Control devices and mechanical systems

Abstract

The control device includes: a decision unit that determines whether the workpiece being transported can be removed or whether the workpiece can be distributed to the workpiece container; and a control unit that generates an instruction to remove a specified number of workpieces at once based on whether removal is possible, or generates an instruction to distribute a specified number of workpieces at once based on whether distribution is possible, so as to control the machine.

Description

[Technical Field]

[0001] Field of Invention

[0002] This invention relates to the field of mechanical control, and more particularly to a control device and mechanical system for controlling a machine that can remove or distribute a specified number of workpieces at once. [Previous Technology]

[0003] Background of the Invention

[0004] There is a mechanical system in which a robot or other machine follows a workpiece or pallet transported by a conveyor or other transport device, while simultaneously retrieving workpieces or distributing workpieces to the pallet. In this type of pick and place operation, the machine retrieves or distributes multiple workpieces at once. When retrieving or distributing multiple workpieces, sometimes a workpiece or pallet may become detached from the queue of transported workpieces or pallets, or transport information including the current position of the workpiece or pallet may be deleted due to defective workpieces or pallets being transported, or the status of the workpiece or pallet may become unretrievable or undistributable, making it impossible to retrieve or distribute the specified number of workpieces. Therefore, it is desirable to be able to retrieve or distribute the specified number of workpieces without omission even in such cases.

[0005] Patent Document 1 discloses a robot system comprising: a conveyor for transporting workpieces; a robot having a plurality of holding parts for holding workpieces; and a controller that instructs the robot to perform actions of holding workpieces by means of the holding parts and transferring them to a predetermined location; wherein the robot system transfers a plurality of workpieces to another conveyor at once.

[0006] Patent Document 2 discloses a packing device comprising a product supply conveyor for supplying products, a box conveyor for transporting boxes, and a multi-joint robot for supplying products to boxes. The packing device picks up a plurality of products successively supplied by the product supply conveyor, shortens the interval between the products, and supplies them to empty boxes successively transported by the box conveyor. Prior Art Documents Patent Documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2016-60002; Patent Document 2: Japanese Patent Application Publication No. 2015-39768 [Summary of the Invention]

[0008] Summary of the Invention: Problem to be Solved by the Invention

[0009] In view of the problems of the past, the object of the present invention is to provide a technique for retrieving or distributing a specified number of workpieces without omission. Means for solving the problem

[0010] One aspect of this disclosure provides a control device comprising: a determination unit that determines whether the removal of a conveyed workpiece is permissible, or whether the distribution to a conveyed workpiece container is permissible; and a control unit that generates an instruction to remove a specified number of workpieces at once, or an instruction to distribute a specified number of workpieces at once, based on whether the removal is permissible, to control the machinery. Another aspect of this disclosure provides a mechanical system comprising: a plurality of machines; a determination unit that determines, for each machine, whether the removal of a conveyed workpiece is permissible, or whether the distribution to a conveyed workpiece container is permissible; and a control unit that generates an instruction to remove a specified number of workpieces at once, or an instruction to distribute a specified number of workpieces at once, based on whether the removal is permissible, for each machine; and an instruction to distribute a specified number of workpieces at once, based on whether the distribution is permissible, for each machine, to control the machinery. Effects of the Invention

[0011] According to one aspect of this disclosure, since an instruction to remove a specified number of workpieces at once or an instruction to distribute them at once is generated based on whether the workpieces being transported can be removed or whether they can be distributed to the workpiece container being transported, a technology is provided that can remove or distribute a specified number of workpieces without omission.

Implementation Method

[0013] Form used to implement the invention

[0014] The embodiments disclosed herein will be described in detail below with reference to the accompanying drawings. In each drawing, the same or similar constituent elements are given the same or similar symbols. Furthermore, the embodiments described below do not limit the technical scope of the invention described in the claims and the meaning of the terms used.

[0015] Figure 1 is a configuration diagram of the mechanical system 1 according to the first embodiment. The mechanical system 1 of the first embodiment determines whether the conveyed workpiece W can be removed, and removes a specified number of workpieces W at once based on whether removal is possible. The mechanical system 1 determines whether the workpiece W can be removed based on the status or current position contained in the conveying information of the workpiece W. Furthermore, the mechanical system 1 removes a specified number of workpieces W at once based on the conveying information of workpieces W located further upstream than the workpieces W determined to be unremovable.

[0016] The mechanical system 1 includes a machine 10 for retrieving a specified number of workpieces W at once, and a control device 20 for controlling the machine 10. Furthermore, the mechanical system 1 may include a conveying device movement measurement unit 40, which measures the movement of the conveying device 30 to determine the current position of the conveyed workpieces W. The movement of the conveying device 30 includes its current position and current speed. The mechanical system 1 may also include a vision sensor 50 instead of the conveying device movement measurement unit 40, or may include a vision sensor 50 in addition to the conveying device movement measurement unit 40, to determine not only the current position and current speed of the conveyed workpieces W, but also their current posture, type, and condition.

[0017] The workpiece W is supplied to the conveying device 30 upstream in the conveying direction X, conveyed by the conveying device 30 in the conveying direction X, and removed by the machine 10 downstream in the conveying direction X. The workpiece W is supplied to the conveying device 30 at approximately a certain conveying interval D, but it is not necessary to convey it precisely at a certain conveying interval D. Furthermore, the workpiece W is conveyed in one row, but as explained in the embodiments described later, it can also be conveyed in two rows, three rows, or multiple rows. For example, although the workpiece W is a cuboid, in other embodiments it can also be a bag-shaped, cylindrical, or other shapes. The conveying device 30 can also convey one type of workpiece W of the same shape and size, or it can convey multiple types of workpieces W of different shapes and sizes. The machine 10 removes one or multiple types of workpieces W at once.

[0018] The machine 10 removes a specified number of workpieces W from a plurality of workpieces W transported by the conveying device 30 at once. Although not shown, the machine 10 includes a motor for driving a movable part and a motor drive device for driving the motor, which is controlled by the control device 20. The machine 10 is connected to the control device 20 via wired or wireless connection. For example, the machine 10 includes a robot 11 and a hand 12 mounted on the robot 11. Although the robot 11 and the hand 12 are controlled by a single control device 20, in other embodiments, they may be controlled by separate, independent control devices. In other embodiments, the machine 10 may not be the robot 11 and the hand 12, but other types of machines capable of removing a specified number of workpieces W at once.

[0019] Robot 11 moves its hand 12 toward the workpiece removal position. The workpiece removal position is the center position of the group of workpieces W obtained by averaging the current positions of a specified number of workpieces W, but it can also be the current position of the first workpiece W supplied among the specified number of workpieces W, or the current position of the last workpiece W supplied among the specified number of workpieces W, etc. Although not shown, robot 11 has a plurality of relatively movable links, motors driving the links, and a motor drive device driving the motors, which is controlled by control device 20. For example, robot 11 can be an industrial robot including vertical multi-joint robots, horizontal multi-joint robots, orthogonal robots, parallel robots, collaborative robots, etc. In other embodiments, robot 11 can also be other types of robots such as humanoid robots.

[0020] The hand 12 removes a specified number of workpieces W at a time from the workpiece removal position. Although not shown in the figure, the hand 12 has a motor for driving the movable part and a motor drive device for driving the motor, which is controlled by the control device 20. For example, the hand 12 is a vacuum adsorption type hand. In other embodiments, the hand 12 may also be a multi-finger gripping type, a magnetic adsorption type, a vacuum adsorption type, a Bernoulli type (non-contact type), or other types of hand.

[0021] The control device 20 controls the machine 10 based on the transport information of the workpiece W. While the control device 20 generates one transport information per workpiece W, it can also generate one transport information per specified number of workpieces W. The transport information of the workpiece W includes its current position, current speed, current posture, type, and status. The control device 20 updates the current position and current speed of the workpiece W based on the movement amount of the transport device 30 obtained from the transport device movement measurement unit 40. In other embodiments, the control device 20 can also update the current posture, type, and status of the workpiece W based on visual information obtained from the vision sensor 50, plus the current position and current speed of the workpiece W. Furthermore, the control device 20 updates the status indicating whether the workpiece W can be retrieved based on the machine 10's operating capacity or the types of workpieces W that the machine 10 can retrieve.

[0022] The control device 20 determines whether the workpiece W can be retrieved based on the status or current position contained in the workpiece W's transport information. The control device 20 determines that the workpiece W can be retrieved when the status contained in the workpiece W's transport information indicates that it can be retrieved, and determines that the workpiece W cannot be retrieved when the status contained in the workpiece W's transport information indicates that it cannot be retrieved. That is, the control device 20 determines whether the workpiece W can be retrieved based on the machine 10's operating capacity or the type of workpiece W that the machine 10 can retrieve.

[0023] Furthermore, the control device 20 determines that workpiece W can be retrieved when the distance between the current positions contained in the transport information of workpiece W is within a threshold, and determines that workpiece W cannot be retrieved when the distance between the current positions contained in the transport information of workpiece W exceeds the threshold. In summary, the control device 20 determines that workpiece W cannot be retrieved when the transport information of workpiece W is deleted because workpiece W is defective, or when workpiece W is removed from the queue of transported workpieces W.

[0024] The control device 20 generates an instruction to remove a specified number of workpieces W at once based on the transport information of the workpieces W located further upstream that are determined to be non-removable, thereby controlling the machine 10. The instruction to remove the specified number of workpieces W at once includes a movement instruction to move to the workpiece removal position and a removal instruction to remove the specified number of workpieces W. The machine 10 removes the specified number of workpieces W at once in response to the instruction from the control device 20. The control device 20 is communicatively connected to the machine 10, the transport device movement measurement unit 40, the vision sensor 50, etc., via wired or wireless means.

[0025] The control device 20 is a computer device (not shown) equipped with a processor, memory, input / output units, etc. The processor is a semiconductor integrated circuit that executes programs, including, for example, a CPU (central processing unit) or an MPU (microprocessor unit). However, in other embodiments, the processor may include programmable semiconductor integrated circuits, such as FPGAs (field programmable gate arrays) or PLDs (programmable logic devices), or non-programmable semiconductor integrated circuits, such as ASICs. The memory is a semiconductor memory device that stores various types of data, including, for example, RAM (random access memory) or ROM (read-only memory). In other embodiments, the memory may also include magnetic memory devices that store various types of data, such as HDDs.

[0026] The conveying device 30 conveys one or more workpieces W. For example, although the conveying device 30 is a conveyor, in other embodiments, it may also be a conveying robot, an unmanned transport vehicle (AGV), or other types of conveying devices. Although not shown in the figure, the conveying device 30 has a motor for driving the movable part and a motor drive device for driving the motor. The motor drive device is controlled by a separate control device that is different from and independent of the control device 20. In other embodiments, the motor drive device of the conveying device 30 may also be controlled by the control device 20 of the machine 10.

[0027] The conveying device movement measurement unit 40 measures the movement of the conveying device 30. The movement of the conveying device 30 includes the current position and current speed of the motor driving the conveying device 30. For example, the conveying device movement measurement unit 40 is an encoder (e.g., a pulse encoder). In other embodiments, the mechanical system 1 may also have other types of sensors, such as a vision sensor 50, instead of the conveying device movement measurement unit 40, or may have other types of sensors, such as a vision sensor 50, in addition to the conveying device movement measurement unit 40. When using the vision sensor 50, the control device 20 can also obtain not only the current position and current speed of the workpiece W, but also the current posture, type, and condition of the workpiece W, based on the visual information obtained from the vision sensor 50.

[0028] Figure 2 is a functional block diagram of the mechanical system 1 according to the first embodiment. The mechanical system 1 according to the first embodiment is a stand-alone system comprising a machine 10 and a control device 20. The control device 20 comprises a transport information generation unit 21, a transport device movement amount acquisition unit 22, a transport information update unit 23, a memory unit 24, a specified number setting unit 26, a transport information acquisition unit 25, a decision unit 27, a threshold setting unit 28, and a control unit 29. However, it should be noted that the control device 20 may also have at least a decision unit 27 and a control unit 29, with other external devices having components other than these. For example, as described in the following embodiment (refer to Figure 15), when the mechanical system 1 is a server-type system comprising a plurality of machines 10, a plurality of control devices 20, and a host computer device 60, the host computer device 60 may sometimes include a transfer information generation unit 21, a transfer device movement amount acquisition unit 22, a transfer information update unit 23, and a memory unit 24, while the control device 20 may include a specified number setting unit 26, a transfer information acquisition unit 25, a decision unit 27, a threshold setting unit 28, and a control unit 29. Furthermore, the components other than the memory unit 24 may be constituted by part or all of a computer program. In other embodiments, all components within the control device 20 may also be constituted by part or all of a semiconductor integrated circuit.

