Robot, transport system, robot control device, robot control method, and storage medium

Abstract

A robot, a transfer system, a robot control device, a control method of a robot, and a storage medium capable of realizing higher-speed communication with other devices are provided. The robot grips an object. The robot includes a first communication section, a second communication section, and a hand control section. The first communication section communicates grip data on a gripping action with a first device. The second communication section is capable of communicating at a higher speed than the first communication section, and communicates a start notification for starting the gripping action and an end notification indicating an end of the gripping action with a second device. The hand control section controls the gripping action. The hand control section starts the gripping action based on the grip data input to the first communication section in accordance with the start notification input to the second communication section. The hand control section, in correspondence with the end of the gripping action, executes output of the end notification from the second communication section to the second device, and executes output of at least either of a result of the gripping action or a state of the robot from the first communication section to the first device.

Description

Technical Field

[0001] Embodiments of the present invention typically relate to robotic arms, handling systems, robotic arm control devices, robotic arm control methods, and storage media. Background Technology

[0002] There exists a robotic arm that grasps objects. It is desired that the robotic arm can communicate with other devices at higher speeds. Summary of the Invention

[0003] The problem the invention aims to solve

[0004] The present invention provides a robotic arm, a handling system, a robotic arm control device, a robotic arm control method, and a storage medium that enable faster communication with other devices.

[0005] According to an embodiment of the present invention, a robotic arm grasps an object. The robotic arm includes a first communication unit, a second communication unit, and a hand control unit. The first communication unit communicates with a first device for grasping data related to the grasping action. The second communication unit is capable of communicating at a higher speed than the first communication unit, communicating with a second device for a start notification indicating the commencement of the grasping action and an end notification indicating the termination of the grasping action. The hand control unit controls the grasping action. Based on the start notification input to the second communication unit, the hand control unit begins the grasping action based on the grasping data input to the first communication unit. Furthermore, corresponding to the termination of the grasping action, the hand control unit executes an output of the end notification from the second communication unit to the second device, and executes an output from the first communication unit to the first device for at least one of the result of the grasping action or the state of the robotic arm.

[0006] According to the embodiments, it is possible to provide a robotic arm, a handling system, a robotic arm control device, a robotic arm control method, and a storage medium that enable faster communication with other devices. Attached Figure Description

[0007] Figure 1 This is a schematic diagram illustrating the function of the transport system in the implementation method.

[0008] Figure 2 This is a schematic diagram illustrating the structure of the transport system according to the implementation method.

[0009] Figure 3 This is a control timing diagram of the transport system in the implementation method.

[0010] Figure 4 This is a flowchart illustrating the process related to determining the start of the handling of the conveying system in the implementation method.

[0011] Figure 5 This is a flowchart illustrating the handling termination judgment of the conveying system in the implementation method.

[0012] Figure 6 This is a flowchart illustrating the control process at the end of the holding action of the conveying system in the embodiment.

[0013] Figure 7 This is a schematic diagram illustrating the function of the transport system in the reference example.

[0014] Figure 8 This is a schematic diagram showing the structure of a transport system according to a modified embodiment.

[0015] Figure 9 This is a schematic diagram of a robotic arm representing a modified embodiment of the implementation.

[0016] Figure 10 This is a flowchart illustrating the handling termination judgment of a transport system in a modified embodiment.

[0017] Figure 11 This is a schematic diagram illustrating the transport system of an embodiment.

[0018] Figure 12 This is a schematic diagram illustrating the function of the processing device of the conveying system in the embodiment.

[0019] Figure 13 This is a flowchart illustrating the processes performed by the transport system in this embodiment.

[0020] Figure 14 It is a schematic diagram representing the hardware structure. Detailed Implementation

[0021] Hereinafter, various embodiments of the present invention will be described with reference to the accompanying drawings.

[0022] The accompanying drawings are schematic or conceptual, and the relationship between the thickness and width of each part, as well as the proportions between the parts, may not be the same as in reality. Even when representing the same parts, there may be cases where the dimensions and proportions of each part are represented differently depending on the accompanying drawings.

[0023] In this application specification and figures, elements that are the same as those already described are labeled with the same reference numerals, and detailed descriptions are omitted where appropriate.

[0024] Figure 1 This is a schematic diagram illustrating the function of the transport system in the implementation method.

[0025] like Figure 1As shown, the transport system 1 of this embodiment includes a robotic arm 100, a robotic arm 200, and a processing device 300. The transport system 1 performs the transport of objects. During transport, it performs the gripping of objects, the conveying of objects, and the release of the gripped objects.

[0026] The robotic arm 100 grasps an object. The robotic arm 100 includes a first communication unit 101, a second communication unit 102, and a hand control unit 105. The hand control unit 105 controls the movement of the robotic arm 100. The first communication unit 101 communicates with the processing device 300.

[0027] The robotic arm 200 moves the robotic hand 100. The robotic arm 200 includes a third communication unit 203, a fourth communication unit 204, and an arm control unit 205. The arm control unit 205 controls the movement of the robotic arm 200. The third communication unit 203 communicates with the processing device 300. The fourth communication unit 204 communicates with the second communication unit 102.

[0028] The processing unit 300 generates gripping data related to the gripping action of the robotic arm 100 and control data for the robotic arm 200. Communication between the first communication unit 101 and the processing unit 300 includes gripping data, the result of the gripping action, and the state of the robotic arm 100. Communication between the third communication unit 203 and the processing unit 300 includes control data for the robotic arm 200. Communication between the second communication unit 102 and the fourth communication unit 204 includes signals related to the gripping action and signals related to the control of the robotic arm 200. The second communication unit 102 can communicate at a higher speed than the first communication unit 101. The fourth communication unit 204 can communicate at a higher speed than the third communication unit 203. For example, the amount of data communicated between the second communication unit 102 and the fourth communication unit 204 is smaller than the amount of data communicated between the first communication unit 101 and the processing unit 300, and also smaller than the amount of data communicated between the third communication unit 203 and the processing unit 300.

[0029] For example, the first communication unit 101 and the third communication unit 203 communicate with the processing device 300 via one or more of the following methods: serial communication (RS-232C, RS-422, or RS-485), serial peripheral interface (SPI), internal integrated circuit (I2C), universal serial bus (USB), Ethernet, and Bluetooth (registered trademark). The first communication unit 101 and the third communication unit 203 are communication interfaces (I / F) corresponding to any of these communication methods. By using communication based on these methods, stable communication of large amounts of data, such as large amounts of data, can be achieved.

[0030] The second communication unit 102 and the fourth communication unit 204 communicate with each other via one or more methods selected from digital input / output (I / O) and parallel communication. Examples of parallel communication include bus connection, Advanced Technology Attachment (ATA), or Peripheral Device Interconnect (PCI). The second communication unit 102 and the fourth communication unit 204 are communication I / O units corresponding to any communication method. By using communication based on these methods, the second communication unit 102 and the fourth communication unit 204 can communicate at a higher speed compared to the first communication unit 101 and the third communication unit 203.

