, a cargo handling control device includes an interface and a control unit. The interface transmits and receives signals to and from a cargo handling device including a suction unit and a moving device for moving the suction unit. The control unit sucks the upper surface of the labeled luggage by the suction unit, and when the luggage sucked by the suction unit is moved by the moving device, the weight of the luggage and the luggage The presence or absence of peeling of the label is determined based on at least one of the height dimension of the label and the pressure value in the suction portion, and when it is determined that the label is peeled off, a warning signal is sent to the cargo handling device via the interface. To send. [Selection diagram] Fig. 1

Description

Embodiments of the present invention relate to a cargo handling control device and a cargo handling system.

Conventionally, a cargo handling device that handles cargo between a container and a conveyor has been known. The cargo handling device moves the cargo to the conveyor after holding the cargo in the container by sucking it one by one, and unloads the cargo to the conveyor by releasing the suction of the cargo on the conveyor.

JP-A-2018-149497

An object to be solved by the present invention is to provide a cargo handling control device and a cargo handling system capable of preventing a decrease in the efficiency of cargo handling work of the cargo handling device.

According to the embodiment, the cargo handling control device includes an interface and a control unit. The interface transmits and receives signals to and from a cargo handling device including a suction unit and a moving device for moving the suction unit. The control unit sucks the upper surface of the labeled luggage by the suction unit, and when the luggage sucked by the suction unit is moved by the moving device, the weight of the luggage and the luggage The presence or absence of peeling of the label is determined based on at least one of the height dimension of the label and the pressure value in the suction portion, and when it is determined that the label is peeled off, a warning signal is sent to the cargo handling device via the interface. To send.

The plan view which shows the structure of the transport device which comprises the cargo handling device which concerns on one Embodiment. The side view which shows the structure of the transport device in a partial cross section. The block diagram which shows the structure of the cargo handling apparatus. The flow chart which shows an example of the operation of the cargo handling apparatus. The flow chart which shows an example of the operation of the cargo handling apparatus in a normal mode. The side view which shows the structure of the transport device in a partial cross section. A flow chart showing an example of operation in the label peeling countermeasure mode of the cargo handling device. The side view which shows the structure of the modification of the transfer device in a partial cross section. The flow chart which shows an example of the operation in the normal mode of the modification of the cargo handling apparatus. The flow chart which shows an example of the operation in the label peeling prevention mode of the modification of the cargo handling apparatus.

The cargo handling system 10 according to the embodiment will be described with reference to FIGS. 1 to 6. FIG. 1 is a plan view showing a configuration of a transport device 1 including a cargo handling system 10. FIG. 2 is a side view showing the configuration of the transport device 1 in a partial cross section. FIG. 3 is a block diagram showing the configuration of the cargo handling system 10. FIG. 4 is a flow chart showing an example of the operation of the cargo handling system 10. FIG. 5 is a flow chart showing an example of the operation of the cargo handling system 10 in the normal mode. FIG. 6 is a side view showing the configuration of the transport device 1 in a partial cross section. FIG. 7 is a flow chart showing an example of the operation of the cargo handling system 10 in the label peeling countermeasure mode.

As shown in FIGS. 1 and 2, the transport device 1 includes a cargo handling system 10 and a transport unit 100. For example, the transport device 1 unloads a plurality of packages 6 in the container 5 one by one by the cargo handling system 10 to the transport unit 100, and the transport unit 100 transports the packages 6 to the transport destination. The transport unit 100 is, for example, a conveyor.

In the present embodiment, the cargo handling system 10 unloads the cargo 6 from the container 5 to the transport unit 100 as an example of cargo handling. However, the cargo handling by the cargo handling system 10 is not limited to unloading from the container 5 to the transport unit 100. In another example, the cargo handling system 10 may be configured to load the cargo 6 from the transport unit 100 into the container 5.

Here, the container 5 has an opening 5a at the upper portion, and is configured to be capable of storing a plurality of luggage 6 inside. Luggage 6 is taken in and out of the container 5 through the opening 5a. The container 5 is arranged, for example, in the vicinity of the moving device 30 of the cargo handling system 10.

A label 7 is affixed to a part of the outer surface of the luggage 6. The label 7 has characters and barcodes indicating information such as the destination of the package 6. Further, the label 7 has an adhesive layer made of, for example, an adhesive or double-sided tape.

As shown in FIGS. 1 to 3, the cargo handling system 10 includes a cargo handling device 11 and a cargo handling control device 90.

The cargo handling device 11 includes a suction device 20, a moving device 30, a weight detecting device 40, a luggage detecting device 50, a height detecting device 60, an operation unit 70, and a warning device 80.

The cargo handling system 10 holds the load 6 in the container 5 by being sucked by the suction unit 21 of the suction device 20 and moves to the transport unit 100 by the moving device 30 to release the suction of the load 6 by the suction unit 21. As a result, the luggage 6 is unloaded to the transport unit 100.

The suction device 20 is connected to an interface 92 described later of the cargo handling control device 90. The suction device 20 is controlled by the control unit 93 of the cargo handling control device 90. The suction device 20 includes, for example, one or more suction units 21 and a pressure reducing device 22 for reducing the pressure in the suction unit 21.
The suction portion 21 is formed in a tubular shape having one end opened, for example. The suction portion 21 is formed of a resin material such as rubber. The suction unit 21 sucks and holds the luggage 6 by reducing the internal pressure by the pressure reducing device 22 to make it a negative pressure while the opening is closed by the luggage 6.