[0029] The transfer information generation unit 21 generates one transfer information for each workpiece W, or one transfer information for each specified number of workpieces W. The transfer information generation unit 21 obtains the set specified number from the specified number setting unit 26. For example, whenever one workpiece W is supplied to the transfer device 30, the transfer information generation unit 21 receives a supply signal of workpiece W from an external device (not shown), and generates one transfer information for each supply signal, or one transfer information for each specified number of supply signals.

[0030] The transport information generation unit 21 generates transport information with initial values ​​set for the current position, current speed, current posture, type, and status of the workpiece W. The transport information generation unit 21 sends the generated transport information to the memory unit 24. In order to simplify subsequent processing, the transport information generation unit 21 can store the transport information in the memory unit 24 according to the transport order of the workpiece W.

[0031] The conveying device movement acquisition unit 22 acquires the movement amount of the conveying device 30 from the conveying device movement measurement unit 40. The conveying device movement acquisition unit 22 sends the acquired movement amount of the conveying device 30 to the conveying information update unit 23.

[0032] Although the transport information update unit 23 updates the transport information of the workpiece W stored in the memory unit 24 based on the movement amount of the transport device 30, it can also update the transport information of the workpiece W stored in the memory unit 24 based on the visual information obtained from the vision sensor 50. For example, the transport information update unit 23 updates the current position, current speed, etc. of the workpiece W stored in the memory unit 24 based on the movement amount of the transport device 30, or updates the current position, current speed, current posture, type, status, etc. of the workpiece W stored in the memory unit 24 based on the visual information obtained from the vision sensor 50.

[0033] The memory unit 24 stores the transport information of workpiece W according to the transport order of workpiece W. Although not shown in the figure, the memory unit 24 is a memory that stores various types of data. Memory includes semiconductor memory devices such as RAM and ROM, magnetic memory devices such as HDD, etc.

[0034] The specified number setting unit 26 sets the specified number of workpieces W to be taken out by the machine 10 at one time. The specified number setting unit 26 sets the specified number specified by the user through a user interface (not shown), such as a touch panel display or keyboard. Since the range of the specified number that can be taken out at one time depends on the type of machine 10 (i.e., the hand 12), the specified number setting unit 26 can also have an initial value for the range of the specified number according to the type of machine 10. The specified number setting unit 26 sends the set specified number to the transfer information generation unit 21 and the transfer information acquisition unit 25.

[0035] The transport information acquisition unit 25 acquires transport information for workpiece W from the memory unit 24. When one transport information is generated for each workpiece W, the transport information acquisition unit 25 acquires the set specified number from the specified number setting unit 26, and sequentially acquires the specified number of transport information from the memory unit 24 according to the transport order of the workpiece W. Alternatively, when one transport information is generated for each specified number of workpieces W, the transport information acquisition unit 25 acquires one transport information from the memory unit 24 according to the transport order of the workpiece W. In order to confirm whether the workpiece W can be retrieved, the transport information acquisition unit 25 sends the transport information of the workpiece W to the decision unit 27 according to the transport order of the workpiece W.

[0036] The decision unit 27 determines whether workpiece W can be retrieved based on the status or current position contained in the transport information of workpiece W. The decision unit 27 includes a distance calculation unit 27a and a determination unit 27b. The determination unit 27b determines whether the status contained in the transport information of workpiece W indicates that it can be retrieved. When the status contained in the transport information of workpiece W indicates that it can be retrieved, the determination unit 27b determines that the workpiece W or group of workpieces W corresponding to the transport information can be retrieved; when the status contained in the transport information indicates that it cannot be retrieved, the determination unit 27b determines that the workpiece W or group of workpieces W cannot be retrieved.

[0037] Furthermore, the distance calculation unit 27a calculates the distance between the current positions contained in the transport information of adjacent workpieces W or groups of workpieces W, and the determination unit 27b determines whether the calculated distance between the current positions is within a threshold. When the calculated distance between the current positions is within the threshold, the determination unit 27b determines that the adjacent workpiece W or groups of workpieces W can be retrieved; when the calculated distance between the current positions exceeds the threshold, the downstream workpiece W or the adjacent groups of workpieces W cannot be retrieved. The determination unit 27 sends the determination of whether the workpiece W can be retrieved to the transport information acquisition unit 25.

[0038] The threshold setting unit 28 sets a threshold for the distance between the current positions contained in the transport information of adjacent workpieces W or groups of adjacent workpieces W. The threshold setting unit 28 sets the threshold specified by the user through a user interface (not shown), such as a touch panel display or keyboard. Since the transport interval D of workpiece W may not be constant, the threshold setting unit 28 can set the range after adding / subtracting the offset from the transport interval D of workpiece W as the threshold. Furthermore, when generating one transport information for each specified number of workpieces W, the threshold setting unit 28 can multiply the transport interval D of workpiece W by the specified number, and set the range after adding / subtracting the offset from the multiplied value as the threshold. The threshold setting unit 28 sends the set threshold to the determination unit 27b.

[0039] When generating one transfer information for each workpiece W, if the decision unit 27 determines that the workpiece W or group of workpieces W is retrievable, the transfer information acquisition unit 25 sequentially acquires transfer information from the memory unit 24 until a specified number is reached. If the decision unit 27 determines that the workpiece W or group of workpieces W is not retrievable, the transfer information acquisition unit 25 acquires transfer information from the memory unit 24 for a specified number of workpieces W located upstream of the workpiece W or group of workpieces W determined to be not retrievable. Once the transfer information acquisition unit 25 has acquired the specified number of transfer information from the memory unit 24, it sends the specified number of transfer information to the control unit 29.

[0040] Alternatively, when generating one transfer information for each specified number of workpieces W, when the decision unit 27 determines that the group of workpieces W can be retrieved, the transfer information acquisition unit 25 sends one transfer information to the control unit 29. When the decision unit 27 determines that the group of workpieces W cannot be retrieved, the transfer information acquisition unit 25 retrieves one transfer information again from the memory unit 24.

[0041] The control unit 29 calculates the workpiece removal position based on the current position contained in the transport information, generates an instruction to remove a specified number of workpieces W at once based on the workpiece removal position, and sends the generated instruction to the machine 10. When one transport information is generated for each workpiece W, the control unit 29 calculates the workpiece removal position based on the current position of the workpieces W contained in the specified number of transport information. Also, when one transport information is generated for each specified number of workpieces W, the control unit 29 calculates the workpiece removal position based on the current position of the group of workpieces contained in the transport information. Although the workpiece removal position is the center position obtained by averaging the current positions of the specified number of workpieces W, it can also be the current position of the first workpiece W supplied among the specified number of workpieces W, or the current position of the last workpiece W supplied among the specified number of workpieces W, etc. The control unit 29 continues to calculate the workpiece removal position until the machine 10 removes the specified number of workpieces W at once.

[0042] The control unit 29 determines whether the workpiece removal position falls within the working area of ​​the machine 10. When the workpiece removal position falls within the working area of ​​the machine 10, the control unit 29 generates an instruction to remove a specified number of workpieces W at once and sends it to the machine 10. The instruction to remove a specified number of workpieces W at once includes a movement instruction to move to the workpiece removal position and a removal instruction to remove the specified number of workpieces W. The control unit 29 continues to send the movement instruction to move to the workpiece removal position to the machine 10 until the machine 10 reaches the workpiece removal position. When the machine 10 reaches the workpiece removal position, it sends the instruction to remove the specified number of workpieces W to the machine 10.

[0043] In response to instructions from the control device 20, the machine 10 tracks a specified number of workpieces W, and when it reaches the workpiece removal position, removes the specified number of workpieces W at once. As described in the embodiment below, after removing the specified number of workpieces W at once, the machine 10 distributes the specified number of workpieces W to the workpiece container at once. After the specified number of workpieces W is distributed at once, the machine 10 repeats the aforementioned operation in order to remove the specified number of workpieces W at once.

[0044] Figure 3 is a diagram showing Embodiment 1-1 of the first embodiment of the mechanical system 1. This example will be explained with reference to Figure 2. The prerequisites for this example are as follows: • One or more types of workpieces W are transported in a single column at a transport interval D = 10 cm. • The specified number setting unit 26 sets the specified number of workpieces W to be retrieved by the machine 10 at one time to 4. • The machine 10 retrieves workpieces W within a working area B ± 25 cm on the X coordinate of the machine coordinate system. • The hand unit 12 is configured to retrieve 1 to 4 workpieces W at one time. • The transport information generation unit 21 generates one transport information (W1 to W12) for each workpiece W. • The memory unit 24 remembers the transport information W1 to W12 according to the transport order of the workpieces W. • The current positions of the workpieces W included in the transport information W1 to W12 are 20 cm, 30 cm, 40 cm, ..., 130 cm on the X coordinate of the machine coordinate system, respectively. • The threshold setting unit 28 sets the threshold for the distance between the current positions contained in the transport information of adjacent workpieces W to ±13cm (= transport interval 10cm ± offset 3cm). • The status of workpieces W contained in the transport information W2 is indicated as not retrievable (indicated by an × symbol) based on the working capacity of the machine 10 or the type of workpieces W that the machine 10 can retrieve.

[0045] The transfer information acquisition unit 25 sequentially acquires a specified number of four transfer information items W1 to W4 from the memory unit 24 and sequentially sends them to the decision unit 27. The decision unit 27 sequentially determines whether the workpiece W can be retrieved based on the status of the workpiece W contained in each of the transfer information items W1 to W4. Since the status of the workpiece W contained in transfer information W1 indicates that it can be retrieved, the determination unit 27b determines that the workpiece W corresponding to transfer information W1 can be retrieved. Furthermore, since the status of the workpiece W contained in transfer information W2 indicates that it cannot be retrieved (indicated by an × symbol), the determination unit 27b determines that the workpiece W corresponding to transfer information W2 cannot be retrieved. The decision unit 27 sends the determination that the workpiece W corresponding to transfer information W2 cannot be retrieved to the transfer information acquisition unit 25.

[0046] The transport information acquisition unit 25 retrieves transport information W3 to W6 from the memory unit 24, sequentially acquiring a specified number of transport information for four workpieces W (indicated by an × symbol) located upstream of the workpieces W determined to be unretrievable, and sends them sequentially to the decision unit 27. The decision unit 27 determines whether the workpieces W can be retrieved based on the status of the workpieces W included in the transport information W3 to W6. Since the status of all the workpieces W included in the transport information W3 to W6 indicates that they can be retrieved, the determination unit 27b determines that all workpieces W corresponding to the transport information W3 to W6 can be retrieved. The decision unit 27 sends the retrievability of the workpieces W corresponding to the transport information W3 to W6 to the transport information acquisition unit 25 sequentially. Since the transport information acquisition unit 25 has retrieved a specified number of four transport information W3 to W6 for the workpieces W determined to be retrievable from the memory unit 24, it sends the transport information W3 to W6 to the control unit 29.

[0047] The control unit 29 calculates the workpiece removal position P' (55cm) based on the current positions (40cm, 50cm, 60cm, and 70cm) of the workpieces W included in the transport information W3 to W6. In summary, the original workpiece removal position P (35cm) is corrected to the workpiece removal position P' (55cm) based on the current positions of the workpieces W included in the transport information W3 to W6, which respectively contain the workpieces W that are determined to be non-removable (indicated by ×). That is, the original workpiece removal area A is corrected to the workpiece removal area A' based on a specified number of 4 workpieces W that are determined to be non-removable and located upstream.

[0048] The control unit 29 continuously calculates the workpiece removal position P' based on the current positions of the workpieces W contained in the transfer information W3 to W6, until a specified number of 4 workpieces W are removed. When the workpiece removal position P' falls within the working area B (±25cm) of the machine 10, the control unit 29 continuously sends movement commands to the machine 10 to move towards the workpiece removal position P' in order to track the specified number of 4 workpieces W. When the machine 10 reaches the specified number of 4 workpieces W, the control unit 29 sends a removal command to the machine 10 to remove the specified number of 4 workpieces W.

[0049] As described above, even if the condition indicated by the transport information W2 is that the workpiece cannot be retrieved, since the machine 10 retrieves a specified number of four workpieces W located upstream of the workpiece W determined to be unretrievable, it can still retrieve the specified number of four workpieces W without omission. Furthermore, since the transport information generation unit 21 generates one transport information (W1 to W12) for each workpiece W, the machine 10 can retrieve the specified number of four workpieces W at once from the workpieces W immediately following the workpiece determined to be unretrievable. In summary, the machine 10 can retrieve as many retrievable workpieces W as possible.