[0031] Each of the hand control unit 105 and the arm control unit 205 has a control device, which includes a processing unit and a storage area. The hand control unit 105 and the arm control unit 205 operate according to programs stored in their respective storage areas. The first communication unit 101 and the second communication unit 102 can be provided separately from the hand control unit 105 but connected to it. Alternatively, the first communication unit 101 and the second communication unit 102 can also be embedded in the control device that functions as the hand control unit 105. The third communication unit 203 and the fourth communication unit 204 can be provided separately from the arm control unit 205 but connected to it. Alternatively, the third communication unit 203 and the fourth communication unit 204 can also be embedded in the control device that functions as the arm control unit 205.

[0032] Figure 2 This is a schematic diagram illustrating the structure of the transport system according to the implementation method.

[0033] For example, such as Figure 2 As shown, the robotic arm 200 is a vertical multi-joint robot with six axes, from the first axis 211 to the sixth axis 216. The robotic arm 200 is fixed to the frame 210. The arm control unit 205 causes the first axis 211 to the sixth axis 216 to move, thereby moving the front end of the robotic arm 200 or adjusting the posture of the front end of the robotic arm 200.

[0034] The housing 210 houses the power supply unit for driving electric actuators such as motors, gas cylinders and tanks for driving fluid actuators, as well as various components and equipment of the handling system 1, including compressors and various safety mechanisms. The processing device 300 can also be housed within the housing 210.

[0035] The robotic arm 100 is mounted to the front end of the robotic arm 200 via a force sensor 217. The force sensor 217 detects the force applied to the robotic arm 200 in the direction from the robotic arm 100 toward the front end of the robotic arm 200. In other words, the force sensor 217 detects the pressing force from the robotic arm 200 (robotic arm 100) toward the object.

[0036] The “front end” of the robotic arm 200 refers to the portion of the robotic arm 200 that has 6 or more degrees of freedom via the first axis 211 to the sixth axis 216. Hereinafter, “posture” refers to the posture of the front end of the robotic arm 200 (in other words, the posture of the robotic hand 100).

[0037] The robotic arm 200 is not limited to Figure 2 The example shown could also be a horizontal articulated robot, a linear robot, an orthogonal robot, or a parallel link robot, instead of a vertical articulated robot. The robotic arm 200 could also include two or more combinations selected from vertical articulated robots, horizontal articulated robots, linear robots, orthogonal robots, and parallel link robots.

[0038] exist Figure 2 In the example, the robotic arm 100 holds an object by using a gripping mechanism 110. The gripping mechanism 110 includes two or more fingers. In addition to gripping, the robotic arm 100 can also hold an object by suction or jamming. Here, the control method when the robotic arm 100 is gripping an object will be described in detail.

[0039] Figure 3 This is a control timing diagram of the transport system in the implementation method.

[0040] First, the processing unit 300 outputs (sends) a control instruction S1 to the arm control unit 205. The control instruction S1 includes position control data related to the position control of the robotic arm 200 and force control data related to the force control of the robotic arm 200. As position control data, it outputs the target position of the robotic arm 200, the movement path of the robotic arm 200 to the target position, and the gripping posture at the target position. As force control data, it outputs the target force during the gripping action. The arm control unit 205 executes position control based on the position control data according to the input (receive) of the control instruction S1. In position control, it executes the movement of the front end of the robotic arm 200 towards the target position along the movement path and sets the posture.

[0041] Following the output control instruction S1, the processing device 300 outputs a gripping action instruction S3 to the hand control unit 105. The gripping action instruction S3 includes gripping data related to the gripping action. The gripping data includes the gripping width and gripping force when gripping (clamping) an object. The gripping width is the spacing between the fingers of the clamping mechanism 110 when gripping an object, corresponding to the length of the object in any direction. The gripping force indicates the magnitude of the force applied when the object is clamped by the clamping mechanism 110.

[0042] When the gripping action instruction S3 is input, the hand control unit 105 performs a gripping start judgment. If a signal triggering gripping start is input during the gripping start judgment, the hand control unit 105 begins the gripping action. Furthermore, during the gripping start judgment, the hand control unit 105 outputs a force control continuation signal open S5 to the arm control unit 205. The force control continuation signal open S5 indicates that force control can be executed.

[0043] When position control ends, the arm control unit 205 outputs a position target arrival signal S7 to the hand control unit 105. The position target arrival signal S7 indicates that the robotic arm 200 has reached the position target, and the posture of the robotic arm 200 has been set to a gripping posture. If the position target arrival signal S7 is input during the gripping start judgment, the hand control unit 105 begins the gripping action of the robotic arm 100. That is, the position target arrival signal S7 serves as a trigger signal for starting the gripping action. Furthermore, when the gripping action begins, the hand control unit 105 executes a gripping end judgment.

[0044] The arm control unit 205 initiates force control based on the input of the force control continuation signal S5 and the output of the position target arrival signal S7. The arm control unit 205 moves the tip of the robotic arm 200 toward the object until the force detected by the force sensor 217 reaches a preset value. As a result, the robotic arm 100 is pressed toward the object.

[0045] The hand control unit 105 acquires hand state data S9 of the robotic arm 100 during the gripping action. For example, the hand state data S9 includes the current value of the motor, the amount of rotation, etc., indicating the gripping width and gripping force.

[0046] In the gripping end determination, the hand control unit 105 determines whether the gripping width and gripping force, represented by the hand state data S9, have reached the values ​​indicated by the gripping action indication S3. When the indicated gripping width and gripping force are achieved, the hand control unit 105 terminates the gripping action of the robot arm 100. For example, the robot arm 100 is gripping an object when the gripping action has ended.

[0047] When the gripping action ends, the hand control unit 105 outputs a force control end signal S11 to the arm control unit 205. The force control end signal S11 indicates that the gripping action has ended.

[0048] If a force control end signal S11 is input after the force control continue signal S5, the arm control unit 205 terminates force control. The arm control unit 205 receives the force control end signal S11, or outputs a force target arrival signal S13 to the hand control unit 105 when the detection value of the force sensor 217 reaches the force target. The force target arrival signal S13 indicates that the detection value of the force sensor 217 has reached the force target value or that force control has ended.

[0049] When the input force target is reached (signal open S13), the hand control unit 105 outputs a force control continuation signal (signal closed S15) to the arm control unit 205. If the input force control continuation signal is closed S15 after the input force control continuation signal is opened, the arm control unit 205 causes the robotic arm 200 to move, raising the robotic hand 100 and the object. For example, after rising, the robotic arm 200 transports the held object to a designated location.

[0050] After the output force control continuation signal is turned off S15, the hand control unit 105 outputs a gripping action result S17 and a hand state S19 to the processing device 300. The gripping action result S17 indicates whether the gripping action performed by the robot arm 100 was successful or failed. The hand state S19 includes the position, speed, and current value of the motor driving the robot arm 100, as well as the gripping action result. In the case of a gripping action failure, the hand state S19 may also include an error status indicating the reason for the failure.

