Article loading facility

Patent metadata

Field	Value
Publication number	US-11833665-B2
Application number	US-201917293646-A
Country	US
Kind code	B2
Filing date	Nov 12, 2019
Priority date	Nov 14, 2018
Publication date	Dec 5, 2023
Grant date	Dec 5, 2023

Abstract

A control unit executes first loading control if it is determined that a loaded article is not present above a loading surface region based on captured image information, and second loading control if it is determined that it is uncertain whether the loaded article is not present above the loading surface region based on the captured image information. The first loading control causing a holding unit to release a target article when the target article is directly above the loading surface region and the lower surface of the target article is higher than the upper surface of the loading surface region by a first specified distance, and the second loading control causing the holding unit to release the target article when the target article is directly above the loading surface region and the lower surface of the target article is higher, by a second specified distance, than a specified height.

First claim

The invention claimed is:

1. An article loading facility comprising:
a loading operation unit configured to place a plurality of articles on a support; and
a control unit configured to control the loading operation unit,
the loading operation unit including a holding unit configured to hold upper portions of the articles, and
wherein
the control unit controls the loading operation unit so as to place the articles on the support in accordance with arrangement information that indicates an orientation and a position on the support for each of the articles,
the article loading facility further comprises an image capturing device that is disposed above the support and is configured to capture an image of the support and a loaded article, the loaded article being an article that has been placed on the support,
the control unit executes setting control for setting a loading surface region on which a target article among the articles is to be placed on an upper surface of the support or an upper surface of the loaded article, a first loading control that is executed if it was determined that the loaded article is not present above the loading surface region based on captured image information obtained by the image capturing device, and a second loading control that is executed if it was determined that it is uncertain whether the loaded article is not present above the loading surface region based on the captured image information,
the first loading control is a control for placing the target article on the support by causing the holding unit to release the target article at a position at which the target article is directly above the loading surface region and a lower surface of the target article is higher than the upper surface of the loading surface region by a first specified distance, and
the second loading control is a control for placing the target article on the support by causing the holding unit to release the target article at a position at which the target article is directly above the loading surface region and the lower surface of the target article is higher, by a second specified distance, than a height at which it is uncertain whether the loaded article is not present in the loading surface region.

2. The article loading facility according to claim 1 ,
wherein if a portion of the loading surface region is not included in the captured image information due to the portion of the loading surface region being in a blind spot of the image capturing device, then the control unit determines that it is uncertain whether the loaded article is not present in the loading surface region.

3. The article loading facility according to claim 2 ,
wherein in a case where the portion of the loading surface region is not included in the captured image information due to the portion of the loading surface region being in the blind spot of the image capturing device, if an edge portion of an upper surface of a blind-spot-forming article, which is the loaded article that forms the blind spot, is included in the captured image information and the edge portion of the upper surface of the blind-spot-forming article matches the position of the corresponding article in the arrangement information, then the control unit determines that the loaded article is not present above the loading surface region.

4. The article loading facility according to claim 2 ,
wherein, based on captured image information obtained by the image capturing device at a time that is after the target article that is one of the articles was placed on the support and is before a subsequent article after the target article is placed on the support, the control unit executes appropriateness determination control for determining whether or not the position of the target article that was placed on the support is appropriate with respect to the position indicated in the arrangement information, and stores a result of the appropriateness determination control, and
wherein in a case where the portion of the loading surface region is not included in the captured image information due to the portion of the loading surface region being in the blind spot of the image capturing device, if it was determined that the position of a surrounding article, which is the loaded article that is present around the loading surface region, is appropriate in the appropriateness determination control, then the control unit determines that the loaded article is not present above the loading surface region.

5. The article loading facility according to claim 3 ,
wherein, based on captured image information obtained by the image capturing device at a time that is after the target article that is one of the articles was placed on the support and is before a subsequent article after the target article is placed on the support, the control unit executes appropriateness determination control for determining whether or not the position of the target article that was placed on the support is appropriate with respect to the position indicated in the arrangement information, and stores a result of the appropriateness determination control, and
wherein in a case where the portion of the loading surface region is not included in the captured image information due to the portion of the loading surface region being in the blind spot of the image capturing device, if it was determined that the position of a surrounding article, which is the loaded article that is present around the loading surface region, is appropriate in the appropriateness determination control, then the control unit determines that the loaded article is not present above the loading surface region.

Assignees

• Daifuku Kk

Inventors

• Morikubo Mitsuo
• Tai Yoshikazu
• Gondoh Takuya
• Iwai Masami
• Minoo Atsushi
• Sugano Shigeru

Classifications

• B25J13/08 Primary

  by means of sensing devices, e.g. viewing or touching devices · CPC title

• B65G47/905

  Control arrangements · CPC title

• B65G47/917 Primary

  control arrangements · CPC title

• B65G57/04

  by suction or magnetic devices · CPC title

• B65G61/00

  Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for · CPC title