[0050] Figure 4 is a diagram showing embodiments 1-2 of the mechanical system 1 in the first embodiment. This example will also be explained with reference to Figure 2. The prerequisites for this example are as follows: • One or more types of workpieces W are conveyed in a single line at a conveying interval D = 10 cm. • The specified number setting unit 26 sets the specified number of workpieces W to be retrieved by the machine 10 at one time to 4. • The machine 10 retrieves workpieces W within a working area B ± 25 cm on the X coordinate of the machine coordinate system. • The hand unit 12 is configured to retrieve 1 to 4 workpieces W at one time. • The conveying information generation unit 21 generates conveying information (W1 to W11) for each workpiece W. • The memory unit 24 remembers the conveying information W1 to W11 according to the conveying order of the workpieces W. • The current positions of the workpieces W included in the transport information W1 to W11 are 20cm, 40cm, 50cm, ..., and 130cm respectively on the X coordinate of the mechanical coordinate system. • The threshold setting unit 28 sets the threshold for the distance between the current positions included in the transport information of adjacent workpieces W to ±13cm (= transport interval 10cm ± offset 3cm). • The workpiece W corresponding to transport information W1 and the workpiece W corresponding to transport information W2 are transported in a missing state, either because the workpiece W is a defective product and the transport information has been deleted, or because the workpiece W has been removed from the workpiece queue.

[0051] The transport information acquisition unit 25 sequentially acquires transport information W1 to W4 of a specified number of four workpieces W from the memory unit 24 and sequentially sends them to the decision unit 27. The decision unit 27 sequentially determines whether a workpiece W can be retrieved based on the distance between the current positions contained in the transport information W1 and W2 of adjacent workpieces W, the transport information W2 and W3 of adjacent workpieces W, and the transport information W3 and W4 of adjacent workpieces W. The distance calculation unit 27a calculates the distance (20cm) between the current positions (20cm and 40cm) contained in the transport information W1 and W2 of adjacent workpieces W, and the determination unit 27b determines that the calculated distance (20cm) between the current positions exceeds the threshold (±13cm). The decision unit 27 determines that the downstream workpiece W among the adjacent workpieces W cannot be retrieved and sends the workpiece W corresponding to the transport information W1 that cannot be retrieved to the transport information acquisition unit 25.

[0052] The transport information acquisition unit 25 retrieves transport information W2 to W5 from the memory unit 24 for a specified number of workpieces W located upstream of the workpiece W determined to be unretrievable, and sends them sequentially to the decision unit 27. The decision unit 27 determines whether workpiece W can be retrieved based on the distances between the current positions contained in the transport information W2 and W3 of adjacent workpieces W, the transport information W3 and W4 of adjacent workpieces W, and the transport information W4 and W5 of adjacent workpieces W. The distance calculation unit 27a sequentially calculates the distances (10cm, 10cm, and 10cm) between the current positions contained in the transport information W2 and W3 of adjacent workpieces W, the transport information W3 and W4 of adjacent workpieces W, and the transport information W4 and W5 of adjacent workpieces W. The determination unit 27b sequentially determines whether the calculated distances between the current positions (10cm, 10cm, and 10cm) exceed the threshold (±13cm). Since all distances (10cm, 10cm, and 10cm) are within the threshold (±13cm), the determination unit 27b determines all workpieces W corresponding to transport information W2 to W5 as retrievable. The decision unit 27 sequentially sends the retrievability of workpieces W corresponding to transport information W2 to W5 to the transport information acquisition unit 25. Since the transport information acquisition unit 25 has obtained the specified number of four transport information sets W2 to W5 from the memory unit 24, it sends the transport information W2 to W5 to the control unit 29.

[0053] The control unit 29 calculates the workpiece removal position P' (55cm) based on the current positions (40cm, 50cm, 60cm, and 70cm) of the workpieces W included in the transport information W2 to W5. In summary, the original workpiece removal position P (35cm) is corrected to the workpiece removal position P' (55cm) based on the current positions included in the transport information W2 to W5 of the workpieces W located further upstream than the workpieces W determined to be unremovable. That is, the original workpiece removal area A is corrected to the workpiece removal area A' based on a specified number of 4 workpieces W located further upstream than the workpieces W determined to be unremovable.

[0054] The control unit 29 continuously calculates the workpiece removal position P' based on the current positions of the workpieces W contained in the transfer information W2 to W5, until a specified number of 4 workpieces W are removed. When the workpiece removal position P' falls within the working area B (±25cm) of the machine 10, the control unit 29 continuously sends movement commands to the machine 10 to move towards the workpiece removal position P', and the machine 10 tracks the specified number of 4 workpieces W. When the machine 10 reaches the specified number of 4 workpieces W, the control unit 29 sends a removal command to the machine 10 to remove the specified number of 4 workpieces W.

[0055] As described above, even if one transport information is deleted because workpiece W is defective, or if workpiece W is transported in a missing state where it has been removed from the workpiece W queue, since the machine 10 retrieves a specified number of workpieces W located upstream of the workpiece W determined to be unretrievable, it can still retrieve the specified number of four workpieces W without omission. Furthermore, since the transport information generation unit 21 generates one transport information for each workpiece W, the machine 10 can retrieve the specified number of four workpieces W at once from the workpieces W immediately following the workpiece W determined to be unretrievable. In summary, the machine 10 can retrieve as many retrievable workpieces W as possible.

[0056] Figure 5 is a diagram showing embodiments 1-3 of the mechanical system 1 in the first embodiment. This example will also be explained with reference to Figure 2. The prerequisites for this example are as follows: • One or more types of workpieces W are transported in a single column at a transport interval D = 10 cm. • The specified number setting unit 26 sets the specified number of workpieces W to be retrieved by the machine 10 at one time to 4. • The machine 10 retrieves workpieces W within a working area B ± 25 cm on the X coordinate of the machine coordinate system. • The hand unit 12 is configured to retrieve 1 to 4 workpieces W at one time. • The transport information generation unit 21 generates transport information (W1 to W3) for each specified number of 4 workpieces W. • The memory unit 24 remembers the transport information W1 to W3 according to the transport order of the workpieces W. • The current positions of the workpieces W included in the transport information W1 to W3 are 35 cm, 75 cm, and 115 cm on the X coordinate of the machine coordinate system, respectively. • The threshold setting unit 28 sets the threshold for the distance between the current positions contained in the transport information of adjacent workpiece groups W to ±43cm (= specified number 4 × transport interval 10cm ± offset 3cm). • The status of workpiece W contained in the transport information W2 is indicated as not retrievable (indicated by an × symbol) based on the working capacity of machine 10 or the type of workpiece W that machine 10 can retrieve.

[0057] When the machine 10 needs to remove the group of workpieces corresponding to the transfer information W2, the transfer information acquisition unit 25 acquires one piece of transfer information W2 from the memory unit 24 and sends it to the decision unit 27. The decision unit 27 determines whether the workpiece W can be removed based on the condition of the workpiece W included in the transfer information W2. Since the condition of the workpiece W included in the transfer information W2 indicates that it cannot be removed (indicated by an × symbol), the determination unit 27b determines that the group of workpieces W corresponding to the transfer information W2 cannot be removed. The decision unit 27 sends the determination that the group of workpieces W corresponding to the transfer information W2 cannot be removed to the transfer information acquisition unit 25.

[0058] The transport information acquisition unit 25 retrieves transport information W3 from the memory unit 24 for a group of workpieces W located further upstream than the group of workpieces W determined to be unretrievable, and sends it to the decision unit 27. The decision unit 27 determines whether workpieces W can be retrieved based on the status of the workpieces W contained in the transport information W3. Since the status contained in the transport information W3 indicates that they can be retrieved, the determination unit 27b determines that all workpieces W corresponding to the transport information W3 can be retrieved. The decision unit 27 sends the retrievability of the group of workpieces W corresponding to the transport information W3 to the transport information acquisition unit 25. Since the transport information acquisition unit 25 has retrieved the transport information W3 for the group of workpieces W determined to be retrievable from the memory unit 24, it sends the transport information W3 to the control unit 29.

[0059] The control unit 29 calculates the workpiece removal position P' (115cm) based on the current position (115cm) of the workpiece group W included in the transport information W3. In summary, the original workpiece removal position P (75cm) is corrected to the workpiece removal position P' (115cm) based on the current position included in the transport information W3 of the workpiece group W that is determined to be unremovable and located further upstream. That is, the original workpiece removal area A is corrected to the workpiece removal area A' based on a specified number of workpiece groups of 4 that are determined to be unremovable and located further upstream.

[0060] The control unit 29 continuously calculates the workpiece removal position P' based on the current position of the workpiece W contained in the transport information W3, until a specified number of 4 workpieces W are removed. When the workpiece removal position P' falls within the working area B (±25cm) of the machine 10, the control unit 29 continuously sends a movement command to the machine 10 towards the workpiece removal position P', tracking the specified number of 4 workpieces W. A removal command is generated to control the machine 10. When the machine 10 reaches the specified number of 4 workpieces W, the control unit 29 sends a removal command to the machine 10 to remove the specified number of 4 workpieces W.

[0061] As described above, even if the condition indicated by the transport information W2 is that the workpieces cannot be retrieved, the machine 10 can still retrieve the specified number of four workpieces W located upstream of the group of workpieces W that are determined to be unretrievable, thus retrieving all four workpieces W without omission. However, since the transport information generation unit 21 generates one transport information (W1 to W3) for every specified number of four workpieces W, even if some workpieces W in the group of workpieces W that are determined to be unretrievable can be retrieved, the machine 10 will not retrieve any workpieces W corresponding to the transport information W2. In short, it cannot be said that the machine 10 retrieves as many retrievable workpieces W as possible.

[0062] Figure 6 is a diagram showing embodiments 1-4 of the mechanical system 1 in the first embodiment. This example will also be explained with reference to Figure 2. The prerequisites for this example are as follows: • One or more types of workpieces W are transported in a single column at a transport interval D = 10 cm. • The specified number setting unit 26 sets the specified number of workpieces W to be retrieved by the machine 10 at one time to 4. • The machine 10 retrieves workpieces W within a working area B ± 25 cm on the X coordinate of the machine coordinate system. • The hand unit 12 is configured to retrieve 1 to 4 workpieces W at one time. • The transport information generation unit 21 generates one transport information (W1 to W3) for each specified number of 4 workpieces W. • The memory unit 24 remembers the transport information W1 to W3 according to the transport order of the workpieces W. • The current positions of the workpiece groups included in the transport information W1 to W3 are 35 cm, 82.5 cm, and 125 cm on the X coordinate of the machine coordinate system, respectively. • The threshold setting unit 28 sets the threshold for the distance between the current positions contained in the transport information of adjacent workpiece groups W to ±43cm (= specified number 4 × transport interval 10cm ± offset 3cm). • Transport information W2 transports workpiece W in a missing state where workpiece W has been removed from the queue of workpiece W.

[0063] When the machine 10 needs to remove the group of workpieces corresponding to the transport information W2, the transport information acquisition unit 25 acquires one transport information W2 from the memory unit 24 and sends it to the decision unit 27. The decision unit 27 determines whether the group of workpieces W can be removed based on the distance between the current positions contained in the transport information W1 and W2 of adjacent groups of workpieces W. The distance calculation unit 27a calculates the distance (47.5cm) between the current positions (35cm and 82.5cm) contained in the transport information W1 and W2 of adjacent groups of workpieces W, respectively. The determination unit 27b determines that the calculated distance between the current positions (47.5cm) exceeds the threshold (±43cm). The decision unit 27 determines that the upstream group of workpieces among the adjacent groups of workpieces W cannot be removed and sends the message that the group of workpieces corresponding to the transport information W2 cannot be removed to the transport information acquisition unit 25.

[0064] The transport information acquisition unit 25 acquires transport information W3 from the memory unit 24 for a workpiece group W located further upstream than the workpiece group W determined to be unretrievable, and sends it to the decision unit 27. The decision unit 27 determines whether the workpiece group W can be retrieved based on the distance between the current positions contained in the transport information W2 and W3 of the adjacent workpiece groups W. The distance calculation unit 27a calculates the distance (42.5cm) between the current positions (82.5cm and 125cm) contained in the transport information W2 and W3 of the adjacent workpiece groups W, and the determination unit 27b determines that the calculated distance between the current positions (42.5cm) is within the threshold (±43cm). The decision unit 27 determines that the workpiece group W corresponding to the transport information W3 is retrievable, and sends the retrievability of the workpiece group W corresponding to the transport information W3 to the transport information acquisition unit 25. Since the information acquisition unit 25 has obtained one piece of information W3 from the memory unit 24, the information W3 is sent to the control unit 29.