[0051] Figure 4 This is a flowchart illustrating the process related to determining the start of the handling of the conveying system in the implementation method.

[0052] The arm control unit 205 determines whether the position target has been reached during position control (step St1). If the position target has not been reached, the arm control unit 205 determines whether the robotic arm 200 has reached the area limit (step St3). The area limit is the limit of the robotic arm 200's range of motion. If the area limit has not been reached, the hand control unit 105 determines whether a predetermined time has elapsed since the start of position control (step St5). This time is preset by the user as a limit time for performing position control. If the predetermined time has not elapsed, step St1 is executed again. During the execution of each of steps St1, St3, and St5, the determination results are appropriately communicated between the robotic hand 100 and the robotic arm 200 via the second communication unit 102 and the fourth communication unit 204.

[0053] If the hand control unit 105 determines that the target position has been reached, the area limit has been reached, or a specified time has elapsed, it determines whether it has received a target position arrival signal S7 (step St9). More specifically, if the arm control unit 205 determines that the target position has been reached or the area limit has been reached, the arm control unit 205 generates a target position arrival signal S7. The arm control unit 205 sends the target position arrival signal S7 to the hand control unit 105 and ends position control, switching to force control. When the target position arrival signal S7 is received, the hand control unit 105 causes the robot arm 100 to begin a gripping action (step St11). When the hand control unit 105 determines that a predetermined time has elapsed, it generates a position control end signal and sends it to the arm control unit 205. When the position control end signal is received, the arm control unit 205 sends the target position arrival signal S7 to the hand control unit 105 and ends position control, switching to force control. When the target arrival signal S7 is received, the hand control unit 105 begins the gripping action (step St11). Alternatively, if a predetermined time has elapsed, the hand control unit 105 generates a position control end signal S7 before receiving the target arrival signal S7 and begins the gripping action. When normal communication exists between the hand control unit 105 and the arm control unit 205, the hand control unit 105 receives the target arrival signal S7 in accordance with the generation and transmission of the position control end signal S7. This is because the generation of the position control end signal S7 can be considered as the reception of the target arrival signal S7.

[0054] Figure 5 This is a flowchart illustrating the handling termination judgment of the conveying system in the implementation method.

[0055] When the gripping action begins, the hand control unit 105 calculates the gripping force based on the hand state data S9. For example, the robotic hand 100 includes fingers for gripping objects. The joints of the fingers are driven by electric motors. The hand control unit 105 calculates the gripping force based on the current value of the electric motors. The hand control unit 105 compares the calculated gripping force with the target gripping force indicated by the processing device 300. The hand control unit 105 determines whether the target gripping force has been maintained for a certain period of time (step St21).

[0056] If the target gripping force is not sustained for a certain period of time, the hand control unit 105 determines whether the movement of the robot arm 100 has stopped (step St23). The stopping of the movement is determined based on the rotation amount of the motor. For example, if the rotation speed of the motor is lower than a preset threshold, it is determined that the movement of the robot arm 100 has stopped. If the movement of the robot arm 100 has not stopped, the hand control unit 105 determines whether a timeout has occurred (step St25). That is, it determines whether a preset time has elapsed since the start of the gripping movement. If no timeout has occurred, step St21 is executed again.

[0057] If the gripping force on the target is maintained for a certain period of time, the hand control unit 105 determines that the gripping is successful and ends the gripping action. If the robot arm 100 stops moving or the timeout occurs, the hand control unit 105 determines that the gripping has failed and ends the gripping action. The success or failure result is output from the hand control unit 105 to the processing device 300.

[0058] Figure 6 This is a flowchart illustrating the control process at the end of the holding action of the conveying system in the embodiment.

[0059] The hand control unit 105 determines whether the gripping action has ended (step St31). When the gripping action ends, the hand control unit 105 outputs a force control end signal open S11 to the arm control unit 205 (step St33). The hand control unit 105 then determines whether force control has ended (step St35). That is, the hand control unit 105 determines whether a force target arrival signal open S13 has been input from the arm control unit 205. When force control ends, the hand control unit 105 outputs a force control continuation signal closed S15 to the arm control unit 205 (step St37). Under the action of the robotic arm 200, the robotic hand 100 and the object rise.

[0060] In addition to the various signals mentioned above, a stop signal indicating the cessation of the action can also be communicated between the second communication unit 102 and the fourth communication unit 204. If the detection value of the force sensor 217 exceeds a threshold, the robotic arm 200 determines that excessive force has been applied to the robotic hand 100 or the robotic arm 200. The arm control unit 205 stops the movement of the robotic arm 200. Furthermore, the stop signal is communicated from the arm control unit 205 to the hand control unit 105 via the fourth communication unit 204 and the second communication unit 102. Upon receiving the stop signal, the hand control unit 105 stops the movement of the robotic hand 100. For example, if the robotic hand 100 or the robotic arm 200 collides with something, the movement of the robotic hand 100 and the robotic arm 200 immediately stops.

[0061] Alternatively, if the motor current exceeds a threshold, the hand control unit 105 determines that excessive current is flowing through the motor. The hand control unit 105 then stops the operation of the robotic arm 100. Furthermore, a stop signal is communicated from the hand control unit 105 to the arm control unit 205 via the second communication unit 102 and the fourth communication unit 204. Upon receiving the stop signal, the arm control unit 205 stops the operation of the robotic arm 200. For example, if an abnormality occurs in the robotic arm 100, the operation of both the robotic arm 100 and the robotic arm 200 immediately stops. Based on these controls, the safety of the robotic arm 100 and the robotic arm 200 can be improved.

[0062] The advantages of the implementation method will be explained.

[0063] To grasp various objects, it is preferable to calculate grasping data such as grasping force and grasping width during the grasping action, and to perform grasping based on this grasping data. To calculate the grasping data, it is preferable to separate the processing device 300 from the robotic arm 100 and the robotic hand 200. By providing the processing device 300, compared to embedding the function of the processing device 300 into the robotic arm 100 or the robotic hand 200, the robotic arm 100 and robotic hand 200 can be miniaturized. Furthermore, when the robotic arm 100 and robotic hand 200 are used as separate modules, they can be combined with more types of other robotic arms 200 and other robotic arms 100. That is, the modularity of the robotic arm 100 and robotic hand 200 can be improved.

[0064] Furthermore, the gripping action requires cooperation between the robotic arm 200 and the robotic hand 100. For example, after the robotic hand 200 reaches the target position, the gripping action performed by the robotic arm 100 begins. After the gripping action by the robotic arm 100, the robotic arm 200 rises. To enable cooperation between the robotic arm 100 and the robotic arm 200, it is preferable to communicate signals related to the gripping action and signals related to the control of the robotic arm 200 between the robotic arm 100 and the robotic arm 200.

[0065] Figure 7 (a) and Figure 7 (b) is a schematic diagram illustrating the function of the transport system involved in the reference example.