The decompression device 22 includes, for example, a pump 22a, a pipe 22b that fluidly connects the pump 22a and the suction portion 21, and an electromagnetic valve 22c provided in the pipe 22b. The solenoid valve 22c is configured so that the pipe 22b can be opened to the atmosphere by opening. When the pump 22a is driven and the solenoid valve 22c is closed, the pressure inside the suction portion 21 is reduced. As a result, the luggage 6 is sucked by the suction unit 21, and the luggage 6 can be held. When the drive of the pump 22a is stopped and the solenoid valve 22c is opened, the pressure inside the suction portion 21 becomes atmospheric pressure. As a result, the suction unit 21 can release the holding of the luggage 6.

The moving device 30 is connected to the interface 92 of the cargo handling control device 90. The mobile device 30 is controlled by the control unit 93. The moving device 30 has, for example, a robot arm composed of an articulated robot. In the moving device 30, for example, the suction portion 21 is fixed to the tip of the robot arm via the weight detecting device 40.

The moving device 30 moves the suction unit 21 and the luggage 6 held by the suction unit 21 by controlling the robot arm. Depending on the configuration of the robot arm, the moving device 30 may not be able to move the suction unit 21 to a part of the area inside the container 5, but the suction part 21 can be moved to most of the area inside the container 5. It is composed.

The weight detection device 40 is connected to the interface 92 of the cargo handling control device 90. The weight detection device 40 is controlled by the control unit 93. The weight detection device 40 is, for example, a force sensor. The weight detecting device 40 is provided, for example, between the suction unit 21 and the moving device 30. The weight detection device 40 transmits a signal corresponding to the weight of the material adsorbed by the adsorption unit 21 to the control unit 93.

The luggage detection device 50 is connected to the interface 92 of the cargo handling control device 90. The baggage detection device 50 is controlled by the control unit 93. The baggage detection device 50 is configured to be able to detect information that allows the control unit 93 to detect the position of the baggage 6 in the container 5. Further, the baggage detection device 50 is configured to be able to detect information that allows the control unit 93 to determine whether or not the label 7 is on the upper surface 6a of the baggage 6 in the container 5. Further, the baggage detection device 50 is configured to be able to detect information that the control unit 93 can detect the height position of the upper surface 6a of the baggage 6 in the container 5. The baggage detection device 50 transmits the detection result to the control unit 93. The baggage detection device 50 is, for example, a 3D camera that photographs the inside of the container 5 from above. The baggage detection device 50 is provided above, for example, an arrangement portion 8 in which the container 5 is arranged.

The height detection device 60 is connected to the interface 92 of the cargo handling control device 90. The height detection device 60 is controlled by the control unit 93. The height detection device 60 is configured so that the control unit 93 can detect information capable of detecting the height dimension of the material adsorbed by the adsorption unit 21. The height detection device 60 transmits the detection result to the control unit 93.

The height detecting device 60 is configured to be able to detect, for example, that the luggage 6 moving upward by the moving device 30 has passed the predetermined height position. The predetermined height position referred to here is a position higher than the upper end of the container 5. The information that the cargo 6 has passed the predetermined height position is an example of the information required for detecting the height dimension of the luggage 6.

When it is detected that the luggage 6 has passed the predetermined height, the height position of the bottom 6b of the luggage 6 becomes the predetermined height position. The height position of the upper surface 6a of the luggage 6 is obtained from the coordinates of the tip of the robot arm of the moving device 30. Then, these differences become the height dimension of the luggage 6.

The height detecting device 60 is provided in the vicinity of the moving device 30, for example, as shown in FIG. The height detection device 60 includes, for example, an LRF (Laser Range Finder) 61 and an elevating device 62 that supports the LRF 61 so as to be movable upward and downward. The LRF61 irradiates the laser in the horizontal direction. It is detected that the luggage 6 has passed the predetermined height position based on the presence or absence of reflection of the irradiated laser.

The elevating device 62 is configured to be able to move the position of the LRF 61 between, for example, a position on or near the floor of a warehouse or the like where the cargo handling device 11 is installed, and a predetermined position above the upper end of the container 5. When a plurality of types of containers 5 having different heights are used, the elevating device 62 is configured to move the LRF 61 to a position higher than the upper end of each of the plurality of types of containers 5.

The operation unit 70 is configured to be operable by an operator. The operation unit 70 is provided, for example, in a housing that constitutes the outer shell of the cargo handling control device 90. The operation unit 70 is connected to the interface 92. The operation unit 70 is configured to be able to input data required for processing of the control unit 93, which will be described later, of the cargo handling control device 90. Further, the operation unit 70 is configured to be able to input a command for selecting an operation mode. The operation unit 70 transmits a signal corresponding to the selected operation mode to the cargo handling control device 90. The operation mode includes, for example, a normal mode and a label peeling countermeasure mode.

The warning device 80 is configured to enable warning to the surroundings. The warning device 80 is, for example, a speaker or a lamp.

The cargo handling control device 90 includes a storage unit 91, a control unit 93, and an interface 92.
The storage unit 91 is configured to be able to store an image taken by the baggage detection device 50. Further, the storage unit 91 stores the data required for the processing of the control unit 93. Examples of the data required for the processing of the control unit 93 include a peeling determination threshold value used for determining the presence or absence of peeling of the label 7, and a mode selection threshold value used for determining the peeling countermeasure mode.