[0065] The control unit 29 calculates the workpiece removal position P' (125cm) based on the current position (125cm) of the workpiece group W contained in the transport information W3. In summary, the original workpiece removal position P (82.5cm) is corrected to the workpiece removal position P' (125cm) based on the current position contained in the transport information W3 of the workpiece group W that is determined to be unremovable and located further upstream. That is, the original workpiece removal area A is corrected to the workpiece removal area A' based on the workpiece group W that is determined to be unremovable and located further upstream.

[0066] The control unit 29 continuously calculates the workpiece removal position P' based on the current position of the workpiece group W contained in the transport information W3, until a specified number of 4 workpieces W are removed. When the workpiece removal position P' falls within the working area B (±25cm) of the machine 10, the control unit 29 continuously sends a movement command to the machine 10 to move towards the workpiece removal position P', and the machine 10 tracks the specified number of 4 workpieces W. When the machine 10 reaches the specified number of 4 workpieces W, the control unit 29 sends a removal command to the machine 10 to remove the specified number of 4 workpieces W.

[0067] As described above, even when workpiece W is being transported in a missing state where it has been removed from the queue of workpiece W, the machine 10 can still retrieve the specified number of 4 workpieces W that are located upstream of the group of workpieces W that are determined to be unretrievable, thus ensuring that no workpieces W are missed. However, since the transport information generation unit 21 generates one transport information (W1 to W3) for every specified number of 4 workpieces W, even if some workpieces W in the group of workpieces W that are determined to be unretrievable can be retrieved, the machine 10 will not retrieve the group of workpieces W corresponding to transport information W2. In short, it cannot be said that the machine 10 retrieves as many retrievable workpieces W as possible.

[0068] The following describes the general operation of the control device 20 in the first embodiment. FIG7 is a flowchart showing the general operation of the control device 20 in the first embodiment. In step S10, the transport information acquisition unit 25 acquires transport information from the memory unit 24. In steps S11 and S12, the determination unit 27 determines whether the workpiece W can be removed. In step S11, the determination unit 27b determines whether the condition of the workpiece W included in the transport information is removable. When the condition of the workpiece W included in the transport information is not removable (No in step S11), the process returns to step S10, and the transport information acquisition unit 25 acquires transport information of a workpiece W located upstream of the workpiece W determined to be not removable. When the condition of the workpiece W included in the transport information is removable (Yes in step S11), the process proceeds to step S12.

[0069] In step S12, the distance calculation unit 27a calculates the distance between the current positions contained in the transport information, and the determination unit 27b determines whether the calculated distance between the current positions is within a threshold. If the distance between the current positions exceeds the threshold (No in step S12), the process returns to step S10, and the transport information acquisition unit 25 acquires the transport information of the workpiece W located further upstream than the workpiece W determined to be unretrievable. If the distance between the current positions is within the threshold (Yes in step S12), the process proceeds to step S13.

[0070] Step S13 is necessary when generating one transfer information for each workpiece W, but it should be noted that step S13 is not necessary when generating one transfer information for a specified number of workpieces W. In step S13, the transfer information acquisition unit 25 determines whether the specified number of transfer information has been obtained from the memory unit 24. If the transfer information acquisition unit 25 fails to obtain the specified number of transfer information from the memory unit 24 (No in step S13), it returns to step S10, and the transfer information acquisition unit 25 further acquires transfer information. If the transfer information acquisition unit 25 has obtained the specified number of transfer information from the memory unit 24 (Yes in step S13), it proceeds to step S14.

[0071] In step S24, the control unit 29 calculates the workpiece removal position based on the current position contained in the transport information. In step S15, the control unit 29 determines whether the workpiece removal position falls within the working area B of the machine 10. If the workpiece removal position does not fall within the working area B of the machine 10 (No in step S15), the process returns to step S14, and the control unit 29 repeats the calculation of the workpiece removal position based on the current position contained in the transport information. If the workpiece removal position falls within the working area B of the machine 10 (Yes in step S15), the process proceeds to step S16. In step S16, the control unit 29 sends a movement command to the machine 10 to move towards the workpiece removal position. When the machine 10 reaches the workpiece removal position, a removal command to remove a specified number of workpieces W is sent to the machine 10.

[0072] As described above, according to the mechanical system 1 of the first embodiment, even if the condition of the workpiece W included in the transport information indicates that it cannot be taken out, or the transport information is deleted because the workpiece W is a defective product, or the workpiece W is transported in a missing state where the workpiece W has been removed from the queue of workpieces W, since the machine 10 takes out a specified number of workpieces W based on the transport information that determines the workpiece W or the group of workpieces W that cannot be taken out is located upstream of the workpiece W or the group of workpieces W, the specified number of workpieces W can still be taken out without omission.

[0073] Furthermore, according to the mechanical system 1 of the first embodiment, when one transfer information is generated for each workpiece W, the machine 10 can remove a specified number of workpieces W at once from the workpieces W immediately following the workpieces W determined to be unremovable. In short, the machine 10 can remove as many removable workpieces W as possible.

[0074] Furthermore, according to the mechanical system 1 of the first embodiment, by setting a specified number of workpieces W to be taken out by the machine 10 at one time, and a threshold value for the distance between the current positions contained in the transport information of adjacent workpieces W or groups of workpieces W, a specified number of workpieces W can be taken out without omission.

[0075] Figure 8 is a configuration diagram of the mechanical system 1 in the second embodiment. Only the parts different from the mechanical system 1 in the first embodiment will be described below; configurations and operations identical to those in the first embodiment will be omitted. The mechanical system 1 determines whether distribution to the workpiece container T is permissible, and distributes a specified number of workpieces W at once based on the permissibility. The mechanical system 1 determines whether distribution to the workpiece container T is permissible based on the status or current position contained in the transport information of the workpiece container T. Furthermore, the mechanical system 1 distributes a specified number of workpieces W at once based on transport information of workpiece containers T located further upstream than those determined to be undistributable.

[0076] The mechanical system 1 includes a machine 10 for distributing a specified number of workpieces W at one time, and a control device 20 for controlling the machine 10. Furthermore, the mechanical system 1 may include a conveying device movement measurement unit 40, which measures the movement of the conveying device 30 to determine the current position of the conveyed workpiece container T. The movement of the conveying device 30 includes its current position and current speed. The mechanical system 1 may also include a vision sensor 50 instead of the conveying device movement measurement unit 40, or may include a vision sensor 50 in addition to the conveying device movement measurement unit 40, to determine not only the current position and current speed of the conveyed workpiece container T, but also the current posture, type, and condition of the conveyed workpiece container T.

[0077] The workpiece container T is supplied to the conveying device 30 upstream in the conveying direction X, and is conveyed by the conveying device 30 in the conveying direction X. Downstream in the conveying direction X, the workpiece W is distributed by the machine 10. The workpiece container T is conveyed at approximately a certain conveying interval D, but it is not necessary to convey it precisely at a certain conveying interval D. Furthermore, the workpiece container T is conveyed in a single row, but as explained in the embodiments described later, the workpiece container T can also be conveyed in two rows, three rows, or multiple rows. For example, although the workpiece container is a pallet, in other embodiments it can also be a workpiece container of other shapes such as a bucket or a carton. The conveying device 30 can also convey one type of workpiece container T of the same shape and size, or it can convey multiple types of workpiece containers T of different shapes and sizes. The machine 10 distributes the workpiece W to one or more types of workpiece containers T.

[0078] The machine 10 distributes a specified number of workpieces W to the workpiece container T conveyed by the conveying device 30 at one time. Although the machine 10 distributes one workpiece W to one workpiece container T, it can also distribute a specified number of workpieces W to one workpiece container T. For example, the machine 10 includes a robot 11 and a hand 12 installed on the robot 11. In other embodiments, the machine 10 may not be a robot 11 and a hand 12, but may be other types of machines that can distribute a specified number of workpieces W at one time.

[0079] Robot 11 moves hand 12 to the workpiece distribution position. The workpiece distribution position is the center position of the group of workpiece containers T, calculated by averaging the current positions of a specified number of workpiece containers T. However, it can also be the current position of the first workpiece container T supplied among the specified number of workpiece containers T, or the current position of the last workpiece container T supplied among the specified number of workpiece containers T, etc. Hand 12 distributes a specified number of workpieces W at the workpiece distribution position in one go.

[0080] The control device 20 controls the machine 10 based on the transport information of the workpiece container T. While the control device 20 generates one transport information for each workpiece container T, it can also generate one transport information for a specified number of workpiece containers T. The transport information of the workpiece container T includes the current position, current speed, current posture, type, and status of the workpiece container T. The control device 20 updates the current position, current speed, etc. of the workpiece container T based on the movement amount of the transport device 30 obtained from the transport device movement amount measuring unit 40. In other embodiments, the control device 20 can also update the current posture, type, and status of the workpiece W based on visual information obtained from the vision sensor 50, plus the current position, current speed, etc. of the workpiece container T. Furthermore, the control device 20 updates the status indicating whether or not workpiece container T can be supplied, based on the operating capacity of the machine 10 or the types of workpiece containers T that the machine 10 can supply.

[0081] The control device 20 determines whether or not workpieces can be dispensed to the workpiece container T based on the status or current position contained in the conveying information of the workpiece container T. The control device 20 determines that the workpiece container T is ready for dispensing when the status contained in the conveying information of the workpiece container T indicates that it is ready for dispensing, and determines that it is not ready for dispensing when the status contained in the conveying information of the workpiece container T indicates that it is not ready for dispensing. In short, the control device 20 determines whether or not workpieces can be dispensed to the workpiece container T based on the operating capacity of the machine 10 or the type of workpiece container T that the machine 10 can dispense.

[0082] The control device 20 determines that the workpiece container T is deployable when the distance between the current positions contained in the transport information of the workpiece container T is within a threshold, and determines that the workpiece container T is not deployable when the distance between the current positions contained in the transport information of the workpiece container T exceeds the threshold. In summary, the control device 20 determines that the workpiece container T is not deployable when the transport information of the workpiece container T is deleted because the workpiece container T is defective, or when the workpiece container T is removed from the queue of transported workpiece containers T.

[0083] The control device 20 generates an instruction to distribute a specified number of workpieces W at once based on the transport information of the workpiece container T located upstream of the workpiece container T that is determined to be undistributable, thereby controlling the machine 10. The instruction to distribute the specified number of workpieces W at once includes a movement instruction to move to the workpiece distribution position and a distribution instruction to distribute the specified number of workpieces W. The machine 10 distributes the specified number of workpieces W at once in response to the instruction from the control device 20.

[0084] The conveying device 30 conveys one or more workpiece containers T. The conveying device movement measurement unit 40 measures the movement of the conveying device 30. In other embodiments, the mechanical system 1 may also have other types of sensors, such as a vision sensor 50, instead of the conveying device movement measurement unit 40, or may have other types of sensors, such as a vision sensor 50, in addition to the conveying device movement measurement unit 40. When using the vision sensor 50, the control device 20 can also obtain not only the current position and current speed of the workpiece container T, but also the current posture, type, and status of the workpiece container T, based on the visual information obtained from the vision sensor 50.

[0085] Figure 9 is a functional block diagram of the mechanical system 1 in the second embodiment. Although the constituent elements of the mechanical system 1 in the second embodiment are the same as those in the first embodiment, it should be noted that the object being processed changes from the workpiece W to the workpiece container T. Furthermore, although one workpiece W is assigned to one workpiece container T, it should be noted that a specified number of workpieces W can also be assigned to one workpiece container T.

[0086] The transfer information generation unit 21 generates one transfer information for each workpiece container T, or one transfer information for each specified number of workpiece containers T. The transfer information generation unit 21 obtains the set specified number from the specified number setting unit 26. For example, whenever one workpiece container T is supplied to the transfer device 30, the transfer information generation unit 21 receives a supply signal from an external device (not shown) for the workpiece container T, and generates one transfer information for each supply signal, or one transfer information for each specified number of supply signals.

[0087] The transport information generation unit 21 generates transport information with initial values ​​set for the current position, current speed, current posture, type, and status of the workpiece container T. The transport information generation unit 21 sends the generated transport information to the memory unit 24. To simplify subsequent processing, the transport information generation unit 21 can also store the transport information in the memory unit 24 according to the transport sequence of the workpiece container T.

[0088] The conveying device movement acquisition unit 22 acquires the movement amount of the conveying device 30 from the conveying device movement measurement unit 40. The conveying device movement acquisition unit 22 sends the acquired movement amount of the conveying device 30 to the conveying information update unit 23.