[0066] For example in Figure 7 The handling system R1 shown in (a) includes a robot arm 100r1 that does not include a second communication unit 102 or a hand control unit 105. The robot arm 200r1 does not include a fourth communication unit 204. In the handling system R1, the processing device 300 controls the robot arm 100r1. The modularity of the robot arm 100r1 can be improved according to the handling system R1.

[0067] exist Figure 7The handling system R2 shown in (b) does not include a first communication unit 101 for the robot arm 100r2. In the handling system R2, the robot arm 200r2 communicates with the robot arm 100r2 not only for signals related to the start and end of the gripping action, but also for instructions such as gripping data. According to the handling system R2, the communication between the robot arm 100r2 and the robot arm 200r2 can be accelerated, enabling the actions of the handling system R2 to be executed earlier.

[0068] On the other hand, regarding Figure 7 In the handling system R1 shown in (a), when the computational load of the processing device 300 is increased to achieve accurate and efficient gripping actions, communication delays occur between the robot arm 100r1 and the processing device 300, and between the robot arm 200r1 and the processing device 300. As a result, the time required for handling by the robot arm 100r1 and the robot arm 200r1 becomes longer.

[0069] about Figure 7 In the handling system R2 shown in (b), a control unit corresponding to the connected robot arm 100r2 is embedded in the arm control unit 205 of the robot arm 200r2. Therefore, it is impossible to replace the robot arm 100r2 with other types of robot arms 100r2. In addition, when replacing the robot arm 200r2, the robot arm 100r2 also needs to be replaced with a robot arm 100r2 corresponding to the replaced robot arm 200r2. In the handling system R2, the modularity of the robot arm 100r2 and the robot arm 200r2 is compromised.

[0070] Regarding these issues, according to the embodiment of the robotic arm 100, the first communication unit 101 communicates with the processing device 300 (first device) regarding gripping data related to the gripping action. The second communication unit 102 communicates with the robotic arm 200 (second device) regarding start and end notifications. The start notification is a notification used to begin the gripping action. Figure 3 In the example shown, this corresponds to the target arrival signal S7. The end notification is a notification indicating the end of the holding action. Figure 3 In the example shown, it corresponds to the force control end signal S11.

[0071] The hand control unit 105 initiates a gripping action based on the gripping data input to the first communication unit 101, upon receiving a start notification from the second communication unit 102. Upon completion of the gripping action, the hand control unit 105 outputs an end notification from the second communication unit 102 to the robotic arm 200. Furthermore, the hand control unit 105 outputs a gripping action result S17 or a hand state S19 from the first communication unit 101 to the processing device 300.

[0072] According to the embodiment of the robotic arm 10, the second communication unit 102 communicates with the robotic arm 200 to send start and end notifications related to the start and end of the gripping action. Therefore, compared to the case where communication between the robotic arm 100 and the robotic arm 200 is conducted via the processing device 300, as in the handling system R1, handling-related actions can be performed earlier. As a result, object handling can be completed in a shorter time, improving handling efficiency.

[0073] Furthermore, in the robotic arm 200 according to the embodiment, the first communication unit 101 communicates with the processing device 300 regarding gripping data, gripping action results, hand status, etc. Therefore, it is unnecessary to embed a control unit for the robotic arm 100 into the arm control unit 205 as in the handling system R2. Thus, the reduction in the modularity of the robotic arm 200 can be suppressed.

[0074] According to the implementation method, the modularity of the robotic arm 200 can be improved, and communication between the robotic hand 100 and the robotic arm 200 can be carried out at a higher speed.

[0075] In addition to start and end notifications, the second communication unit 102 also transmits the following notifications to the robotic arm 200: a notification indicating that the pressing force of the robotic arm 200 has reached the force target (force target arrival signal open S13), a notification for starting the lifting of the robotic arm 200 (force control continue signal closed S15), etc. According to the embodiment, these notifications can also be communicated at a higher speed, which can further improve the efficiency of handling.

[0076] Similar to the robotic arm 100, the robotic arm 200 includes a third communication unit 203 and a fourth communication unit 204. The third communication unit 203 communicates with the processing device 300 for control instructions S1. The fourth communication unit 204 communicates with the robotic arm 100 (the third device) for start and end notifications. Furthermore, along with the end notification, the fourth communication unit 204 communicates with the robotic arm 100 for force target arrival signal on S13 and force control continuation signal off S15. By providing the third communication unit 203 and the fourth communication unit 204, the reduction in the modularity of the robotic arm 200 can be suppressed, while enabling faster communication with the robotic arm 100.

[0077] Furthermore, by performing force control of the robotic arm 200 together with the gripping action of the robotic arm 100, even the robotic arm 100, which does not include high-performance sensors, can perform complex tasks corresponding to the load and contact conditions at the end of the hand.

[0078] For example, the robotic arm 100 can be positioned at an angle relative to an object to perform the action of picking up and holding the object. The robotic arm 100 can also pick up and hold the object simultaneously. In these actions, a "contouring motion" is required, in which the robotic arm 100 moves while in contact with the ground. When in contact with the ground, the robotic arm 200 is controlled based on the detection value of the force sensor 217, thereby enabling more stable execution of the contouring motion.

[0079] Alternatively, when objects are arranged in close proximity, the action of inserting the fingers of the gripping mechanism 110 into the gaps between them can be performed to hold any one object. In this action, an "insertion action" is required to adjust the position of each finger. The robotic hand 100 and robotic arm 200 are controlled based on the reaction force applied to the fingers detected by the force sensor 217, thereby enabling the insertion action to be performed more stably.

[0080] (Modified Example)

[0081] Figure 8 This is a schematic diagram showing the structure of a transport system according to a modified embodiment.

[0082] The modified handling system 1a includes a robotic arm 100a. The robotic arm 100a includes an adsorption mechanism instead of a gripping mechanism 110. By activating the adsorption mechanism while the robotic arm 100 is in contact with an object, the object can be adsorbed and held.

[0083] Figure 9 This is a schematic diagram of a robotic arm representing a modified embodiment of the implementation.

[0084] like Figure 9 As shown, the robotic arm 100a includes a base 121, a rotating part 122, a suction device 123, multiple switching valves 124, multiple suction pads 125, a front end of the base 126, and a rotating part 127.

[0085] The base 121 has, for example, a cuboid shape, forming the outer contour of the robotic arm 100a. The base 121 is connected to the robotic arm 200 via a rotating part 122. The base 121 can be configured as a box or as a frame alone.

[0086] The rotating part 122 connects the base 121 to the robotic arm 200 in a rotatable manner. The rotation center axis C of the rotating part 122 is substantially parallel to the direction in which the front end of the robotic arm 200 is aligned with the base 121. The rotating part 122 enables the base 121 of the robotic arm 100a to rotate relative to the robotic arm 200 in the θ direction and the opposite direction. Alternatively, the rotating part 122 may be configured as part of the robotic arm 200, rather than as part of the robotic arm 100a.