The peeling determination threshold value includes a first threshold value compared with the weight of the object adsorbed on the adsorption unit 21, and a second threshold value compared with the height dimension of the object adsorbed on the adsorption unit 21. The first threshold value is, for example, a value smaller than the assumed weight of the luggage 6. The second threshold value is, for example, a value smaller than the assumed height dimension of the luggage 6. The mode selection threshold value is, for example, a value at which it can be estimated that the label 7 of the luggage 6 in the container 5 is easily peeled off.

Further, the storage unit 91 stores a program for operating the suction device 20 and the moving device 30. The program includes a program for controlling the suction device 20 and the moving device 30 in the normal mode, and a program for controlling the suction device 20 and the moving device 30 in the label peeling countermeasure mode.

The normal mode is a mode in which the load 6 is stably sucked by the suction unit 21. Stable suction here means that the load 6 is sucked by the suction section 21 while ensuring a sufficient suction force so that the load 6 does not fall from the suction section 21. Adsorption that stabilizes the posture. In the normal mode, the suction unit 21 sucks the upper surface 6a at a position where, for example, the center of the opening 21a of the suction unit 21 faces the center of the upper surface 6a of the luggage 6 in the vertical direction. Therefore, in the normal mode, when the label 7 is provided on the upper surface 6a, the suction unit 21 sucks the label 7. Alternatively, the suction unit 21 sucks the label 7 and the upper surface 6a across the label 7.

The label peeling countermeasure mode is a mode for preventing the label 7 from peeling as compared with the normal mode. The label peeling countermeasure mode includes, for example, a step of pushing the label 7 into the luggage 6. By this step, the label 7 is pressed against the upper surface 6a of the luggage 6, so that the fixing force of the label 7 to the upper surface 6a is improved.

The interface 92 is connected to a suction device 20, a moving device 30, a weight detecting device 40, a luggage detecting device 50, a height detecting device 60, an operation unit 70, and a warning device 80.

The control unit 93 controls the suction device 20, the moving device 30, the baggage detection device 50, the height detection device 60, and the warning device 80 according to the program stored in the storage unit 91. The control unit 93 compares the number of label peeling determinations and the mode selection threshold value stored in the storage unit 91, and if the label peeling determination number is equal to or greater than the mode selection threshold value, the unloading operation mode. Select the label peeling prevention mode as. Further, when the label peeling countermeasure mode is selected by the operation unit 70, the control unit 93 selects the label peeling countermeasure mode.

Further, when the control unit 93 determines that the number of times the label peeling is determined is less than the mode selection threshold value and the label peeling countermeasure mode is not selected by the operation unit 70, the control unit 93 selects the normal mode as the unloading mode. ..

The transport unit 100 is configured to be able to transport the load 6 unloaded by the cargo handling device 11 to a predetermined transport destination. The transport unit 100 is, for example, a belt conveyor.

Next, an example of the operation of the cargo handling system 10 will be described.
When, for example, the power of the cargo handling device 11 is turned on, or when the power is already turned on and a restart command is received from the operation unit 70, the control unit 93 normally sets the unloading operation mode. Select the mode or label peeling prevention mode. For example, when the operation of the cargo handling device 11 is stopped due to the unloading of all the cargo 6 in one container 5, the operator restarts by installing another container 5 and operating the operation unit 70. Enter the command of.

As shown in FIG. 4, the control unit 93 compares, for example, the number of label peeling determinations and the mode selection threshold value stored in the storage unit 91 (step ST1). When the control unit 93 determines that the number of times the label peeling is determined is equal to or greater than the mode selection threshold value (YES in step ST1), the control unit 93 selects the label peeling countermeasure mode (step ST5). Alternatively, the control unit 93 determines whether or not the label peeling countermeasure mode is selected from the operation unit 70 (step ST2). When the control unit 93 determines that the label peeling countermeasure mode is selected by the operation unit 70 (YES in step ST2), the control unit 93 selects the label peeling countermeasure mode (step ST5).

When the control unit 93 determines that the number of times the label peeling is determined is less than the mode selection threshold value (NO in step ST1) and the operation unit 70 does not select the label peeling countermeasure mode (NO in step ST2). , Select the normal mode (step ST3).

Next, an example of the operation of the cargo handling system 10 in the normal mode will be described.
As shown in FIG. 5, the control unit 93 first drives the elevating device 62 of the height detection device 60 to adjust the LRF 61 to the height corresponding to the container 5 (step ST31). Specifically, the control unit 93 moves the LRF61 to a position where the height position measured by the LRF61 is higher than the upper end of the container 5.

Next, the control unit 93 drives the baggage detection device 50 to photograph the inside of the container 5, detects the position of the baggage 6 in the container 5, and is the label 7 provided on the upper surface 6a of the baggage 6? It is determined whether or not (step ST32).

Specifically, the control unit 93 first drives the baggage detection device 50 to take a picture of the inside of the container 5. The image taken by the baggage detection device 50 is stored in the storage unit 91. Next, the control unit 93 detects the position of the luggage 6 in the container 5 and the height position of the upper surface 6a of the luggage 6 based on the image taken by the luggage detection device 50. Next, the control unit 93 determines whether or not the label 7 is on the upper surface 6a of the luggage 6 in the container 5 based on the image taken by the luggage detection device 50.