[0089] Although the transport information update unit 23 updates the transport information of the workpiece container T stored in the memory unit 24 based on the movement amount of the transport device 30, it can also update the transport information of the workpiece container T stored in the memory unit 24 based on the visual information obtained from the vision sensor 50. For example, the transport information update unit 23 updates the current position, current speed, etc. of the workpiece container T stored in the memory unit 24 based on the movement amount of the transport device 30, or updates the current position, current speed, current posture, type, status, etc. of the workpiece container T stored in the memory unit 24 based on the visual information obtained from the vision sensor 50.

[0090] The memory unit 24 stores the transport information of the workpiece container T according to the transport sequence of the workpiece container T. Although not shown in the figure, the memory unit 24 is a memory that stores various types of data. The memory includes semiconductor memory devices such as RAM and ROM, magnetic memory devices such as HDD, etc.

[0091] The specified quantity setting unit 26 sets the specified number of workpieces W to be distributed by the machine 10 at one time. The specified quantity setting unit 26 sets the specified quantity specified by the user through a user interface (not shown), such as a touch panel display or keyboard. Since the range of the specified quantity that can be distributed at one time depends on the type of machine 10 (i.e., the hand 12), the specified quantity setting unit 26 can also have an initial value for the range of specified quantities according to the type of machine 10. The specified quantity setting unit 26 sends the set specified quantity to the transfer information generation unit 21 and the transfer information acquisition unit 25.

[0092] The transfer information acquisition unit 25 acquires the transfer information of the workpiece container T from the memory unit 24. When generating one transfer information for each workpiece container T, when distributing one workpiece W to one workpiece container T, the transfer information acquisition unit 25 acquires the preset specified number from the specified number setting unit 26, and sequentially acquires the specified number of transfer information from the memory unit 24 according to the transfer order of the workpiece containers T. Furthermore, when generating one transfer information for each workpiece container T, when distributing a specified number of workpieces W to one workpiece container T, the transfer information acquisition unit 25 only needs to acquire one transfer information from the memory unit 24 according to the transfer order of the workpiece containers T. Furthermore, when generating one transfer information for each specified number of workpiece containers T, only one workpiece W can be assigned to one workpiece container T. The transfer information acquisition unit 25 retrieves one transfer information from the memory unit 24 according to the transfer order of the workpiece containers T. In order to confirm whether the assignment to the workpiece container T is permissible, the transfer information acquisition unit 25 sends the transfer information of the workpiece container T to the decision unit 27 according to the transfer order of the workpiece containers T.

[0093] The decision unit 27 determines whether or not workpieces can be distributed to the workpiece container T based on the status or current position contained in the transport information of the workpiece container T. The decision unit 27 includes a distance calculation unit 27a and a determination unit 27b. The determination unit 27b determines whether the status contained in the transport information of the workpiece container T indicates that distribution is possible. When the status contained in the transport information of the workpiece container T indicates that distribution is possible, the determination unit 27b determines that the workpiece container T or group of workpiece containers T corresponding to the transport information is distribution possible; when the status contained in the transport information of the workpiece container T indicates that distribution is not possible, the determination unit 27b determines that the workpiece container T or group of workpiece containers T corresponding to the transport information is not distribution possible.

[0094] Furthermore, the distance calculation unit 27a calculates the distance between the current positions contained in the transport information of adjacent workpiece containers T or groups of workpiece containers T, and the determination unit 27b determines whether the calculated distance between the current positions is within a threshold. When the calculated distance between the current positions is within the threshold, the determination unit 27b determines that the adjacent workpiece container T or group of workpiece containers T is available for distribution; when the calculated distance between the current positions exceeds the threshold, the downstream workpiece container T or adjacent group of workpiece containers T is determined as unavailable for distribution. The determination unit 27 sends the distribution approval or disapproval to the workpiece container T to the transport information acquisition unit 25.

[0095] The threshold setting unit 28 sets a threshold for the distance between the current positions contained in the transport information of adjacent workpiece containers T or adjacent groups of workpiece containers T. The threshold setting unit 28 sets the threshold specified by the user through a user interface (not shown), such as a touch panel display or keyboard. Since the transport interval D of the workpiece container T may not be constant, the threshold setting unit 28 can also set the range after adding / subtracting the offset from the transport interval D of the workpiece container T as the threshold. Furthermore, when generating one transport information for each specified number of workpiece containers T, the threshold setting unit 28 can multiply the transport interval D of the workpiece container T by the specified number, and set the range after adding / subtracting the offset from the multiplied value as the threshold. The threshold setting unit 28 sends the set threshold to the determination unit 27b.

[0096] When generating one transfer information for each workpiece container T, if the determination unit 27 determines that the workpiece container T or group of workpiece containers T is available for distribution, the transfer information acquisition unit 25 sequentially acquires transfer information from the memory unit 24 until a specified number is reached. If the determination unit 27 determines that the workpiece container T or group of workpiece containers T is not available for distribution, the transfer information acquisition unit 25 acquires transfer information from the memory unit 24 for workpiece containers T or groups of workpiece containers T located further upstream than those determined to be not available for distribution. When the transfer information acquisition unit 25 has acquired the specified number of transfer information from the memory unit 24, it sends the specified number of transfer information to the control unit 29.

[0097] Alternatively, when generating one transfer information for each specified number of workpiece containers T, when the decision unit 27 determines that the group of workpiece containers T is available for distribution, the transfer information acquisition unit 25 sends one transfer information to the control unit 29. When the decision unit 27 determines that the workpiece container T is not available for distribution, the transfer information acquisition unit 25 acquires one transfer information again from the memory unit 24.

[0098] The control unit 29 calculates the workpiece distribution position based on the current position contained in the transfer information, generates an instruction to distribute a specified number of workpieces W at once based on the workpiece distribution position, and sends the generated instruction to the machine 10. When one transfer information is generated for each workpiece container T, the control unit 29 calculates the workpiece distribution position based on the current position contained in the specified number of transfer information. Also, when one transfer information is generated for each specified number of workpiece containers T, the control unit 29 calculates the workpiece distribution position based on the current position contained in the transfer information. Although the workpiece distribution position is the center position obtained by averaging the current positions of the specified number of workpiece containers T, it can also be the current position of the first workpiece container T supplied among the specified number of workpiece containers T, or the current position of the last workpiece container T supplied among the specified number of workpiece containers T, etc. The control unit 29 continuously calculates the workpiece distribution position until the machine 10 distributes the specified number of workpieces W at once.

[0099] The control unit 29 determines whether the workpiece distribution position falls within the working area of ​​the machine 10. When the workpiece distribution position falls within the working area of ​​the machine 10, the control unit 29 generates an instruction to distribute a specified number of workpieces W at once and sends it to the machine 10. The instruction to distribute a specified number of workpieces W at once includes a movement instruction to move to the workpiece distribution position and an instruction to distribute the specified number of workpieces W. The control unit 29 continues to send the movement instruction to move to the workpiece distribution position to the machine 10 until the machine 10 reaches the workpiece distribution position. When the machine 10 reaches the workpiece distribution position, it sends the instruction to distribute the specified number of workpieces W to the machine 10.

[0100] In response to the instructions from the control device 20, the machine 10 tracks the workpiece container T or a group of workpiece containers T, and when it reaches the workpiece dispensing position, dispenses a specified number of workpieces W at once. After dispensing the specified number of workpieces W at once, the machine 10 removes the specified number of workpieces W at once. After removing the specified number of workpieces W at once, the machine 10 repeats the aforementioned actions in order to dispense the specified number of workpieces W at once.

[0101] The following describes the general operation of the control device 20 in the second embodiment. FIG10 is a flowchart showing the general operation of the control device 20 in the second embodiment. In step S20, the transport information acquisition unit 25 acquires transport information from the memory unit 24. In steps S21 and S22, the determination unit 27 determines whether the workpiece container T can be distributed. In step S21, the determination unit 27b determines whether the status of the workpiece container T included in the transport information is distributable. When the status of the workpiece container T included in the transport information is not distributable (No in step S21), the process returns to step S20, and the transport information acquisition unit 25 acquires transport information of a workpiece container T located upstream of the workpiece container T determined to be not distributable. When the status of the workpiece container T included in the transport information is distributable (Yes in step S21), the process proceeds to step S22.

[0102] In step S22, the distance calculation unit 27a calculates the distance between the current positions contained in the transfer information, and the determination unit 27b determines whether the calculated distance between the current positions is within a threshold. If the distance between the current positions exceeds the threshold (No in step S22), the process returns to step S20 and obtains the transfer information of the workpiece container T located further upstream than the workpiece container T determined to be undeliverable. If the distance between the current positions is within the threshold (Yes in step S21), the process proceeds to step S23.

[0103] Step S23 is necessary when generating one transfer information for each workpiece container T, but it should be noted that step S23 is not necessary when generating one transfer information for a specified number of workpiece containers T. In step S23, when the transfer information generation unit 21 generates one transfer information for each workpiece container T, the transfer information acquisition unit 25 determines whether the specified number of transfer information has been obtained from the memory unit 24. If the transfer information acquisition unit 25 fails to obtain the specified number of transfer information from the memory unit 24 (No in step S23), it returns to step S20, and the transfer information acquisition unit 25 further obtains transfer information. If the transfer information acquisition unit 25 has obtained the specified number of transfer information from the memory unit 24 (Yes in step S23), it proceeds to step S24.

[0104] In step S24, the control unit 29 calculates the workpiece distribution position based on the current position contained in the transport information. In step S25, the control unit 29 determines whether the workpiece distribution position falls within the working area B of the machine 10. If the workpiece distribution position does not fall within the working area B of the machine 10 (No in step S25), the process returns to step S14, and the control unit 29 repeats the calculation of the workpiece distribution position based on the current position contained in the transport information. If the workpiece distribution position falls within the working area B of the machine 10 (Yes in step S15), the process proceeds to step S16. In step S16, the control unit 29 sends a movement command to the machine 10 to move to the workpiece distribution position. When the machine 10 reaches the workpiece distribution position, a distribution command to distribute a specified number of workpieces W is sent to the machine 10.

[0105] As described above, according to the mechanical system 1 of the second embodiment, even if the status of the workpiece container T included in the transfer information indicates that it cannot be distributed, or the transfer information is deleted because the workpiece container T is defective, or the workpiece container T is transferred in a missing state where the workpiece container T is removed from the queue of workpiece containers T, since the mechanical 10 determines that the transfer information of the workpiece container T or the group of workpiece containers T that is not distributed is located in the upstream workpiece container T or the group of workpiece containers T, the specified number of workpieces W can still be distributed to the workpiece container T without omission.

[0106] Furthermore, according to the mechanical system 1 of the second embodiment, when one transfer information is generated for each workpiece W, the machine 10 can distribute a specified number of workpieces W at once from the workpiece accompanies T immediately following the workpiece accompanies T that are determined to be undistributable. In short, the machine 10 can distribute to the workpiece accompanies T that can be distributed as much as possible.

[0107] Furthermore, according to the mechanical system 1 of the second embodiment, by setting a specified number of workpieces W to be distributed by the machine 10 at one time, and a threshold value for the distance between the current positions contained in the transport information of adjacent workpiece containers T or groups of workpiece containers T, the specified number of workpieces W can be distributed without omission.

[0108] Figure 11 is a diagram showing embodiment 3-1 of the mechanical system 1 in the third embodiment. Only the parts different from the mechanical system 1 in the first or second embodiment will be described below; descriptions of configurations and operations identical to those in the first or second embodiment will be omitted. The mechanical system 1 in the third embodiment includes a retractable hand 12 that determines whether the transported workpiece W can be removed or whether it can be distributed to the transported workpiece container T. Depending on whether removal or distribution is possible, the hand 12 is extended or retracted to remove or distribute a specified number of workpieces W at once. The mechanical system 1 extends or retracts the hand 12 based on the current position contained in the transport information of the workpiece W or the workpiece container T. The hand 12 is preferably a suction-type hand having a plurality of suction parts (not shown) that can extend and retract between suction parts. One suction part corresponds to one workpiece W, and the length between suction parts corresponds to the transport interval D.