[0087] A suction device 123 is disposed inside the base 121. The suction device 123 is, for example, a vacuum pump. The suction device 123 is connected to a plurality of adsorption pads 125 via hoses or the like. By driving the suction device 123, the pressure inside each adsorption pad 125 becomes lower than atmospheric pressure, and objects are adsorbed through the adsorption pads 125. The pressure inside the adsorption pads 125 is detected by a negative pressure sensor (not shown).

[0088] Multiple switching valves 124 are respectively provided relative to multiple adsorption pads 125. Each switching valve 124 is set to either a first state or a second state. In the first state, the suction device 123 is connected to the corresponding adsorption pad 125. In the second state, the connection between the adsorption pad 125 and the suction device 123 is blocked, and the adsorption pad 125 is connected to the outside (atmospheric pressure space) of the robot arm 100a. For example, the number of switching valves 124 set to the first state is adjusted according to the size of the object being held.

[0089] The front end portion 126 of the base is connected to one end of the base 121 via a rotating part 127. A plurality of adsorption pads 125 are arranged in a rotatable manner relative to the base 121 at one end of the front end portion 126 of the base. The rotating part 127 is disposed between the front end portion 126 of the base and the base 121, connecting the front end portion 126 of the base relative to the base 121 in a rotatable manner.

[0090] By activating the adsorption mechanism, which includes an adsorption device 123, multiple switching valves 124, and multiple adsorption pads 125, objects can be adsorbed and held.

[0091] In the modified example, the transport system 1a performs the same operation as transport system 1. Figure 3 The control timing diagram shows the control process. In the handling system 1a, the gripping data output by the gripping action instruction S3 includes the suction pad 125 used for gripping and the pressure during suction. The hand state data S9 includes the pressure of each suction pad 125 detected by the negative pressure sensor.

[0092] Furthermore, when holding an object by suction, the suction from the suction pad 125 can be initiated during position control by the robotic arm 200. That is, the hand control unit 105 can begin the holding action after inputting the holding action instruction S3 and before inputting the position target arrival signal S7. As a result, the object can be held earlier.

[0093] Figure 10 This is a flowchart illustrating the handling termination determination of a transport system involved in a variation of the implementation method.

[0094] The hand control unit 105 acquires the value of the negative pressure sensor for any of the suction pads 125 used for gripping (step St41). The hand control unit 105 converts the acquired value into pressure (step St43). The hand control unit 105 determines whether the pressure is less than a preset threshold (step St45). The threshold corresponds to the pressure contained in the input gripping data. If the pressure is less than the threshold, the hand control unit 105 determines that the object has been successfully gripped and ends the judgment process.

[0095] When the pressure exceeds a threshold, the hand control unit 105 cycles through steps St41, St43, and St45 on the other suction pads 125 used for gripping. For any suction pad 125 used, when the pressure exceeds the threshold, the arm control unit 205 determines whether the detection value of the force sensor 217 has reached the force target, or whether the robotic arm 200 has reached the area limit (step St47). The arm control unit 205 sends the determination result to the hand control unit 105. If the determination is negative in step St47, the hand control unit 105 continues the gripping action. That is, it executes again. Figure 10 The flowchart shown illustrates the processing. If the determination in step St47 is "yes", the hand control unit 105 determines that the object gripping has failed and ends the determination process.

[0096] In transport system 1a, similarly to transport system 1, according to Figure 6 The flowchart shown illustrates the control process at the end of the holding action.

[0097] According to the modified example of the handling system 1a, similar to the handling system 1, the reduction of modularity of the robotic arm 200 can be suppressed, and communication between the robotic hand 100a and the robotic arm 200 can be performed at a higher speed.

[0098] (Example)

[0099] Figure 11 This is a schematic diagram illustrating the handling system involved in the embodiment.

[0100] like Figure 11 As shown, the conveying system 2 of this embodiment includes a robotic arm 100a, a robotic arm 200, a processing device 300, and cameras 401-404. The conveying system 2 holds an object OBJ at the holding position HP, conveys it, and releases it at the release position RP. This action is also called picking (conveying) the object OBJ. In this example, the robotic arm 100a holds the object by suction.

[0101] Cameras 401 to 404 are, for example, RGB image cameras, distance image cameras, laser rangefinders, and LiDAR (laser imaging detection and ranging) devices, capable of acquiring image information and distance information (three-dimensional information). For example, the transport system 2 includes a camera 401 for holding, a camera 402 for holding status confirmation or calibration, a camera 403 for releasing, and a camera 404 for temporary placement.

[0102] An object OBJ is present at the holding position HP, which is to be held (moved out). A holding camera 401 at the holding position HP photographs and detects the object OBJ and its surrounding area. At the holding position HP, for example, the object OBJ is stored inside a container 451 such as a shipping container or pallet. In this case, the holding camera 401 photographs and detects part or all of the contents of the container 451.

[0103] The calibration camera 402 photographs and detects the object OBJ at the calibration position. The calibration position is set above the holding position HP outside the container 451.

[0104] The release camera 403 photographs and detects the release position RP and its surrounding area at the release (loading) position of the object OBJ. At the release position RP, the object OBJ is, for example, housed inside a container 452 such as a shipping container or pallet. In this case, the release camera 403 photographs and detects part or all of the contents of the container 452.

[0105] A camera 404 for temporary placement captures and detects the temporary placement position Pt and its surrounding area. The temporary placement position Pt is different from the holding position HP and the release position RP. At the temporary placement position Pt, object OBJ is temporarily placed on a temporary placement surface 453, such as a table or workbench. In this case, the camera 404 captures and detects part or all of the temporary placement surface 453.

[0106] Figure 12 This is a schematic diagram illustrating the function of the processing device of the conveying system in the embodiment.

[0107] The processing device 300 includes, for example, an integration unit 301, an image processing unit 302, a signal processing unit 303, a gripping plan generation unit 304, a release plan generation unit 305, an action plan generation unit 306, a robot control unit 307, a peripheral device I / O control unit 308, a learning control unit 309, an error detection unit 310, and an internal database 311.

[0108] The integration unit 301 generates, uses, and manages the operation plan of the handling system 2 based on user input information from the external I / F 320, the status of the handling system 2, and the detection value of the force sensor 217.

[0109] The image processing unit 302 processes the images and information (detection values) obtained from the cameras 401 to 404 to generate information required for motion planning, motion control, error detection, learning, etc.

[0110] The signal processing unit 303 processes the information (detection value) obtained from the force sensor 217 to generate the information required for motion planning, motion control, error detection, etc.

[0111] The gripping plan generation unit 304 calculates position control data, force control data, gripping data, etc. Specifically, the gripping plan generation unit 304 calculates the gripping method, gripping position HP, gripping posture at gripping position HP, movement path to gripping position HP, gripping width, and gripping force for the object OBJ. The movement path is calculated in a manner that does not interfere with the surrounding environment for the robotic arm 100a and robotic hand 200.

