US 11,833,665 B2
Article loading facility
Mitsuo Morikubo, Tokyo (JP); Yoshikazu Tai, Tokyo (JP); Takuya Gondoh, Tokyo (JP); Masami Iwai, Tokyo (JP); Atsushi Minoo, Tokyo (JP); and Shigeru Sugano, Hinocho (JP)
Assigned to Daifuku Co., Ltd., Osaka (JP)
Appl. No. 17/293,646
Filed by Daifuku Co., Ltd., Osaka (JP)
PCT Filed Nov. 12, 2019, PCT No. PCT/JP2019/044373
§ 371(c)(1), (2) Date May 13, 2021,
PCT Pub. No. WO2020/100908, PCT Pub. Date May 22, 2020.
Claims priority of application No. 2018-213662 (JP), filed on Nov. 14, 2018.
Prior Publication US 2022/0009108 A1, Jan. 13, 2022
Int. Cl. B25J 13/08 (2006.01); B65G 47/90 (2006.01); B65G 47/91 (2006.01); B65G 57/04 (2006.01); B65G 61/00 (2006.01)
CPC B25J 13/08 (2013.01) [B65G 47/905 (2013.01); B65G 47/917 (2013.01); B65G 57/04 (2013.01); B65G 61/00 (2013.01); B65G 2201/02 (2013.01); B65G 2203/041 (2013.01)] 5 Claims
OG exemplary drawing
 
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.