[0109] This example will also be explained with reference to Figure 2. The prerequisites for this example are as follows: • One or more types of workpieces W are transported in a single line at a transport interval D = 10 cm. • The specified number setting unit 26 sets the specified number of workpieces W to be taken out by the machine 10 at one time to 4. • The machine 10 takes out workpieces W in the working area B ± 25 cm on the X coordinate of the machine coordinate system. • The hand 12 is configured to take out 1 to 4 workpieces W at one time. Furthermore, the hand 12 has 4 suction parts (not shown) and is a suction-type hand that can extend and retract between the suction parts. The extension range of the hand 12 is 30 cm to 80 cm (= the distance between the downstream workpiece W and the upstream workpiece W). • The transport information generation unit 21 generates one transport information (W1 to W12) for each workpiece W. • The memory unit 24 remembers the transport information W1 to W12 according to the transport order of the workpieces W. • The current positions of the workpieces W included in the transport information W1 to W12 are 20cm, 30cm, 40cm, ..., 130cm respectively on the X coordinate of the machine coordinate system. • The threshold setting unit 28 sets a threshold value of 30cm to 80cm (the extension range of the hand 12) for the distance between the current positions of the downstream workpiece W and the upstream workpiece W included in the transport information of a specified number of workpieces W. • The condition of the workpiece W included in the transport information W2 is indicated as unretrievable (indicated by an × symbol) based on the operating capacity of the machine 10 or the type of workpiece W that the machine 10 can retrieve.

[0110] The transfer information acquisition unit 25 sequentially acquires a specified number of four transfer information items W1 to W4 from the memory unit 24 and sequentially sends them to the decision unit 27. The decision unit 27 sequentially determines whether the workpiece W can be retrieved based on the status of the workpiece W contained in each of the transfer information items W1 to W4. Since the status of the workpiece W contained in the transfer information W1 indicates that it can be retrieved, the determination unit 27b determines that the workpiece W corresponding to the transfer information W1 can be retrieved. Furthermore, since the status of the workpiece W contained in the transfer information W2 indicates that it cannot be retrieved (indicated by an × symbol), the determination unit 27b determines that the workpiece W corresponding to the transfer information W2 cannot be retrieved. The decision unit 27 sends the determination that the workpiece W corresponding to the transfer information W2 cannot be retrieved to the transfer information acquisition unit 25.

[0111] The transport information acquisition unit 25 does not count the transport information W2 (represented by an × symbol) that is determined to be unretrievable as a specified number, but sequentially acquires transport information W3 to W5 from the memory unit 24 and sends them to the decision unit 27. The decision unit 27 sequentially determines whether the workpiece W can be retrieved based on the status of the workpiece W included in the transport information W3 to W5. Since the status of the workpiece W included in the transport information W3 to W5 all indicates that it can be retrieved, the determination unit 27b determines that the workpiece W corresponding to the transport information W3 to W5 can be retrieved. The decision unit 27 sequentially sends the retrievability of the workpiece W corresponding to the transport information W1 and W3 to W5 to the transport information acquisition unit 25. Since the transport information acquisition unit 25 has acquired the specified number of four transport information W1 and W3 to W5 that are determined to be retrievable workpieces from the memory unit 24, it sends the transport information W1 and W3 to W5 to the control unit 29.

[0112] The control unit 29 determines the extension position and extension length of the hand 12 based on the distance between the current positions contained in the transfer information W1 and W3 of adjacent workpieces W, the transfer information W3 and W4 of adjacent workpieces W, and the transfer information W4 and W5 of adjacent workpieces W. The distance between the current positions contained in the transfer information W1 and W3 of adjacent workpieces W (20cm) is 10cm larger than the transfer interval (10cm). Therefore, the control unit 29 determines the extension position of the hand 12 between the workpieces W corresponding to the transfer information W1 and W3, and determines the extension length of the hand 12 to be a difference of 10cm.

[0113] The control unit 29 calculates the workpiece removal position P' (42.5cm) based on the current positions (20cm, 40cm, 50cm, and 60cm) of the workpieces W included in the transport information W1 and W3-W5. In summary, the original workpiece removal position P (35cm) is corrected to the workpiece removal position P' (42.5cm) based on the current positions of the workpieces W included in the transport information W1 and W3-W5, which determine that the workpieces W can be removed. That is, the original workpiece removal area A is corrected to the workpiece removal area A' based on the transport information W1 and W3-W5, which determine that the workpieces W can be removed.

[0114] The control unit 29 continuously calculates the workpiece removal position P' based on the current positions of the workpieces W contained in the transfer information W1 and W3-W5 respectively, until a specified number of 4 workpieces W are removed. When the workpiece removal position P' falls within the working area B (±25cm) of the machine 10, the control unit 29 continuously sends movement commands to the machine 10 to move towards the workpiece removal position P' in order to track the specified number of 4 workpieces W. When the machine 10 reaches the specified number of 4 workpieces W, the control unit 29 sends the extension command of the telescopic arm 12 and the removal command to remove the specified number of 4 workpieces W to the machine 10.

[0115] As described above, according to the mechanical system 1 of the third embodiment, even if the condition contained in the transfer information W2 indicates that the workpieces cannot be retrieved, the machine 10 can still extend and retract the hand 12 to retrieve the specified number of 4 workpieces W without omission, based on the transfer information W1 and W3 to W5 that determine that the workpieces W can be retrieved. Furthermore, since one transfer information is generated for each workpiece W, and the hand 12 extends and retracts, the machine 10 can bypass the workpieces W that are determined to be unretrievable to retrieve as many retrievable workpieces W as possible.

[0116] Figure 12 is a diagram showing embodiment 3-2 of the mechanical system 1 in the third embodiment. This example will also be described with reference to Figure 2. The prerequisites for this example are as follows: • One or more types of workpieces W are conveyed in a single line at a conveying interval D = 10 cm. • The specified number setting unit 26 sets the specified number of workpieces W to be retrieved by the machine 10 at one time to 4. • The machine 10 retrieves workpieces W within a working area B ± 25 cm on the X coordinate of the machine coordinate system. • The hand 12 is configured to retrieve 1 to 4 workpieces W at one time. Furthermore, the hand 12 has 4 suction parts (not shown) and is a suction-type hand that can extend and retract between the suction parts. The extension range of the hand 12 is 30 cm to 80 cm (= the distance between the downstream workpiece W and the upstream workpiece W). • The conveying information generation unit 21 generates one conveying information (W1 to W11) for each workpiece W. • The memory unit 24 stores transport information W1 to W11 according to the transport order of workpieces W. • The current positions of workpieces W included in transport information W1 to W11 are 20cm, 40cm, 50cm, ..., and 130cm respectively on the X coordinate of the mechanical coordinate system. • The threshold setting unit 28 sets a threshold value of 30cm to 80cm (the extension range of the hand 12) for the distance between the current positions of the downstream workpiece W and the upstream workpiece W included in the transport information of a specified number of workpieces W. • Between workpiece W corresponding to transport information W1 and workpiece W corresponding to transport information W2, one transport information is missing because workpiece W is defective and one transport information was deleted, or workpiece W is supplied in a missing state where one workpiece W has been removed from the workpiece W queue.

[0117] The transport information acquisition unit 25 sequentially acquires transport information W1 to W4 of a specified number of four workpieces W from the memory unit 24, and sequentially sends them to the decision unit 27. The decision unit 27 sequentially determines whether workpiece W can be retrieved based on the distance between the current positions contained in the transport information W1 and W4 of the downstream workpiece W and the upstream workpiece W, respectively. When the distance calculation unit 27a calculates the distance (40cm) between the current positions (20cm and 60cm) contained in the transport information W1 and W4 of the downstream workpiece W and the upstream workpiece W, respectively, since the calculated distance (40cm) between the current positions is within the threshold (30cm to 80cm), the determination unit 27b determines that the workpiece W corresponding to the transport information W1 to W4 can be retrieved. The decision unit 27 sends the retrieval status of the workpiece W corresponding to the transport information W1 to W4 to the transport information acquisition unit 25. Since the transfer information acquisition unit 25 has obtained the specified number of 4 transfer information items W1 to W4 from the memory unit 24, the transfer information items W1 to W4 are sent to the control unit 29.

[0118] The control unit 29 determines the extension position and extension length of the hand 12 based on the distances between the current positions contained in the transfer information W1 and W2, the transfer information W2 and W3, and the transfer information W3 and W4 of adjacent workpieces W. The distance between the current positions contained in the transfer information W1 and W2 of adjacent workpieces W (20cm) is 10cm larger than the transfer interval (10cm). Therefore, the control unit 29 determines the extension position of the hand 12 between the workpieces W corresponding to the transfer information W1 and W2, and determines the extension length of the hand 12 to be a difference of 10cm.

[0119] The control unit 29 calculates the workpiece removal position P' (42.5cm) based on the current positions (20cm, 40cm, 50cm, and 60cm) of the workpieces W included in the transport information W1 to W4. In summary, the original workpiece removal position P (35cm) is corrected to the workpiece removal position P' (42.5cm) based on the current positions of the workpieces W included in the transport information W1 to W4 that determine that the workpieces W can be removed. That is, the original workpiece removal area A is corrected to the workpiece removal area A' based on the transport information W1 to W4 that determine that the workpieces W can be removed.

[0120] The control unit 29 continuously calculates the workpiece removal position P' based on the current positions of the workpieces W included in the transfer information W1 to W4, until a specified number of 4 workpieces W are removed. When the workpiece removal position P' falls within the working area B (±25cm) of the machine 10, the control unit 29 continuously sends movement commands to the machine 10 to move towards the workpiece removal position P', in order to track the specified number of 4 workpieces W. When the machine 10 reaches the specified number of 4 workpieces W, the control unit 29 sends extension commands for the telescopic hand 12 and removal commands for the specified number of 4 workpieces W to the machine 10.

[0121] Furthermore, regarding the embodiment of distributing a specified number of workpieces W to the workpiece container T at one time, since it is the same as Embodiment 3-1 and Embodiment 3-2, the description is omitted.

[0122] As described above, according to the mechanical system 1 of the third embodiment, even if the conveying information is deleted because the workpiece W or the workpiece container T is defective, or if the workpiece W or the workpiece container T is supplied in a missing state where the workpiece W or the workpiece container T is removed from the queue of the workpiece W or the workpiece container T, the hand 12 can still be extended and retracted to take out or distribute a specified number of 4 workpieces W without omission, based on the conveying information of the workpiece W that is determined to be retrievable or the conveying information of the workpiece container T that is determined to be dispensed. Furthermore, since a transfer information for each workpiece W is generated for each workpiece W, or a transfer information for each workpiece container T is generated for each workpiece container T, and the hand 12 can extend and retract, the machine 10 can cross over the workpiece W or workpiece container T corresponding to the deleted transfer information, or cross over the workpiece W or workpiece container T that has been removed from the queue of workpiece W or workpiece container T, so as to retrieve or distribute as many workpiece W or workpiece container T as possible.

[0123] Figure 13 is a diagram showing Embodiment 4-1 of the mechanical system of the fourth embodiment. Only the parts that differ from the mechanical system 1 of the first or second embodiment will be described below; descriptions of configurations and operations identical to those of the mechanical system 1 of the first or second embodiment will be omitted. The mechanical system 1 of the fourth embodiment removes a specified number of workpieces W from a plurality of workpieces W conveyed in a plurality of columns at once, or dispenses a specified number of workpieces to a workpiece container T conveyed in a plurality of columns at once.

[0124] This example will also be explained with reference to Figure 2. The prerequisites for this example are as follows: ‧One or more types of workpieces W are transported in two columns at a transport interval D = 10 cm. ‧The specified number setting unit 26 sets the specified number of workpieces W to be taken out by the machine 10 at one time to 4. ‧The machine 10 takes out workpieces W within the working area B ± 25 cm on the X coordinate of the machine coordinate system. ‧The hand 12 is configured to take out 1 to 4 workpieces W covering multiple columns at one time. ‧The transport information generation unit 21 generates one transport information (W1a~W12a, W1b~W12b) for each workpiece W. Also, the transport information generation unit 21 generates transport information (W1a~W12a, W1b~W12b) for each column of workpieces W. • The memory unit 24 remembers the transfer information W1a~W12a and W1b~W12b for each column according to the transfer sequence of the workpieces W. • The current position of the workpieces W included in the transfer information W1a~W12a is 20cm:50cm, 30cm:50cm, 40cm:50cm, ... and 130cm:50cm respectively on the X:Y coordinate system of the mechanical coordinate system. The current position of the workpieces W included in the transfer information W1b~W12b is 20cm:30cm, 30cm:30cm, 40cm:30cm, ... and 130cm:30cm respectively on the X:Y coordinate system of the mechanical coordinate system. • The threshold setting unit 28 sets the threshold for the distance between the current positions of adjacent workpieces W in the transport information contained in the transport information of the X-direction to ±13cm (= transport interval 10cm ± offset 3cm), and sets the threshold for the distance between the current positions of adjacent workpieces W in the Y-direction to ±23cm (= column interval 20cm ± offset 3cm). • The status of the workpiece W contained in the transport information W1b is indicated as unretrievable (indicated by an × symbol) based on the operating capacity of the machine 10 or the type of workpiece W that the machine 10 can retrieve.