[0112] The release plan generation unit 305 calculates the setting method of object OBJ, the release position RP, the holding method at the release position RP, the release method, the release posture, and the movement path to the release position RP. The setting method is a method for setting object OBJ at the location where it is being held. As an example, the setting method is pressing object OBJ.

[0113] The motion planning generation unit 306 calculates robot motion information such as motion method, motion speed, and motion path according to the instructions from the integration unit 301, so that the robotic arm 200 moves from its current position to the holding position HP, temporary placement position Pt, release position RP, etc. via a movable path (via point).

[0114] The robot control unit 307 controls the transport system 2 based on information generated by the gripping plan generation unit 304, the release plan generation unit 305, or the motion plan generation unit 306, as well as various motion switching instructions from the integration unit 301. Furthermore, the robot control unit 307 controls the manipulator 100a and the robotic arm 200 based on various posture information, trajectory planning information, position control data, force control data, gripping data, etc., obtained from the integration unit 301.

[0115] The peripheral device I / O control unit 308 performs I / O control for various controls such as the control of various conveying equipment, the control of peripheral devices 330 such as safety doors, and the acquisition of information from various sensors.

[0116] The learning control unit 309 controls the learning functions. The learning functions include robot model learning for improving motion accuracy such as vibration suppression of the robotic arm 200, learning of grip control parameters and grip database for improving the gripping performance of the object OBJ, and error detection learning for improving the execution performance of the work plan.

[0117] Error detection unit 310 detects errors based on the status of the handling system 2, the implementation status of the work plan, the drive control status, the holding status of the object OBJ, and the conveying status. Error detection can be achieved, for example, by converting the output of force sensor 217 into a value obtained from the coordinates of the hand tip, or by converting the value after passing through a low-pass filter. If the value exceeds a preset threshold, it is determined to be an error. As a result, it is possible to transfer the interrupted work to the recovery action and other processing.

[0118] The internal database (DB) 311 includes the robot database (robot DB), the hand database (hand DB), the object database (object DB), the grip database (grip DB), and the environment database (environment DB).

[0119] The robot's database stores the structure of the handling system 2, the dimensions, weight, inertial torque, the range of motion and speed of each drive unit, and the torque performance.

[0120] The DB stores information related to the functions of the robotic arm 100a and its gripping characteristics.

[0121] The object database (DB) stores the name, identification number, category, comprehensive image information, CAD model information, weight information, and handling characteristics of the object (OBJ). The characteristics information describes the properties of the object being handled, such as softness, fragility, or shape change.

[0122] In the gripping database, for each gripping method of the robot 100a, for object OBJ, the database stores the gripping position, gripping posture, a fractional information representing the ease of gripping, the amount of pressure that can be applied during gripping, a judgment threshold for gripping judgment, and a judgment threshold for error detection. Examples of gripping methods include suction gripping, parallel two-finger gripping, parallel four-finger gripping, or multi-joint gripping.

[0123] The environment database stores information about the workbench corresponding to the transport system 2, the range of motion of the transport system 2, and surrounding environmental information such as obstacles.

[0124] The external I / F 320 performs data input and output between the integration unit 301 (processing device 300) and external devices (not shown).

[0125] Figure 13 This is a flowchart illustrating the processes performed by the transport system involved in the embodiment.

[0126] The integration unit 301 receives the transport instruction (transfer instruction) of the object OBJ from the external device via the external I / F 321 (step St51).

[0127] The integration unit 301 detects, based on the image captured by the camera 401 or the detection value of other sensors such as photoelectric sensors and microswitches, that the object OBJ or the container 451 containing the object OBJ has reached the holding position HP (step St52).

[0128] The integration unit 301 controls the camera 401 to photograph the holding position HP of the object OBJ and its surroundings (step St53). For example, the camera 401 photographs the inside of the container 451 containing the object OBJ.

[0129] Based on the image captured by the camera 401, the image processing unit 302 performs a judgment on the presence or absence of an object OBJ and an identification of the graspable surface of the object OBJ. Furthermore, the image processing unit 302 calculates graspable surface information such as the shape and size of the graspable surface of the object OBJ, its position and orientation in three-dimensional space (step St54).

[0130] The gripping plan generation unit 304 calculates surrounding information and additional information (step St55). The surrounding information is calculated based on the gripping surface information and is related to objects other than object OBJ (surrounding parts) within container 451. The additional information is calculated based on the gripping surface information and object DB information, indicating the direction of movement of the robotic arm 200, the magnitude of the pressing force, the allowable range of movement, etc., when performing force control.

[0131] The gripping plan generation unit 304 calculates multiple gripping information for the grippable surfaces of the object OBJ to be gripped by the robotic arm 200 based on the gripping surface information (step St56). Based on the calculated multiple gripping information, the gripping plan generation unit 304 selects the object OBJ as the gripping target, the gripping position HP, the gripping posture, the force target, the gripping width, and the gripping force. Then, the motion plan generation unit 306 generates movement information from the current position of the robotic arm 200 to the gripping position HP and the gripping posture. In this case, the gripping information includes, in addition to the gripping position information and gripping posture information, the surrounding information and additional information calculated in step St55.

[0132] In step St56, when generating gripping and movement information, the integration unit 301 selects a high-speed motion if the possibility of interference between the robot arm 200 and objects other than object OBJ is low or nonexistent. Conversely, the integration unit 301 selects a low-speed motion if the possibility of interference between the robot arm 100a, object OBJ, and other objects is high. Examples of high-probability scenarios include when the robot arm 100a approaches the container 451 or when the robot arm 100a enters the container 451. Furthermore, the motion planning generation unit 306 determines the target value of the force generated by the robot arm 100a when the possibility of interference is high.

[0133] The robot control unit 307 outputs position control data and force control data to the robotic arm 200. The position control data includes the gripping position HP, gripping posture, and movement path to the gripping position HP. The force control data includes the force target and area limits. Additionally, the robot control unit 307 outputs gripping action instructions based on the gripping information to the robotic hand 100a. The gripping action instructions include the gripping width and gripping force. The robotic arm 200 and robotic hand 100a perform actions according to the output instructions. For example, in the area surrounding the gripping position HP of object OBJ, a pressing action of the robotic hand 100a based solely on force control is performed, and gripping actions such as adsorption are performed while the adsorption pad 125 is in full contact with object OBJ (step St57).

[0134] In the area surrounding the gripping position HP, if the robot arm 100a interferes, it performs an escape action from the obstacle that the robot arm 100a interferes with, according to the assigned action mode and target force value. Additionally, if the gripping surface of the object OBJ has a large tilt, it performs an action that causes the robot arm 100a to mimic the gripping surface of the object OBJ.

[0135] The integration unit 301 or the robot control unit 307 obtains the result of the gripping action from the robot arm 100a and determines whether the gripping of object OBJ is successful (step St58).

[0136] In the event of a gripping failure, the integration unit 301 performs retry preparation actions such as retracting the robotic arm 200 and registering the information indicating the gripping failure with the object DB (step St59). Then, in order to perform a gripping retry, step St53 is executed again.

