Machine learning device, robot system, and machine learning method

Abstract

The invention provides a machine learning device, a robot system, and a machine learning method. The machine learning device that learns an operation of a robot (14) for picking up, by a hand unit, any of a plurality of workpieces (12) placed in a random fashion, including a bulk-loaded state, includes a state variable observation unit (21) that observes a state variable representing a state of the robot, including data output from a three-dimensional measuring device (15) that obtains a three-dimensional map for each workpiece, an operation result obtaining unit (26) that obtains a result of a picking operation of the robot for picking up the workpiece by the hand unit, and a learning unit (22) that learns a manipulated variable including command data for commanding the robot to perform the picking operation of the workpiece, in association with the state variable of the robot and the result of the picking operation, upon receiving output from the state variable observation unit and output from the operation result obtaining unit.

Description

technical field [0001] The present invention relates to a machine learning device, a robot system and a machine learning method for learning the taking-out action of workpieces placed in disorder including a bulk state. Background technique [0002] Conventionally, for example, as disclosed in Japanese Patent No. 5642738 and Japanese Patent No. 5670397, there are known robot systems in which workpieces packed in bulk in a basket-shaped box are grasped and conveyed by the manipulator of a robot. In such a robot system, for example, the position information of a plurality of workpieces is obtained using a three-dimensional measuring device installed above a basket-shaped box, and the manipulator of the robot takes out the workpieces one by one based on the position information. [0003] However, in the conventional robot system described above, it is necessary to set in advance, for example, how to extract a workpiece to be picked up from the distance images of a plurality of ...

AI Technical Summary

Problems solved by technology

[0004] Therefore, if the setting of extracting the workpiece to be picked up from the distance images of multiple workpieces is inappropriate, or if the operation program of the robot is not properly created, the success rate of the robot when picking up and transporting workpieces will decrease.

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