[0125] The transfer information acquisition unit 25 sequentially acquires a specified number of four transfer information items W1a, W2a, W1b, and W2b from the memory unit 24 and sequentially sends them to the decision unit 27. The decision unit 27 sequentially determines whether the workpiece W can be retrieved based on the status of the workpiece W contained in the transfer information W1a, W2a, W1b, and W2b. Since the status of the workpiece W contained in the transfer information W1b indicates that it cannot be retrieved (indicated by an × symbol), the determination unit 27b determines that the workpiece W corresponding to the transfer information W1b cannot be retrieved. The decision unit 27 sends the determination that the workpiece W corresponding to the transfer information W1b cannot be retrieved to the transfer information acquisition unit 25.

[0126] The transport information acquisition unit 25 retrieves transport information W2a, W3a, W2b, and W3b from the memory unit 24, sequentially acquiring a specified number of transport information for four workpieces W located upstream of the workpieces W determined to be unretrievable (indicated by an × symbol), and sends them sequentially to the decision unit 27. The decision unit 27 determines whether the workpieces W can be retrieved based on the status of the workpieces W contained in the transport information W2a, W3a, W2b, and W3b. Since the status contained in the transport information W2a, W3a, W2b, and W3b all indicate that they can be retrieved, the determination unit 27b determines that all workpieces W corresponding to the transport information W2a, W3a, W2b, and W3b can be retrieved. The decision unit 27 sequentially sends the retrievability of the workpieces W corresponding to the transport information W2a, W3a, W2b, and W3b to the transport information acquisition unit 25. Since the transfer information acquisition unit 25 has obtained the specified number of four transfer information W2a, W3a, W2b and W3b from the memory unit 24 for the workpiece W that can be retrieved, it sends the transfer information W2a, W3a, W2b and W3b to the control unit 29.

[0127] The control unit 29 calculates the workpiece removal position P' (35cm:40cm) based on the current positions of the workpieces W included in the transport information W2a, W3a, W2b, and W3b (30cm:50cm, 40cm:50cm, 30cm:30cm, and 40cm:30cm). In summary, the original workpiece removal position P (25cm:40cm) is corrected to the workpiece removal position P' (35cm:40cm) based on the current positions of the workpieces W included in the transport information W2a, W3a, W2b, and W3b of the four workpieces W that are determined to be unremovable (indicated by ×) located upstream. That is, the original workpiece removal area A is modified into workpiece removal area A' based on the transport information W2a, W3a, W2b and W3b of a specified number of workpieces W upstream of the workpiece W (indicated by ×) that is determined to be unremovable.

[0128] The control unit 29 continuously calculates the workpiece removal position P' based on the current positions of the workpieces W contained in the transfer information W2a, W3a, W2b, and W3b, until a specified number of four workpieces W are removed. When the workpiece removal position P' falls within the working area B (±25cm) of the machine 10, the control unit 29 continuously sends movement commands to the machine 10 to move towards the workpiece removal position P', in order to track the specified number of four workpieces W. When the machine 10 reaches the specified number of four workpieces W, the control unit 29 sends a removal command to the machine 10 to remove the specified number of four workpieces W.

[0129] As described above, according to the mechanical system 1 of the fourth embodiment, even if the condition of the workpiece W included in the transport information W1b indicates that it cannot be retrieved, since the machine 10 can retrieve a specified number of 4 workpieces W based on the transport information W2a, W3a, W2b, and W3b of the workpieces W located further upstream than the workpieces W determined to be unretrievable (indicated by the × symbol), the specified number of 4 workpieces W can be retrieved without omission. Furthermore, since the transport information generation unit 21 generates one transport information for each workpiece W, the machine 10 can retrieve a specified number of 4 workpieces W at once from the workpieces W immediately following the workpieces determined to be unretrievable. In summary, the machine 10 can retrieve as many retrievable workpieces W as possible.

[0130] Figure 14 is a diagram showing embodiment 4-2 of the mechanical system in the fourth embodiment. This example will also be described with reference to Figure 2. The prerequisites for this example are as follows: • One or more types of workpieces W are conveyed in two rows at a conveying interval D = 10 cm. • The specified number setting unit 26 sets the specified number of workpieces W to be taken out by the machine 10 at one time to 4. • The machine 10 takes out workpieces W within a working area B ± 25 cm on the X coordinate of the machine coordinate system. • The hand 12 is configured to take out 1 to 4 workpieces W covering multiple rows at one time. • The conveying information generation unit 21 generates one conveying information (W1a to W12a, W1b to W11b) for each workpiece W. Furthermore, the conveying information generation unit 21 generates conveying information (W1a to W12a, W1b to W11b) for each row of workpieces W. • The memory unit 24 remembers the transfer information W1a~W12a and W1b~W11b for each column according to the transfer sequence of workpiece W. • The current position of workpiece W included in the transfer information W1a~W12a is 20cm:50cm, 30cm:50cm, 40cm:50cm, ... and 130cm:50cm respectively on the X:Y coordinate system of the mechanical coordinate system. The current position of workpiece W included in the transfer information W1b~W11b is 30cm:30cm, 40cm:30cm, ... and 130cm:30cm respectively on the X:Y coordinate system of the mechanical coordinate system. • The threshold setting unit 28 sets the threshold for the distance between the current positions of adjacent workpieces W in the transport direction X, as contained in the transport information, to ±12cm (= transport interval 10cm ± offset 2cm), and sets the threshold for the distance between the current positions of adjacent workpieces W in the column direction Y, as contained in the transport information, to ±22cm (= column interval 20cm ± offset 2cm). • If the downstream workpiece W is a defective product, its transport information is deleted, or workpiece W is transported in a missing state where workpiece W has been removed from the workpiece W queue.

[0131] The transport information acquisition unit 25 sequentially acquires a specified number of transport information W1a, W2a, W1b, and W2b for four workpieces W from the memory unit 24, and sequentially sends them to the decision unit 27. The decision unit 27 determines whether or not a workpiece W can be retrieved based on the distance between the current positions contained in the transport information W1a and W2a of adjacent workpieces W in the transport direction X, and the transport information W1b and W2b of adjacent workpieces W in the transport direction X, and based on the distance between the current positions contained in the transport information W1a and W1b of adjacent workpieces W in the column direction Y, and the transport information W2a and W2b of adjacent workpieces W in the column direction Y. The distance calculation unit 27a calculates the distances (10cm and 10cm) between the current positions (20cm and 30cm, and 30cm and 40cm, respectively) contained in the transport information W1a and W2a of adjacent workpieces W in the transport direction X, and the distances (10cm and 10cm) contained in the transport information W1b and W2b of adjacent workpieces W in the transport direction X. The determination unit 27b determines that the calculated distances (10cm and 10cm) between the current positions are within the threshold (±12cm). However, since the distance (22.4cm) between the current positions contained in the transport information W1a and W1b of adjacent workpieces W in the column direction Y exceeds the threshold (±22cm), the determination unit 27b determines that the downstream workpiece W among the adjacent workpieces W in the column direction Y is not removable. The determination unit 27 sends the determination of the unremovable workpiece W corresponding to the transport information W1a to the transport information acquisition unit 25.

[0132] The transport information acquisition unit 25 retrieves transport information W2a, W3a, W1b, and W2b from the memory unit 24, sequentially acquiring a specified number of transport information for four workpieces W located upstream of the workpiece W determined to be unretrievable, and sends them sequentially to the decision unit 27. The decision unit 27 determines whether workpiece W can be retrieved based on the distance between the current positions contained in the transport information W2a and W3a of adjacent workpieces W in the transport direction X, and the transport information W1b and W2b of adjacent workpieces W in the transport direction X, and based on the distance between the current positions contained in the transport information W2a and W1b of adjacent workpieces W in the column direction Y, and the transport information W3a and W2b of adjacent workpieces W in the column direction Y. The distance calculation unit 27a sequentially calculates the distance between the current positions contained in the transport information W2a and W3a of adjacent workpieces W in the transport direction X and the transport information W1b and W2b of adjacent workpieces W in the transport direction X, and sequentially calculates the distance between the current positions contained in the transport information W2a and W1b of adjacent workpieces W in the column direction Y and the transport information W3a and W2b of adjacent workpieces W in the column direction Y. The determination unit 27b sequentially receives the calculated distances between current positions (10cm, 10cm, 20cm, 20cm) and determines whether the distance exceeds the threshold (X ± 12cm in the transport direction, Y ± 22cm in the column direction). Since all the distances between current positions (10cm, 10cm, 20cm, 20cm) are within the threshold (X ± 12cm in the transport direction, Y ± 22cm in the column direction), the determination unit 27b determines all workpieces W corresponding to transport information W2a, W3a, W1b, and W2b as retrievable. The decision unit 27 sequentially sends the retrievable status of workpieces W corresponding to transport information W2a, W3a, W1b, and W2b to the transport information acquisition unit 25. Since the transfer information acquisition unit 25 has obtained the specified number of four transfer information items W2a, W3a, W1b and W2b from the memory unit 24, it sends the transfer information items W2a, W3a, W1b and W2b to the control unit 29.

[0133] The control unit 29 calculates the workpiece removal position P' (35cm:40cm) based on the current positions (30cm, 50cm, 40cm, 50cm, 30cm, 30cm, and 40cm, 30cm) of the workpieces W contained in the transport information W2a, W3a, W1b, and W2b. In summary, the original workpiece removal position P (25cm:40cm) is corrected to the workpiece removal position P' (35cm:40cm) based on the current positions contained in the transport information W2a, W3a, W1b, and W2b of the four workpieces W located upstream of the workpieces W that are determined to be unremovable. That is, the original workpiece removal area A is corrected to the workpiece removal area A' based on the transport information W2a, W3a, W1b, and W2b of the four workpieces W located upstream of the workpieces W that are determined to be unremovable.

[0134] The control unit 29 continuously calculates the workpiece removal position P' based on the current positions of the workpieces W contained in the transfer information W2a, W3a, W1b, and W2b, until a specified number of four workpieces W are removed. When the workpiece removal position P' falls within the working area B (±25cm) of the machine 10, the control unit 29 continuously sends movement commands to the machine 10 to move towards the workpiece removal position P', in order to track the specified number of four workpieces W. When the machine 10 reaches the specified number of four workpieces W, the control unit 29 sends a removal command to the machine 10 to remove the specified number of four workpieces W.

[0135] Furthermore, regarding the embodiment of distributing a specified number of workpieces W to the workpiece container T for transport at one time, since it is the same as Embodiment 4-1 and Embodiment 4-2, the description is omitted.

[0136] As described above, according to the mechanical system 1 of the fourth embodiment, even if the conveying information is deleted because the workpiece W or workpiece container T is defective, or if the workpiece W or workpiece container T is supplied in a missing state where it is separated from the multiple sequence of workpieces W or workpiece container T, since the machine 10 will take out or distribute a specified number of 4 workpieces W that are located upstream of the workpieces W or workpiece containers T that are determined to be unremovable or dispensable, the specified number of 4 workpieces W can still be taken out or distributed to the workpiece container T without omission. Furthermore, since one conveying information for each workpiece W or workpiece container T is generated for each workpiece W or workpiece container T, the machine 10 can take out or distribute a specified number of workpieces W at once from the workpieces W or workpiece containers T immediately following the workpieces W or workpiece containers T that are determined to be unremovable or undispensable. In summary, the machine 10 can retrieve as many workpieces as possible W, or distribute them to the available workpiece containers T as much as possible.

[0137] Figure 15 is a functional block diagram of the mechanical system 1 in the fifth embodiment. Only the parts that differ from the mechanical system 1 in the first or second embodiment will be described below; descriptions of configurations and operations identical to those in the first or second embodiment will be omitted. The mechanical system 1 in the fifth embodiment is a server-type system, comprising a plurality of machines 10, a plurality of control devices 20, and a host computer device 60. The mechanical system 1 updates the status of the workpiece W or workpiece container T included in the transport information for each machine 10 based on the working capacity of the machine 10, the type of workpiece W that the machine 10 can retrieve, or the type of workpiece container T that the machine 10 can distribute. Furthermore, based on the status of the workpiece W or workpiece container T contained in the transport information, the mechanical system 1 determines for each machine 10 whether the transported workpiece W can be retrieved or distributed to the transported workpiece container T. Depending on whether retrieval or distribution is possible, each machine 10 retrieves or distributes a specified number of workpieces W at once. Multiple machines 10 retrieve the specified number of workpieces W at once. A multiple-machine control device 20 controls each of the multiple machines 10.

