Article handling system

Abstract

The present application provides an article handling system that can efficiently take out and / or load articles on / from various types of mobile carts. In the article handling system, because a cart coordinate system having a horizontal axis, a vertical axis, and a depth axis obtained in a manner that they are substantially identical to the horizontal, vertical, and depth of the mobile cart is used, the robot is moved and the posture of the robot is controlled, so that articles can be efficiently taken out and / or loaded on / from the mobile cart regardless of the direction in which the various types of mobile carts are placed.

Description

TECHNICAL FIELD

[0001] The present application relates to a technology for controlling an article handling device that takes out an article from a shelf or the like and / or loads an article on a shelf or the like. BACKGROUND

[0002] In recent years, in order to efficiently take out an article from a shelf or load an article on a shelf in a warehouse provided with a shelf for storing a plurality of articles, for example, a robot for article handling has been developed. For example, Patent Literature 1 discloses a robot for article handling that links a manipulator in which a suction section is movable forward and backward with a robot arm by a parallel link mechanism.

[0003] PRIOR ART DOCUMENT

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2018-89719 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] Generally, in a warehouse provided with a shelf for storing a plurality of articles, for example, a shelf is fixed, and an article handling robot disclosed in the above-described prior art document can be used to take out an article from the shelf or load an article on the shelf. That is, in the case where a shelf is fixed, since the position where an article handling robot places an article can be predicted to some extent in advance, it is relatively easy to know how to operate the article handling robot to take out an article from the shelf or load an article on the shelf, and as a result, an article can be taken out from the shelf (a fixed shelf) or loaded on the shelf (a fixed shelf) by the article handling robot.

[0008] However, if a shelf is not fixed, it is not possible to know in advance in which direction and at which position the shelf is placed, and therefore, it is necessary to perform a relatively complicated control process to cause an article handling robot to perform a work of taking out an article placed on the shelf or loading an article on the shelf.

[0009] For example, a cart (shelf) that loads and carries a cash box is a mobile cart, and the cart is transported to a prescribed place (for example, a room for recycling cash boxes) and performs a work of recycling cash boxes piled on the cart at the place. Most of such carts (mobile shelves) are carried by a person, and therefore, it is not clear in which direction and at which position the cart is placed when the cart is moved to the prescribed place for recycling cash boxes. Therefore, it is difficult to efficiently perform a work of recycling cash boxes from the cart by using the prior art.

[0010] In addition, a cart (for example, Box Cart, mobile rack) for carrying a cash box of a paper currency identification machine manufactured by a plurality of manufacturers is used. Also, even in one place, the number of game machines set is several tens to several thousands or so, and the size and number of the cart (cart for carrying a cash box) used vary, and a plurality of types of carts (carts for carrying a cash box) are used.

[0011] In such a case, it is difficult to efficiently perform a work of recovering a cash box from a plurality of types of mobile carts using the related art.

[0012] Therefore, in view of the above-described problems, the present application aims to realize an article carrying and processing system that can efficiently take out and / or load an article on / from a rack or the like (for example, a mobile cart) even when a plurality of types of mobile carts are used.

[0013] Means for solving the problem

[0014] To solve the above-described problems, the first application is an article carrying and processing system for taking out and / or carrying and loading an article on / from a mobile cart having a lateral frame and a longitudinal frame, the article carrying and processing system comprising: a robot for gripping and carrying the article; a movement mechanism for posture control and movement control of the robot; and a control section that controls the robot and the movement mechanism

[0015] The robot comprises: a frame; an extension mechanism, a suction mechanism, a first distance sensor, a second distance sensor, and a camera provided on the frame.

[0016] The control section performs the following steps:

[0017] A first distance acquisition step of measuring a distance between a first measurement point on the lateral frame of the mobile cart and the first distance sensor using the first distance sensor and acquiring a measurement value as a first distance in a state where the posture of the robot is controlled to a prescribed posture with respect to the mobile cart;

[0018] A second distance acquisition step of measuring a distance between a second measurement point on the lateral frame of the mobile cart different from the first measurement point and the first distance sensor using the first distance sensor and acquiring a measurement value as a second distance in a state where the posture of the robot is controlled to a posture identical to the prescribed posture;

[0019] A lateral error judgment step of judging whether or not a difference between the first distance and the second distance is less than or equal to a prescribed value;

[0020] The trolley coordinate system horizontal axis setting step sets the axis in the substantially same direction as the vector from the position of the robot hand when the first distance is measured to the position of the robot hand when the second distance is measured as the horizontal axis of the trolley coordinate system if it is determined in the horizontal error determination step that the difference between the first distance and the second distance is less than or equal to a predetermined value. The trolley coordinate system is a coordinate system serving as a reference when movement control and / or posture control of the robot hand with respect to the mobile trolley is performed.

[0021] The robot hand control step controls the robot hand based on the trolley coordinate system.

[0022] In the article handling system, since the robot hand is moved and the posture of the robot hand is controlled using the trolley coordinate system having the horizontal axis that is set in the substantially same direction as the horizontal direction (length direction of the horizontal frame) of the mobile trolley, the article can be efficiently taken out from and / or loaded on the shelf or the like (for example, the mobile trolley) regardless of the direction in which the mobile trolley is placed.

[0023] The second invention is based on the first invention, and the control unit further performs the following steps:

[0024] The third distance acquisition step acquires a third distance between a third measurement point on the vertical frame of the mobile trolley and the first distance sensor using the first distance sensor in a state where the posture of the robot hand is controlled to a predetermined posture with respect to the mobile trolley, and acquires the measurement value as the third distance.

