Stowage pattern calculation device and stowage device for stowing plurality types of objects
A stowage device is equipped with a transport device that transports a plurality of types of objects in a random sequence, and a control device that sets a position of an object inside a containment area. The control device includes a complete pattern selection unit that selects a complete pattern in which an object transported by the transport device can be stowed on the basis of the type of the object and information on an object currently placed in the containment area. The control device includes a position determination unit that determines a position of an object inside the containment area on the basis of the complete pattern.
1. A stowage pattern calculation device configured to calculate a pattern in which a plurality of objects are stowed inside a predetermined containment area, the plurality of objects having box shapes and being of a plurality of types having different dimensions from each other, the stowage pattern calculation device comprising:
a sequence setting unit configured to select a plurality of objects and set a stowage sequence in which the objects are stowed;
a pattern calculation unit configured to generate a complete pattern in which the objects are placed inside the containment area on the basis of dimensions of the containment area, dimensions of the plurality of types of objects, and the stowage sequence set by the sequence setting unit; and
a storage unit configured to store the complete pattern generated by the pattern calculation unit;
wherein
the sequence setting unit is configured to set a plurality of the stowage sequences,
the pattern calculation unit is configured to repeatedly execute control based on the plurality of stowage sequences to:
set a pattern, based on one of the plurality of stowage sequences, in which objects are contained inside the containment area when the objects are stowed in said one of the plurality of stowage sequences, as the complete pattern, and
obtain a plurality of complete patterns corresponding to the plurality of stowage sequences, and
the pattern calculation unit is configured to set the complete pattern corresponding to one of the plurality of stowage sequences by
arranging the plurality of objects adjacent to each other in a predetermined placement direction of the containment area in said one of the plurality of stowage sequences; and
in response to a determination that an object among the plurality of objects is located outside the containment area in the predetermined placement direction, stowing the object on top of the other objects in the containment area.
2. A stowage device comprising:
a transport device configured to transport a plurality of types of objects in a random sequence;
a robot configured to place the objects transported by the transport device inside a predetermined containment area;
a detection device configured to detect types of the objects transported by the transport device; and
a control device configured to set a position of an object inside the containment area;
wherein
the control device includes:
a pattern calculation unit configured to generate a complete pattern in which the plurality of types of objects are placed inside the containment area on the basis of dimensions of the containment area, dimensions of the plurality of types of objects, and a stowage sequence in which the plurality of types of objects are stowed;
a storage unit configured to store the plurality of complete patterns generated by the pattern calculation unit;
a complete pattern selection unit configured to, on the basis of the types of the objects detected by the detection device and information on an object currently placed in the containment area, select one of the plurality of complete patterns; and
a position determination unit that determines a position in which the object is placed inside the containment area on the basis of the complete pattern selected by the complete pattern selection unit,
the pattern calculation unit is configured to repeatedly execute control based on a plurality of the stowage sequences to
set a pattern, based on one of the plurality of stowage sequences, in which objects are contained inside the containment area when the objects are stowed in said one of the plurality of stowage sequences, as the complete pattern, and
obtain a plurality of complete patterns corresponding to the plurality of stowage sequences,
the pattern calculation unit is configured to set the complete pattern corresponding to the one of the plurality of stowage sequences by
arranging the plurality of objects adjacent to each other in a predetermined placement direction of the containment area in said one of the plurality of stowage sequences; and
in response to a determination that an object among the plurality of objects is located outside the containment area in the predetermined placement direction, stowing the object on top of the other objects in the containment area, and
the robot is configured to transport the object to the position determined by the position determination unit.
3. The stowage device according to claim 2 , further comprising a temporary placement part configured to temporarily hold one of the objects thereon,
wherein the robot is configured to place the objects transported by the transport device on the temporary placement part upon no complete pattern being selected by the complete pattern selection unit.
4. The stowage device according to claim 2 , wherein, upon the plurality of complete patterns in which one of the objects can be stowed being obtained, the position determination unit is configured to determine the position of the object to provide the greatest number of complete patterns corresponding to the position of the object when the object is placed in the containment area.