Next, the control unit 93 determines whether or not there is a baggage 6 in the container 5, and also determines whether or not there is a baggage that can be held in the container 5 (step ST33). Here, the holdable luggage 6 is a luggage that can suck the upper surface 6a by the suction portion 21 in the container 5. For example, when a region in the container 5 in which the suction unit 21 cannot be moved by the moving device 30, the luggage 6 in this region becomes a luggage that cannot be sucked by the suction unit 21.

When the control unit 93 determines that there is no luggage 6 in the container 5 or that there is no luggage 6 that can be adsorbed by the suction unit 21 in the container 5 (YES in step ST33), the control unit 93 unloads the cargo by the cargo handling device 11. To finish. Further, the control unit 93 sets the information of the number of times of determination of the peeling of the label 7 stored in the storage unit 91 to 0 times. Further, the control unit 93 resets the unloading operation mode. Then, when the device is restarted next time, the unloading mode is determined again in steps ST1 to ST5.

When the control unit 93 determines that there is a load 6 that can be sucked by the suction unit 21 in the container 5 (NO in step ST33), the image captured by the baggage detection device 50 in step ST2 and stored in the storage unit 91 is displayed. Based on this, the load 6 to be held, that is, to be sucked is determined (step ST34). The control unit 93 determines the load 6 to be sucked according to the preset standard of the load to be held. Here, the preset reference is, for example, the luggage 6 having the highest height position of the upper surface 6a among the plurality of luggages 6 in the container 5.

Next, the control unit 93 determines whether or not the label 7 is on the upper surface 6a of the load 6 determined to be the suction target (step ST35). Specifically, the control unit 93 determines whether or not the label 7 is present on the upper surface 6a of the load 6 determined to be the suction target, based on the determination of the presence or absence of the label 7 in step ST32.

When the control unit 93 determines that the upper surface 6a of the load 6 determined to be the suction target does not have the label 7 (NO in step ST35), the control unit 93 sucks the upper surface 6a of the load 6 by the suction unit 21 (step ST36). Specifically, the control unit 93 drives the moving device 30 based on the horizontal position and the vertical position of the upper surface 6a of the luggage 6 in the container 5, and opens the opening of the suction unit 21 of the luggage 6. By arranging it on the upper surface 6a and driving the suction device 20 to reduce the pressure inside the suction unit 21, the suction unit 21 sucks the upper surface 6a of the luggage 6.

At this time, the control unit 93 sets the suction position of the upper surface 6a by the suction unit 21 to a position where the luggage 6 can be stably held. For example, the control unit 93 sets a position where the center of the opening 21a of the suction unit 21 faces the center of the upper surface 6a of the luggage 6 in the vertical direction at the suction position of the upper surface 6a by the suction unit 21.

Next, the control unit 93 drives the moving device 30 to transport the load 6 to the transport unit 100 (step ST37). When the load 6 is transported to the transfer unit 100, the control unit 93 controls the decompression device 22 to release the suction of the load 6 by the suction unit 21 and release the load 6 (step ST38). The package 6 whose suction has been released is transported to the destination by the transport unit 100.

When the control unit 93 releases the load 6 on the transport unit 100, the control unit 93 returns to step ST32.

When the control unit 93 determines that the label 7 is present on the upper surface 6a of the load 6 determined to be the suction target (YES in step ST35), the control unit 93 sucks as shown in FIG. 6 in order to detect the height dimension of the load 6. The device 20 and the moving device 30 are driven to move the baggage 6 upward until the bottom 6b of the baggage 6 exceeds the height position measured by the LRF 61 in the vertical direction (step ST39).

Specifically, the control unit 93 drives the moving device 30 based on the horizontal position and the vertical position of the upper surface 6a of the luggage 6 in the container 5, and opens the opening of the suction unit 21 of the luggage 6. By arranging it on the upper surface 6a and driving the suction device 20 to reduce the pressure inside the suction unit 21, the suction unit 21 sucks the upper surface 6a of the luggage 6.

At this time, the control unit 93 sets the suction position of the upper surface 6a by the suction unit 21 to a position where the luggage 6 can be stably held regardless of the position of the label 7 on the upper surface 6a. For example, the control unit 93 sets a position where the center of the opening 21a of the suction unit 21 faces the center of the upper surface 6a of the luggage 6 in the vertical direction at the suction position of the upper surface 6a by the suction unit 21. Next, the control unit 93 drives the moving device 30 to move the luggage 6 upward.

Then, the control unit 93 stops the moving device 30 when the bottom 6b of the luggage 6 exceeds the height position measured by the LRF 61 based on the detection result of the LRF 91. Next, the control unit 93 obtains the height position of the upper surface 6a of the luggage 6 from the coordinates of the suction unit 21. Next, the control unit 93 obtains a value obtained by subtracting the measured height position of the LRF 61 from the height position of the upper surface 6a. This subtracted value becomes the height dimension of the luggage 6. The control unit 93 detects the height dimension of the luggage 6 by these.

Next, the control unit 93 detects the weight of the luggage 6 based on the signal from the weight detecting device 40 (step ST40).

Next, the control unit 93 determines whether or not the label 7 is peeled off (step ST41). In order to determine whether or not the label 7 is peeled off, the control unit 93 determines, as an example, whether or not at least one of the first condition and the second condition is satisfied. The control unit 93 determines that the label 7 has been peeled off when at least one of the first condition and the second condition is satisfied.