[0138] The host computer device 60 manages the transport information of the workpiece W or the workpiece container T. The host computer device 60 generates the transport information of the workpiece W or the workpiece container T, and updates the current position, current speed, current posture, type, status, etc. of the workpiece W based on the movement amount of the transport device 30 obtained from the transport device movement amount measuring unit 40 or based on the visual information obtained from the vision sensor 50.

[0139] The host computer device 60 updates the status of the workpiece W or workpiece container T included in the transfer information for each machine 10 based on the working capacity of the machine 10, or the types of workpiece W that the machine 10 can take out, or the types of workpiece containers T that the machine 10 can be equipped with. The host computer device 60 can communicate with the control device 20 of multiple machines, the movement measurement unit 40 of the transfer device, the vision sensor 50, etc. via wired or wireless means.

[0140] The host computer device 60 is a computer device (not shown) that includes a processor, memory, input / output units, etc. The processor is a semiconductor integrated circuit that executes programs, including, for example, a CPU (central processing unit) or an MPU (microprocessor unit). However, in other embodiments, the processor may include programmable semiconductor integrated circuits, such as FPGAs (field programmable gate arrays) or PLDs (programmable logic devices), or non-programmable semiconductor integrated circuits, such as ASICs. Memory is a semiconductor memory device that stores various types of data, including, for example, RAM (random access memory) or ROM (read-only memory). In other embodiments, memory may also include magnetic memory devices that store various types of data, such as HDDs.

[0141] The control device 20 determines, for each machine 10, whether the workpiece W can be removed or whether it can be distributed to the workpiece container T, based on the status or current position contained in the transport information of the workpiece W or the workpiece container T. The control device 20 determines that the workpiece W is removable or the workpiece container T is dispensable when the status contained in the transport information of the workpiece W or the workpiece container T indicates that it is removable or dispensable; and determines that the workpiece W is not removable or the workpiece container T is not dispensable when the status contained in the transport information of the workpiece W indicates that it is not removable or dispensable.

[0142] Furthermore, the control device 20 determines that the workpiece W can be retrieved or the workpiece container T can be distributed when the distance between the current positions contained in the transport information of the workpiece W or the workpiece container T is within a threshold, and determines that the workpiece W cannot be retrieved or the workpiece container T cannot be distributed when the distance between the current positions contained in the transport information of the workpiece W exceeds the threshold.

[0143] The control device 20 generates instructions to retrieve or distribute a specified number of workpieces W at once for each machine 10 based on the transport information of workpieces W or workpiece containers T located further upstream, which are determined to be non-retrievable or non-distributable. The machine 10, in response to the instructions from the control device 20, retrieves or distributes the specified number of workpieces W at once. The control device 20 is communicatively connected to the machine 10, the host computer device 60, etc., via wired or wireless means.

[0144] The host computer device 60 includes a transfer information generation unit 21, a transfer device movement amount acquisition unit 22, a transfer information update unit 23, and a memory unit 24. The control device 20 includes a transfer information acquisition unit 25, a specified number setting unit 26, a decision unit 27, a threshold setting unit 28, and a control unit 29. The components other than the memory unit 24 are constituted by part or all of the computer program. In other embodiments, all the components in the host computer device 60 and the control device 20 may also be constituted by part or all of the semiconductor integrated circuits.

[0145] For example, based on the operating capabilities of the first type of machine 10 and the second type of machine 10, the host computer device 60 may sometimes update the status of the transport information for a specific workpiece W to "only the first type of machine 10 can retrieve it", and update the status of the transport information for different workpieces W to "only the second type of machine 10 can retrieve it". Furthermore, when transporting multiple types of workpieces W, where the first type of machine 10 can retrieve workpieces of type A and the second type of machine 10 can retrieve workpieces of type B, the host computer device 60 may sometimes update the status of the transport information for workpieces of type A to "only the first type of machine 10 can retrieve it", and update the status of the transport information for workpieces of type B to "only the second type of machine 10 can retrieve it". Also, when retrieving workpieces W from multiple machines 10, workpieces W may sometimes be transported in a missing state where they have been removed from the workpiece queue. The control device 20 determines whether the transported workpiece W can be taken out based on the status contained in the transport information of the workpiece W, or based on the distance between the current positions contained in the transport information of adjacent workpieces W. Based on whether it can be taken out, the control device 20 generates an instruction to take out a specified number of workpieces W at once for each machine 10.

[0146] As described above, according to the mechanical system 1 of the fifth embodiment, even if the working capacity of the plurality of machines 10, or the type of workpiece W or workpiece container T that the machine 10 can take out, indicates that the workpiece W or workpiece container T contained in the transport information is not retrievable for each machine 10, and even if the workpiece W or workpiece container T is transported in a missing state due to the workpiece W being taken out by the plurality of machines 10, since the control device 20 determines whether the workpiece W can be taken out or distributed to the workpiece container T for each machine according to the status or current position of the workpiece W or workpiece container T contained in the transport information, the machine 10 can take out or distribute a specified number of workpieces W at once.

[0147] The aforementioned computer program may also be provided by recording on a non-temporary recording medium that can be read by a computer, such as a CD-ROM, or by delivering it via wired or wireless means from a server device on a WAN (wide area network) or LAN (local area network).

[0148] Although various embodiments have been described in this specification, the present invention is not limited to the aforementioned embodiments, and it should be understood that various modifications can be made within the scope described in the following claims. [Simplified Explanation of the Diagram]

[0012] Figure 1 is a structural diagram of the mechanical system according to the first embodiment. Figure 2 is a functional block diagram of the mechanical system according to the first embodiment. Figure 3 is a diagram showing embodiment 1-1 of the mechanical system according to the first embodiment. Figure 4 is a diagram showing embodiment 1-2 of the mechanical system according to the first embodiment. Figure 5 is a diagram showing embodiment 1-3 of the mechanical system according to the first embodiment. Figure 6 is a diagram showing embodiment 1-4 of the mechanical system according to the first embodiment. Figure 7 is a flowchart showing the general operation of the control device according to the first embodiment. Figure 8 is a structural diagram of the mechanical system according to the second embodiment. Figure 9 is a functional block diagram of the mechanical system according to the second embodiment. Figure 10 is a flowchart of the control device according to the second embodiment. Figure 11 is a diagram showing embodiment 3-1 of the mechanical system according to the third embodiment. Figure 12 is a diagram showing embodiment 3-2 of the mechanical system according to the third embodiment. Figure 13 is a diagram showing embodiment 4-1 of the mechanical system according to the fourth embodiment. Figure 14 is a diagram showing embodiment 4-2 of the mechanical system according to the fourth embodiment. Figure 15 is a functional block diagram of the mechanical system according to the fifth embodiment.

Claims

1. A control device comprising: a decision unit that determines whether it is permissible to remove a conveyed workpiece or whether it is permissible to distribute it to a conveyed workpiece container; and a control unit that generates an instruction to remove a specified number of the aforementioned workpieces at once based on the removal permission, or generates an instruction to distribute a specified number of the aforementioned workpieces at once based on the distribution permission, to control a machine, wherein the decision unit determines whether it is permissible to remove the aforementioned workpieces based on conditions included in the conveying information of the aforementioned workpieces, or determines whether it is permissible to distribute it to the aforementioned workpiece container based on conditions included in the conveying information of the aforementioned workpiece container.

2. The control device of claim 1, wherein the aforementioned control unit generates an instruction to remove the aforementioned specified number of the aforementioned workpieces at once based on the transport information of the workpiece located further upstream that determines that the aforementioned workpiece cannot be removed, or generates an instruction to distribute the aforementioned specified number of the aforementioned workpieces at once based on the transport information of the workpiece container located further upstream that determines that the aforementioned workpiece container cannot be distributed.

3. The control device of claim 1 further includes a threshold setting unit, which sets a threshold for the distance between the current positions contained in the transport information of adjacent workpieces or workpiece containers.

4. The control device of claim 2 further includes a threshold setting unit, which sets a threshold for the distance between the current positions contained in the transport information of adjacent workpieces or workpiece containers.

5. The control device of any one of claims 1 to 4 further includes a specified number setting unit, wherein the specified number setting unit is set to take out or distribute the aforementioned workpieces in one go or in one go in the specified number.

6. The control device according to any one of claims 1 to 4 further comprises a transport information generation unit, wherein the transport information generation unit generates transport information containing the state of the aforementioned workpiece or the aforementioned workpiece container for each of the aforementioned workpieces or each of the aforementioned workpiece containers.

7. The control device according to any one of claims 1 to 4 further comprises a transport information generation unit, wherein the transport information generation unit generates transport information for each of the aforementioned specified number of the aforementioned workpieces or each of the aforementioned specified number of the aforementioned workpiece containers, a transport information comprising a group of workpieces containing a plurality of the aforementioned workpieces or a group of workpiece containers containing a plurality of the aforementioned workpiece containers.

8. The control device according to any one of claims 1 to 4 further includes a memory unit, wherein the memory unit stores transport information of the state of the workpiece or a group of workpieces containing a plurality of the workpieces, or transport information of the state of the workpiece container or a group of workpiece containers containing a plurality of the workpiece containers, according to the transport sequence of the workpiece or the workpiece container.

9. The control device according to any one of claims 1 to 4 further comprises a transport information update unit, wherein the transport information update unit updates the transport information of the current position of the workpiece or a group of workpieces containing a plurality of the workpieces, or the transport information of the current position of the workpiece container or a group of workpiece containers containing a plurality of the workpiece containers, based on the amount of movement of the transport device transporting the workpiece or the workpiece container.

10. The control device according to any one of claims 1 to 4 further comprises a transport information updating unit, wherein the transport information updating unit updates the transport information of the state of the workpiece containing the aforementioned workpiece or the group of workpieces containing a plurality of the aforementioned workpieces, or the transport information of the state of the workpiece container containing the aforementioned workpiece container or the group of workpiece containers containing a plurality of the aforementioned workpiece containers, based on the operating capacity of the aforementioned machine or the type of workpiece that the aforementioned machine can remove or the type of workpiece container.

11. The control device according to any one of claims 1 to 4, wherein the aforementioned control unit generates an instruction to distribute one of the aforementioned workpieces to one of the aforementioned workpiece containers, or an instruction to distribute the aforementioned specified number of the aforementioned workpieces to one of the aforementioned workpiece containers.

12. The control device of any one of claims 1 to 4, wherein the aforementioned machinery has a retractable hand, and the aforementioned control unit generates an instruction to extend or retract the aforementioned hand based on the current position contained in the transport information for retrieving the aforementioned workpiece or the current position contained in the transport information for distributing the aforementioned workpiece container.

13. A control device comprising: a decision unit that determines whether it is permissible to remove a conveyed workpiece or whether it is permissible to distribute it to a conveyed workpiece container; and a control unit that generates an instruction to remove a specified number of the aforementioned workpieces at once based on the removal permission, or generates an instruction to distribute a specified number of the aforementioned workpieces at once based on the distribution permission, to control a machine, the decision unit comprising a determination unit that determines whether it is permissible to remove the aforementioned workpieces or whether it is permissible to distribute it to the aforementioned workpiece container based on conditions contained in conveying information of a group of workpieces containing a plurality of the aforementioned workpieces or conveying information of a group of workpiece containers containing a plurality of the aforementioned workpiece containers.

14. A control device comprising: a decision unit that determines whether it is permissible to remove a conveyed workpiece or whether it is permissible to distribute it to a conveyed workpiece container; and a control unit that generates an instruction to remove a specified number of the aforementioned workpieces at once based on the removal permission, or generates an instruction to distribute a specified number of the aforementioned workpieces at once based on the distribution permission, to control a machine, the decision unit comprising: a distance calculation unit that calculates the distance between the current positions contained in the conveying information of adjacent workpieces or workpiece groups containing a plurality of the aforementioned workpieces, or the distance between the current positions contained in the conveying information of adjacent workpiece containers or workpiece container groups containing a plurality of the aforementioned workpiece containers; and a determination unit that determines whether it is permissible to remove the aforementioned workpieces or whether it is permissible to distribute it to the aforementioned workpiece container based on the calculated distance.

15. A mechanical system comprising: a plurality of machines; a determination unit that determines, for each of the aforementioned machines, whether the removal of a conveyed workpiece or the distribution to a conveyed workpiece container is permissible; and a control unit that, based on the removal or distribution permissible conditions, generates, for each of the aforementioned machines, an instruction to remove a specified number of the aforementioned workpieces at once or an instruction to distribute a specified number of the aforementioned workpieces at once, thereby controlling the aforementioned machines, wherein the determination unit determines whether the removal of the aforementioned workpieces is permissible based on conditions contained in the conveying information of the aforementioned workpieces, or determines whether the distribution to the aforementioned workpiece container is permissible based on conditions contained in the conveying information of the aforementioned workpiece container.

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