[0137] If the grasping is successful, the robot control unit 307 controls the robotic arm 200 to move to a position where the robotic arm 100a can capture the grasping state of the object OBJ. Additionally, the integration unit 301 controls the camera 402 to capture a picture of the robotic arm 100a grasping the object OBJ at that position (step St60).

[0138] The image processing unit 302 generates object information based on the image captured by the camera 402 (step St61). The object information represents the relative position of the object OBJ with respect to the robot arm 100a, the relative posture of the object OBJ with respect to the robot arm 100a, and the state and shape of the object OBJ.

[0139] The integration unit 301 controls the camera 403 to photograph the release position RP of the object OBJ and its surroundings (step St62). For example, the camera 403 photographs the inside of the container 452 that holds the held object OBJ.

[0140] The image processing unit 302, in cooperation with the integration unit 301, calculates surrounding information based on the image captured by the camera 403 (step St63). The surrounding information includes the determination result of whether there are any objects other than object OBJ in the release position RP and its surroundings, the size and position of other objects, the position of the surfaces of other objects, etc.

[0141] The release plan generation unit 305 calculates the release information of the object OBJ held by the robotic arm 200 based on object information, holding DB information, surrounding information, etc. (step St64). The release information includes the release position, release posture, via point position, via point posture, etc. At this time, the release plan generation unit 305 calculates additional information such as the pressing direction and magnitude of the pressing force of the robotic arm 100a during force control, and the allowable range of movement for force control. The release plan generation unit 305 adds the additional information to the release information.

[0142] The release plan generation unit 305 determines the release position RP and release posture of the held object OBJ based on the release information (step St65).

[0143] The robot control unit 307 outputs release information to the robot arm 100a and the robot hand 200. The robot arm 100a and the robot hand 200 then perform actions based on the release information. As a result, the object OBJ moves to the release position RP and is released at that position (step St66). If there is a wall of the container 452 or a sufficiently large object in the area surrounding the release position RP of the object OBJ, the robot arm 100a performs an action to press the object OBJ against the surface of that wall or object. This allows for a higher density arrangement of the object OBJ within the container 452. Furthermore, even when the surface has a significant inclination, the object OBJ can be released while remaining in close contact with and conforming to the surface, thanks to the appropriate pressing method and force.

[0144] After releasing the object OBJ, which is the target of the configuration, the robot control unit 307 controls the manipulator 100a to exit from the container 452 and controls the manipulator 200 to assume a standby posture (step St67).

[0145] The integration unit 301 determines whether the next delivery instruction has been received from the external device via the external I / F 320 (step St68).

[0146] In step St68, if the integration unit 301 receives a next transport instruction, it executes step St52 again. This initiates a series of controls on the next object OBJ. If, in step St68, the integration unit 301 does not receive a next transport instruction, it terminates the series of controls.

[0147] According to the handling system 2, the processing device 300 calculates one or more selections from conveying-related plans, gripping information, and movement information. The conveying-related plans are selected from one or more selections from gripping plans, release plans, motion plans, and work plans. According to the handling system 2, objects can be handled more efficiently. On the other hand, the computational load on the processing device 300 increases. However, during gripping actions, communication of signals related to the gripping action occurs between the robot 100a and the robot arm 200. Therefore, even with the increased computational load on the processing device 300, delays in the gripping action can be suppressed. According to the embodiment, more efficient object handling can be achieved.

[0148] The above describes an example of a robot arm 100 or 100a being mounted on a robotic arm 200 and the second communication unit 102 communicating with the robotic arm 200. The applications of the robot arms 100 and 100a in this embodiment are not limited to this example. The robot arm 100 or 100a can also be mounted on mobile bodies such as automated guided vehicles (AGVs) and drones.

[0149] Figure 14 It is a schematic diagram representing the hardware structure.

[0150] Processing device 300, for example, is composed of Figure 14 The computer 500 implementation is shown. Figure 14 The computer 500 shown includes a CPU 501, ROM 502, RAM 503, storage device 504, input interface 505, output interface 506, and communication interface 507.

[0151] ROM 502 stores programs that control the operation of computer 500. ROM 502 contains programs necessary for computer 500 to perform the aforementioned processes. RAM 503 functions as a storage area for the programs stored in ROM 502.

[0152] CPU 501 includes processing circuitry. CPU 501 uses RAM 503 as its working memory to execute programs stored in at least one of ROM 502 or storage device 504. During program execution, CPU 501 controls various structures via system bus 508 and performs various processes.

[0153] Storage device 504 stores the data required for executing the program and the data obtained by executing the program.

[0154] Input interface (I / F) 505 connects computer 500 and input device 505a. Input I / F 505 is, for example, a serial bus interface such as USB. CPU 501 can read various data from input device 505a via input I / F 505.

[0155] Output interface (I / F) 506 connects computer 500 and output device 506a. Output I / F 506 may be, for example, a digital video interface (DVI) or a high-definition multimedia interface (HDMI). CPU 501 can output data to output device 506a via output I / F 506, causing output device 506a to output data.

[0156] The communication interface (I / F) 507 connects the server 507a external to the computer 500 and the computer 500. The communication I / F 507 is, for example, a network card such as a LAN card. The CPU 501 can read various data from the server 507a via the communication I / F 507.

[0157] Storage device 504 includes one or more selected from hard disk drives (HDDs) and solid-state drives (SSDs). Input device 505a includes one or more selected from a mouse, keyboard, microphone (voice input), and touchpad. Output device 506a includes one or more selected from a monitor, projector, printer, and speaker. Devices that combine the functions of both input device 505a and output device 506a, such as touch panels, can also be used.

[0158] The handling system, indicating device, handling method, or indicating method described above can automate the handling of goods, reducing manual labor. Furthermore, the same effect can be achieved by using a program that causes a computer to act as an indicating device.

[0159] The processing of the various data mentioned above can also be recorded as programs that can be executed by a computer on disks (floppy disks and hard disks, etc.), optical disks (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW, etc.), semiconductor memory, or other non-transitory computer-readable storage media.

[0160] For example, information recorded on a recording medium can be read by a computer (or embedded system). The recording format (storage format) on the recording medium is arbitrary. For example, a computer reads a program from the recording medium and, based on that program, causes the CPU to execute the instructions described in the program. In a computer, program retrieval (or reading) can also be performed via a network.

[0161] The above embodiments of the present invention have been illustrated, but these embodiments are merely examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments or their variations are included in the scope or spirit of the invention, and are included within the scope of the invention as described in the claims and their equivalents. Furthermore, the above-described embodiments can be combined with each other for implementation.

[0162] The implementation methods may also include the following schemes.

[0163] (Option 1)

[0164] A robotic arm that holds an object, the robotic arm having:

[0165] The first communication unit communicates with the first device regarding the control data related to the control action;

[0166] The second communication unit is capable of communicating at a higher speed than the first communication unit, and communicates with the second device to initiate the gripping action and to indicate the end of the gripping action; and

[0167] The hand control unit controls the gripping action.