The first condition is that the weight of what is adsorbed on the adsorption unit 21 is equal to or less than the first threshold value for determining the peeling of the label 7. The second condition is whether the height dimension of the material adsorbed on the adsorption unit 21 is equal to or less than the second threshold value for determining the peeling of the label 7.

At the time of determining the load 6 to be held, the label 7 is attached to the upper surface 6a of the load 6, the weight of the load sucked by the suction section 21 is equal to or less than the first threshold value, and the suction section 21. By satisfying at least one of the height dimensions of the items adsorbed on the surface being equal to or less than the second threshold value, it is determined that the item adsorbed on the adsorption unit 21 is not the luggage 6 but only the label 7. it can.

The control unit 93 has the first condition and the second condition based on the height dimension of the material adsorbed on the adsorption unit 21 detected in step ST39 and the weight of the material adsorbed on the adsorption unit 21 detected in step ST40. If it is determined that none of the conditions are satisfied (NO in step ST41), the process proceeds to step ST37.

The control unit 93 has a label 7 on the upper surface 6a of the luggage 6 (YES in step ST35), has the height dimension of the material adsorbed by the suction unit 21 detected in step ST39, and the suction unit 21 detected in step ST40. If at least one of the first condition and the second condition is satisfied (YES in step ST41) based on the weight of the material adsorbed on the label 7, it is determined that the label 7 is peeled off, and the cargo handling device 11 is used. Send a warning signal.

The warning signal is at least one of a signal for stopping the moving device 30 and a signal for driving the warning device 80.

The signal to stop the moving device 30 stops the moving device 30 when the moving device 30 is moving the suction unit 21. In the present embodiment, as an example, in step ST39, the movement of the suction unit 21 by the moving device 30 is stopped. Then, even at the time of step ST42, the mobile device 30 is stopped. Therefore, by transmitting a stop signal to the mobile device 30, the state in which the mobile device 30 is stopped is maintained. The signal for driving the warning device 80 is a signal for notifying a warning. That is, the warning is notified by driving the warning device 80.

In the present embodiment, the control unit 93 transmits, for example, a signal for stopping the mobile device 30 and a signal for driving the warning device 80.

First, as an example, the control unit 93 drives the warning device 80 by transmitting a drive signal to the warning device 80 to generate an alert (step ST42). The operator or the like recognizes that the label 7 has been peeled off due to the alert by the warning device 80. Further, the operator or the like can identify the baggage 6 arranged below the suction unit 21 as the baggage 6 to which the label 7 is attached, in other words, the baggage from which the label 7 has been peeled off.

When the control unit 93 drives the warning device 80, the control unit 93 then transmits a signal to stop the mobile device 30 (step ST43). In the state where the moving device 30 is stopped, the control unit 93 maintains the state in which the label 7 is sucked by the suction unit 21.

In the above example, after the signal is transmitted to the warning device 80, the signal for stopping the driving of the mobile device 30 is transmitted, but the present invention is not limited to this. After transmitting the signal for stopping the driving of the mobile device 30, the signal may be transmitted to the warning device 80.

Next, an example of the unloading operation in the label peeling countermeasure mode will be described.

As shown in FIG. 7, the label peeling countermeasure mode has the step of step ST51 between steps ST35 and ST39 as compared with the normal mode. The other steps of the label peeling countermeasure mode are the same as those of the normal mode.

When the control unit 93 determines that the label 7 is present (YES in step ST35), the control unit 93 drives the moving device 30 to move the suction unit 21 to the suction position on the upper surface 6a of the luggage 6. Then, the control unit 93 pushes the label 7 downward by a predetermined amount by the suction unit 21 to push the label 7 against the upper surface 6a of the luggage 6 (step ST51). The suction position of the suction unit 21 is the same as the suction position in the normal mode. The pushing amount referred to here is a pushing amount that can improve the fixing force of the adhesive layer of the label 7 and the upper surface 6a.

According to the cargo handling system 10 configured in this way, the control unit 93 transmits a warning signal to the cargo handling device 11 when it is determined that the label 7 is peeled off. Therefore, since the operator can recognize that the label has peeled off, it is possible to unload the load 6 in the normal mode in which the load 6 can be stably held until the label 7 is peeled off. Therefore, it is possible to prevent a decrease in the efficiency of the unloading work.

This effect will be described. For example, in order to prevent the label 7 from peeling off, when the suction portion 21 sucks a region other than the region where the label 7 is affixed on the upper surface 6a of the luggage 6, a sufficient suction area can be secured by the suction portion 21. However, there is a risk that the luggage 6 will fall. When the luggage 6 falls, the efficiency of the unloading work decreases. Further, since it is assumed that the suction force of the suction unit 21 is not sufficiently obtained and the posture of the luggage 6 sucked by the suction unit 21 becomes unstable, the moving speed of the luggage 6 by the moving device 30 is set. It is necessary to set the speed so that the luggage 6 does not fall. Therefore, the efficiency of unloading work is reduced.

However, according to the cargo handling system 10, it is possible to prevent the efficiency of the unloading operation from being lowered by unloading in the normal mode until the label 7 is peeled off.

Further, the warning signal transmitted by the control unit 93 to the cargo handling device 11 includes at least one of a signal for stopping the moving device 30 and a signal for notifying the warning. The control unit 93 transmits a signal for driving the warning device 80 as a signal for notifying the warning. Therefore, the operator can efficiently recognize that the label 7 has been peeled off by the warning device 80.

Further, when the control unit 93 determines that the label 7 is peeled off, the control unit 93 transmits a signal for stopping the moving device 30. By stopping the moving device 30, it is possible to prevent the label 7 from being moved to the transport unit 100 and transported by the transport unit 100. Therefore, it is possible to prevent the label 7 from being lost. Further, since the label 7 is maintained in a state of being adsorbed on the suction unit 21, the label 7 is maintained in a state of being in the vicinity of the baggage 6, so that the operator can collect the peeled label 7 and collect the baggage 6. Easy to perform specific tasks. Further, by improving the efficiency of the specific work of the peeled label 7 and the luggage 6, the time for stopping the unloading work by the cargo handling device 11 can be shortened, so that it is possible to prevent the efficiency of the unloading work from being lowered.

Further, when the control unit 93 determines that the number of times the label 7 is peeled off is equal to or greater than the mode selection threshold value for one container 5, the control unit 93 controls the suction device 20 and the moving device 30 in the label peeling countermeasure mode. The load 6 is unloaded from the container 5 to the transport unit 100.

By determining that the label 7 above the mode selection threshold is peeled off for a plurality of packages 6 stored in one container 5, the label 7 is also attached to the other packages 6 remaining in the container 5. It is presumed that it is easy to peel off. However, by unloading in the label peeling countermeasure mode, peeling of the label 7 of the other luggage 6 remaining in the container 5 is prevented.

Further, when the operator visually checks the baggage in the container 5 and determines that the label 7 is easily peeled off, the operation unit 70 is operated to select the peeling prevention mode, whereby the label 7 can be peeled off. Can prevent peeling.

As described above, according to the cargo handling system 10 according to the present embodiment, the control unit 93 transmits a warning signal to the cargo handling device 11 when it is determined that the label 7 has peeled off. Therefore, the label 7 It is possible to carry out the unloading work in the normal mode until it is determined that the label is peeled off. Therefore, the efficiency of the unloading work from the container 5 of the luggage 6 to the transport unit 100 can be improved.

In the above example, when the height dimension of the luggage 6 is detected, the driving of the moving device 30 is stopped and the movement of the luggage 6 is stopped (step ST39). Then, the control unit 93 maintains the stopped state of the mobile device 30 by transmitting the stop signal of the mobile device 30 as an example of the warning signal in step ST43 while the mobile device 30 is stopped. However, it is not limited to this.

In another example, the moving device 30 does not have to be stopped when detecting the height dimension of the luggage 6. As a specific example, the control unit 93 stops the moving device 30 after moving the baggage 6 which is good for the moving device 30 upward until the bottom 6b of the baggage 6 exceeds the height position measured by the LRF 61 in the vertical direction. The luggage 6 may be transported to the transport unit 100 without this. Then, the control unit 93 detects the height dimension of the luggage 6 and the weight of the luggage 6 when the luggage 6 can be transported to the transport unit 100 by the moving device 30. Then, when the control unit 93 determines that the label 7 is peeled off, the control unit 93 transmits a signal for stopping the driving of the moving device 30 as an example of the warning signal.

Further, in the above example, the configuration in which the control unit 93 transmits a signal for stopping the moving device 30 and a signal for notifying a warning to the cargo handling device 11 when the label 7 is determined to be peeled off has been described as an example. , Not limited to this. In another example, the control unit 93 may be configured to transmit only one of a signal for stopping the mobile device 30 and a signal for notifying a warning.

Further, in the above example, in the label peeling countermeasure mode, the label 7 is pressed against the upper surface 6a of the luggage 6 by the suction portion 21 to improve the fixing force of the adhesive layer of the label 7 and the upper surface 6a, and the label 7 is removed from the luggage 6. The configuration that makes it difficult to peel off has been described as an example, but the present invention is not limited to this. In another example, in the label peeling countermeasure mode, the label 7 may be prevented from peeling by sucking the region of the upper surface 6a avoiding the label 7 by the suction portion 21.

As an example of this, as shown in FIG. 8, the suction unit 21 is configured to be deformable into a shape capable of sucking a region other than the label 7 on the upper surface 6a, and the control unit 93 sets the suction unit 21 in the label peeling countermeasure mode. By deforming, the suction portion 21 may suck the region of the upper surface 6a avoiding the label 7.

Alternatively, the suction device 20 may include a plurality of suction units 21, and the suction of each of the plurality of suction units 21 may be individually controllable. Then, in the normal mode, all the suction portions 6a are held at a position where the load 6 is stably held by the plurality of suction portions 21, for example, at a position where the centers of the plurality of suction portions 21 face the center of the upper surface 6a in the vertical direction. In the label peeling countermeasure mode, a plurality of suction portions 21 are arranged at the same positions as in the normal mode with respect to the upper surface 6a, and the suction portion 21 facing the label 7 among the plurality of suction portions 21 is not driven. The region other than the label 7 may be adsorbed with.

Further, in the above example, the configuration in which the control unit 93 transmits a drive signal to the warning device 80 when the label 7 is determined to be peeled off has been described as an example, but in another example, the load to be adsorbed is further described. The image used for the identification of 6 may be specified. Explaining the normal mode as an example, as shown in FIG. 9, a step of specifying an image (step ST52) may be provided between steps ST41 and ST42.