[0168] The hand control unit initiates a gripping action based on the gripping data input to the first communication unit, according to the start notification input to the second communication unit.

[0169] The hand control unit, corresponding to the end of the gripping action, executes the output of the end notification from the second communication unit to the second device, and executes at least one of the result of the gripping action or the state of the robotic hand from the first communication unit to the first device.

[0170] (Option 2)

[0171] According to the robotic arm described in Scheme 1, wherein...

[0172] The robotic arm also has a gripping mechanism for holding the object.

[0173] The gripping data includes the gripping width and gripping force when the object is gripped by the clamping mechanism.

[0174] (Option 3)

[0175] According to the robotic arm described in Scheme 2, wherein,

[0176] When the gripping width and gripping force are achieved by the gripping mechanism, the hand control unit determines that the gripping action has ended and executes the output of the end notification, the output of the result of the gripping action, or the output of the state of the robot hand.

[0177] (Option 4)

[0178] According to the robotic arm described in Reversal Case 1, among which,

[0179] The robotic arm also has an adsorption mechanism for adsorbing the object.

[0180] The holding data includes the pressure when the object is held by the adsorption mechanism.

[0181] (Option 5)

[0182] According to the robotic arm described in Scheme 4, wherein...

[0183] When the pressure is achieved by the adsorption mechanism, the hand control unit determines that the gripping action has ended and executes the output of the end notification, the output of the result of the gripping action, or the output of the state of the robotic hand.

[0184] (Option 6)

[0185] A transport system, wherein,

[0186] This handling system has the following features:

[0187] The robotic arm described in any one of schemes 1 to 5;

[0188] The first device; and

[0189] The robotic arm serves as the second device.

[0190] (Option 7)

[0191] According to the handling system described in Scheme 6, wherein,

[0192] The robotic arm includes:

[0193] The third communication unit communicates with the first device to provide control instructions containing position control data;

[0194] The fourth communication unit communicates with the second communication unit regarding the start notification and the end notification; and

[0195] The arm control unit performs position control based on the position control data.

[0196] (Option 8)

[0197] According to the handling system described in Scheme 7, wherein...

[0198] The control instructions also include force control data.

[0199] After the position control is performed, the arm control unit executes force control based on the force control data.

[0200] (Option 9)

[0201] According to the handling system described in Scheme 8, wherein,

[0202] The robotic arm also includes a force sensor that detects the force acting on the robotic hand.

[0203] When the force sensor detects a force target contained in the force control data, the arm control unit outputs the start notification from the fourth communication unit to the second communication unit.

[0204] (Option 10)

[0205] According to any one of Schemes 7 to 9, in the handling system, wherein...

[0206] Communication is conducted between the second communication unit and the fourth communication unit to send a stop signal indicating that the movement of the robotic hand or the robotic arm should be stopped.

[0207] (Option 11)

[0208] According to any one of Schemes 6 to 10, in the handling system, wherein,

[0209] The robotic arm moves in response to the receipt of the termination notification.

[0210] The above embodiments of the present invention have been illustrated, but these embodiments are merely examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments or their variations are included in the scope or spirit of the invention, and are included within the scope of the invention as described in the claims and their equivalents. Furthermore, the above-described embodiments can be combined with each other for implementation.

Claims

1. A handling system for holding an object, comprising: a robotic arm capable of holding an object; and a processing device, the robotic arm having: a first communication unit for communicating with the processing device about holding data related to a holding action; a second communication unit capable of communicating at a higher speed than the first communication unit, communicating with the robotic arm for a start notification for initiating the holding action and an end notification indicating the end of the holding action; and a hand control unit for controlling the holding action, the hand control unit starting the holding action based on the holding data input to the first communication unit according to the start notification input to the second communication unit, the hand control unit executing an output of the end notification from the second communication unit to the robotic arm corresponding to the end of the holding action, and executing an output from the first communication unit to the processing device of at least one of the result of the holding action or the state of the robotic arm.

2. The handling system according to claim 1, wherein, The robotic arm also has a gripping mechanism for holding the object, and the gripping data includes the gripping width and gripping force when the object is held by the gripping mechanism.

3. The handling system according to claim 2, wherein, When the gripping width and gripping force are achieved by the gripping mechanism, the hand control unit determines that the gripping action has ended and executes the output of the end notification, the output of the result of the gripping action, or the output of the state of the robot hand.

4. The handling system according to claim 1, wherein, The robotic arm also has an adsorption mechanism for adsorbing the object, and the holding data includes the pressure when the object is held by the adsorption mechanism.

5. The handling system according to claim 4, wherein, When the pressure is achieved by the adsorption mechanism, the hand control unit determines that the gripping action has ended and executes the output of the end notification, the output of the result of the gripping action, or the output of the state of the robotic hand.

6. The handling system according to claim 1, wherein, The robotic arm includes: a third communication unit for communicating with the processing device to send control instructions containing position control data; a fourth communication unit for communicating with the second communication unit to send start notifications and end notifications; and an arm control unit for performing position control based on the position control data.

7. The handling system according to claim 6, wherein, The control instruction also includes force control data, and the arm control unit performs force control based on the force control data after the position control.

8. The handling system according to claim 7, wherein, The robotic arm also includes a force sensor that detects the force acting on the robotic arm. When the force sensor detects a force target contained in the force control data, the arm control unit outputs the start notification from the fourth communication unit to the second communication unit.

9. The handling system according to claim 6, wherein, Communication is conducted between the second communication unit and the fourth communication unit to send a stop signal indicating that the movement of the robotic hand or the robotic arm should be stopped.

10. The handling system according to claim 1, wherein, The robotic arm moves in response to the receipt of the termination notification.

11. A control method for a robotic arm, which is a control method for a robotic arm that grasps an object, wherein, The processing device inputs gripping data related to the gripping action via a first communication unit; the robotic arm inputs a start notification for starting the gripping action via a second communication unit capable of communicating at a higher speed than the first communication unit; the gripping action based on the gripping data begins according to the start notification; corresponding to the end of the gripping action, an end notification indicating the end of the gripping action is output to the robotic arm via the second communication unit; and at least one of the result of the gripping action or the state of the robotic arm is output to the processing device via the first communication unit.

12. The control method for the robotic arm according to claim 11, wherein, The gripping data includes the gripping width and gripping force when the object is gripped by the clamping mechanism. When the gripping width and gripping force are achieved by the clamping mechanism, it is determined that the gripping action has ended, and the output of the end notification, the output of the result of the gripping action or the state of the robot arm is executed.

13. The control method for the robotic arm according to claim 11, wherein, The holding data includes the pressure when the object is held by the adsorption mechanism, and when the pressure is achieved by the adsorption mechanism, it is determined that the holding action has ended, and the output of the end notification is executed, as well as the output of at least one of the result of the holding action or the state of the manipulator.

14. A storage medium, wherein, The program stores a control device that executes the control method for the robotic arm according to any one of claims 11 to 13.

Images