The specificity referred to here is to make the image searchable by the operator. For example, the baggage detection device 50 outputs image information including a photographed image and a photographing date and time, and the storage unit 91 stores the image information. When the control unit 93 determines that the label 7 has been peeled off (YES in step ST37), the control unit 93 gives a flag to the image information photographed in step ST32 and stored in the storage unit 91, and the data for the flagged image information. Overwriting or deleting the flagged image information is prohibited. Alternatively, if the control unit 93 determines that the label 7 has been peeled off (YES in step ST37), the control unit 93 may copy or move the image information captured in step ST32 and stored in the storage unit 91 to a specific folder. The specific folder may be a folder stored in the storage unit 91, or may be a folder stored in an external storage device different from the storage unit 91. From the image information to which the flag is added or the image information stored in the specific folder, the operator can confirm the baggage 6 before the label 7 is peeled off, that is, the baggage 6 in the state where the label is attached.

In this way, when it is determined that the label 7 has been peeled off by specifying the image used for identifying the baggage 6 to be adsorbed, the worker can use the baggage with the label 7 peeled off based on the identified image. 6 can be specified.

Further, in the above example, when the control unit 93 determines that the label 7 is peeled off, the control unit 93 maintains the stopped state of the mobile device 30 by transmitting a signal for stopping the mobile device 30 after driving the warning device 80. However, it is not limited to this. In another example, when the control unit 93 determines that the label 7 is peeled off, the control unit 93 drives the suction device 20 and the moving device 30 to move the label 7 to the standby place, and even if the label 7 is released at this standby place. Good. Further, the control unit 93 may release the label 7 at the waiting place, then suck and hold the baggage 6 from which the label 7 has been peeled off again, and move to the waiting place. At this time, the control unit 93 may specify the baggage 6 from which the label 7 has been peeled off based on the image stored in the storage unit 91.

Further, in the above example, the cargo handling system 10 has been described as an example of a configuration in which the label 7 is pushed by the suction unit 21 in the label peeling countermeasure mode, but the present invention is not limited to this. In another example, the package 6 having the label 7, which is presumed to be difficult to peel off, may be targeted for adsorption.

As an example of this, as shown in FIG. 10, in the label peeling countermeasure mode, the step ST34A is provided instead of the step ST34. In step ST34A, the control unit 93 determines the load 6 having the label 7 presumed to be difficult to peel off on the upper surface 6a as the suction target.

Specifically, the information of the label 7 which is hard to be peeled off is stored in the storage unit 91. The control unit 93 detects the luggage 6 having the label 7 which is hard to be peeled off from the luggage 6 in the container 5 on the upper surface 6a based on the image taken by the luggage detection device 50 and the information stored in the storage unit 91. , This baggage 6 is determined to be the target of adsorption. The label 7 that is hard to peel off is, for example, a label that is stored in a transparent bag and fixed to the upper surface 6a via the bag.

Further, in the above example, in the control unit 93, the label 7 is attached to the upper surface 6a of the luggage 6, and the weight of the product adsorbed by the adsorption unit 21 is equal to or less than the first threshold value and is adsorbed. When the height dimension of the material adsorbed on the portion 21 is equal to or less than the second threshold value, the label 7 is adsorbed on the adsorption unit 21, and the configuration in which the label 7 is determined to have been peeled off from the luggage 6 is described as an example. It was. That is, in the above example, on the premise that the label 7 is provided on the upper surface 6a of the luggage 6, the control unit 93 has the weight of the material adsorbed on the suction unit 21 and the weight of the product adsorbed on the suction unit 21. Based on the height dimension, it was determined that the label 7 was peeled off.

However, the determination of peeling of the label 7 is not limited to this. In another example, the control unit 93 may determine the peeling of the label 7 based on the weight of what is adsorbed on the adsorption unit 21 on the premise that the label 7 is provided on the upper surface 6a. If the weight of what is adsorbed on the adsorption unit 21 is equal to or less than the first threshold value, it may be determined that the label 7 is peeled off.

Alternatively, the control unit 93 may determine the peeling of the label 7 based on the height dimension of what is adsorbed on the adsorption unit 21 on the premise that the label 7 is provided on the upper surface 6a. As an example of this, the control unit 93 may determine the peeling of the label 7. If the height dimension of what is adsorbed on the portion 21 is equal to or less than the second threshold value, it may be determined that the label 7 is peeled off.

Alternatively, the control unit 93 may determine the peeling of the label 7 based on the pressure value in the suction unit 21. Specifically, the suction device 20 includes a pressure detection device that detects the pressure inside the suction unit 21. Then, the control unit 93 adsorbs a part of the upper surface 6a and a part of the label 7 by the suction unit 21. By doing so, when the label 7 is peeled off, a part of the opening 21a of the suction portion 21 is exposed, so that the pressure inside the suction portion 21 rises. The control unit 93 can determine the peeling of the label 7 by detecting the increase in the pressure.

Alternatively, the control unit 93 may label the label based on at least one of the weight of the material adsorbed on the suction unit 21, the height dimension of the material adsorbed on the suction unit 21, and the pressure value in the suction unit 21 described above. You may judge the peeling of 7. In this case, the unloading device may include at least one of a weight detecting device 40, a height detecting device 60, and a pressure detecting device.

Alternatively, the control unit 93 drives the luggage detection device 50 to photograph the surroundings of the suction unit 21 while the luggage 6 is being moved upward by the moving device 30, and based on the photographing result, the label 7 is attached. Peeling may be judged.

Alternatively, a camera is provided in the suction unit 21, and the control unit 93 drives the camera to photograph the vicinity of the suction unit 21 while the luggage 6 is being moved by the moving device 30, and is based on the captured image. The peeling of the label 7 may be detected.

Further, in the above example, the cargo handling system 10 has a normal mode and a label peeling countermeasure mode, and is configured to be able to unload the luggage 6 in either mode, but the present invention is not limited to this. In another example, the cargo handling system 10 may be configured to have only a normal mode. Alternatively, the cargo handling system 10 may be configured to have only the label peeling countermeasure mode, although the efficiency of the unloading work is reduced.

Further, in the above example, the baggage detection device 50 has a configuration capable of detecting the information required to detect the height position of the upper surface 6a of the baggage 6 in the container 5, and the control unit 93 has a signal from the baggage detection device 50. The configuration in which the height position of the upper surface 6a of the luggage 6 in the container 5 is detected and the suction portion 21 is moved to the upper surface 6a has been described as an example, but the present invention is not limited to this. In another example, the control unit 93 may determine that the suction unit 21 has come into contact with the upper surface 6a based on the signal from the weight detection device 40.

Further, in the above example, the height detecting device 60 uses the LRF 61 as an example of a configuration for detecting the information necessary for detecting the height dimension of the object adsorbed by the adsorbing unit 21, and the baggage 6 measures the height. A configuration for detecting the passage of a position has been described, but is not limited to this.

In another example, the height detection device may be a camera that captures the side surface of what is adsorbed on the adsorption unit 21. Then, the control unit 93 detects the height dimension of what is adsorbed on the adsorption unit 21 based on the image taken by this camera. Further, the height detection device 60 may be configured to detect the height dimension of the material adsorbed by the suction unit 21 and transmit the detection result to the control unit 93.

Further, in the above-mentioned example, the configuration in which the weight detecting device 40 outputs a signal corresponding to the weight of what is adsorbed by the adsorption unit 21 has been described as an example, but the present invention is not limited to this. The weight detection device 40 may be configured to detect the weight of the object adsorbed by the suction unit 21 and transmit the detection result to the control unit 93.

According to at least one embodiment described above, the efficiency of the unloading work of the luggage 6 can be improved.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

1 ... transport device, 5 ... container, 6 ... luggage, 7 ... label, 10 ... cargo handling system, 11 ... cargo handling device, 20 ... suction device, 21 ... suction part, 30 ... moving device, 40 ... weight detection device, 50 ... Luggage detection device, 60 ... Height detection device, 62 ... Lifting device, 70 ... Operation unit, 80 ... Warning device, 90 ... Cargo handling control device, 91 ... Storage unit, 92 ... Interface, 93 ... Control unit, 100 ... Transport Department.

Claims (7)

An interface for transmitting and receiving signals to a cargo handling device including a suction unit and a moving device for moving the suction unit, and
When the upper surface of the labeled luggage is adsorbed by the suction portion and the luggage sucked by the suction portion is moved by the moving device, the weight of the luggage, the height dimension of the luggage, and the like. A control unit that determines whether or not the label is peeled off based on at least one of the pressure values in the suction unit, and transmits a warning signal to the cargo handling device via the interface when it is determined that the label is peeled off. When,
Cargo handling control device equipped with. The cargo handling control device according to claim 1, wherein the warning signal includes at least one of a signal for stopping the mobile device and a signal for notifying the warning. When the control unit determines that the label is peeled off, the control unit captures an image of the inside of the container taken by a photographing device for photographing the inside of the container containing the baggage, which is used for determining the baggage to be moved by the moving device. The cargo handling control device according to claim 1, which is specified. When the number of times of determination that the label is peeled off exceeds a predetermined number of times, or when the control unit receives a predetermined signal from the cargo handling device based on a predetermined operation on the operation unit of the operator, the suction unit presses the upper surface. The cargo handling control device according to claim 1, wherein the moving device is controlled so that the upper surface is sucked by the suction portion after pushing in a predetermined amount. When the number of times the label is determined to be peeled off exceeds a predetermined number of times, or when the control unit receives a predetermined signal from the cargo handling device based on a predetermined operation on the operation unit of the operator, the control unit avoids the label on the upper surface. The cargo handling control device according to claim 1, wherein the moving device is controlled so that the label is sucked by the suction unit. The suction portion is configured to be deformable into a shape that sucks the region of the upper surface avoiding the label.
When the number of times the label is determined to be peeled off exceeds a predetermined number of times, or when a predetermined signal is received from the cargo handling device based on a predetermined operation on the operation unit of the operator, the control unit deforms the suction unit. The cargo handling control device according to claim 1, wherein the suction portion controls the suction portion so that a region on the upper surface avoiding the label is sucked by the suction portion. A cargo handling device including a suction unit and a moving device for moving the suction unit, and
An interface for transmitting and receiving signals to and from the cargo handling device,
When the upper surface of the labeled luggage is adsorbed by the suction portion and the luggage sucked by the suction portion is moved by the moving device, the weight of the luggage, the height dimension of the luggage, and the like. A control unit that determines whether or not the label is peeled off based on at least one of the pressure values in the suction unit, and transmits a warning signal to the cargo handling device via the interface when it is determined that the label is peeled off. When,
Cargo handling system equipped with.

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