[0025] The fourth distance acquisition step acquires a fourth distance between a fourth measurement point on the vertical frame of the mobile trolley different from the third measurement point and the first distance sensor using the first distance sensor in a state where the posture of the robot hand is controlled to the same posture as that in the third distance acquisition step, and acquires the measurement value as the fourth distance.

[0026] The vertical error determination step determines whether the difference between the third distance and the fourth distance is less than or equal to a predetermined value.

[0027] The trolley coordinate system vertical axis setting step sets the axis in the substantially same direction as the vector from the position of the robot hand when the third distance is measured to the position of the robot hand when the fourth distance is measured as the vertical axis of the trolley coordinate system if it is determined in the vertical error determination step that the difference between the third distance and the fourth distance is less than or equal to a predetermined value. The trolley coordinate system is a coordinate system serving as a reference when movement control and / or posture control of the robot hand with respect to the mobile trolley is performed.

[0028] In the article handling system, by using the trolley coordinate system having the lateral axis, the longitudinal axis, and the depth axis obtained in a manner that is substantially in line with the lateral direction (length direction of the lateral frame), the longitudinal direction (length direction of the longitudinal frame), and the depth direction (direction that is substantially orthogonal to both the length direction of the lateral frame and the length direction of the longitudinal frame) of the mobile trolley, the robot is controlled to move and the posture of the robot is controlled, so that the article can be efficiently taken out from or loaded on the shelf or the like (for example, the mobile trolley) regardless of the direction in which the various mobile trolleys are placed.

[0029] The third application is based on the first or second application, and the control unit further performs a trolley coordinate system depth axis setting step of setting an axis in a direction that is substantially orthogonal to both the lateral axis and the longitudinal axis of the trolley coordinate system as a depth axis of the trolley coordinate system.

[0030] In the article handling system, by using the trolley coordinate system having the lateral axis, the longitudinal axis, and the depth axis obtained in a manner that is substantially in line with the lateral direction (length direction of the lateral frame), the longitudinal direction (length direction of the longitudinal frame), and the depth direction (direction that is substantially orthogonal to both the length direction of the lateral frame and the length direction of the longitudinal frame) of the mobile trolley, the robot is controlled to move and the posture of the robot is controlled, so that the article can be efficiently taken out from or loaded on the shelf or the like (for example, the mobile trolley) regardless of the direction in which the various mobile trolleys are placed.

[0031] The fourth application is based on any one of the first to third applications, and the control unit captures an identification information marker attached to the longitudinal frame or the lateral frame of the mobile trolley using the imaging unit, and analyzes the captured image to obtain information included in the identification information marker.

[0032] Thus, in the article handling system, the mobile trolley can be identified using the identification information marker, and the article handling process can be appropriately performed even if various mobile trolleys are used.

[0033] The fifth application is based on any one of the first to third applications, and the control unit further performs a trolley coordinate system origin setting step of setting a predetermined position of the identification information marker attached to the longitudinal frame or the lateral frame of the mobile trolley as an origin of the trolley coordinate system.

[0034] Thus, in the article handling system, the predetermined position of the identification information marker can be set as the origin of the trolley coordinate system.

[0035] The sixth application is based on any one of the first to fifth applications, and the control unit further performs the following steps:

[0036] a moving step of moving the robot hand to a position where the article can be taken out of or loaded into the prescribed shelf by the robot hand if the article is taken out of or loaded into the prescribed shelf of the mobile cart;

[0037] a tilt detecting step of taking an image of the cross frame supporting the prescribed shelf by the imaging unit of the robot hand moved to the prescribed position in the moving step, and analyzing the taken image to detect a tilt of the cross frame;

[0038] a posture adjusting step of adjusting the posture control of the robot hand to correct the tilt if the tilt of the cross frame is detected to be greater than a prescribed value by the tilt detecting step.

[0039] Thus, even if the prescribed shelf of the mobile cart is tilted, the robot hand can be appropriately controlled in posture to take out or load the article from or into the prescribed shelf of the mobile cart.

[0040] The seventh invention is based on any one of the first to sixth inventions, and the mobile cart has a reference mark for determining a center position of the article loaded in a column on the cross frame for each column in which the articles are arranged.

[0041] Further, the control section controls the robot hand in posture and moves the robot hand based on the reference mark, thereby executing the robot hand control step.

[0042] Thus, the mobile cart can control the movement of the robot hand, control the posture of the robot hand, and finely adjust the posture of the robot hand based on the reference mark attached to the cross frame.

[0043] The eighth invention is based on any one of the first to seventh inventions, and the control section further executes the following steps:

[0044] an interval setting step of measuring a distance to the article by the second distance sensor if the article is taken out of the prescribed shelf of the mobile cart, and setting a high-speed movement interval in which the suction mechanism mounted on the extension mechanism is controlled to move at high speed, and a low-speed movement interval in which the suction state of the suction portion of the suction mechanism mounted on the extension mechanism is monitored and the suction mechanism is controlled to move at low speed;

[0045] an extension mechanism control step of controlling the extension mechanism to move the suction mechanism mounted on the extension mechanism at high speed in the high-speed movement interval set in the interval setting step, and controlling the extension mechanism to monitor the suction state of the suction portion of the suction mechanism mounted on the extension mechanism and move the suction mechanism at low speed in the low-speed movement interval set in the interval setting step.

[0046] Thus, in the article transport processing system, the suction portion of the suction mechanism mounted on the extension mechanism can be moved at high speed in the high-speed movement section, and the suction state of the suction portion of the suction mechanism is monitored and the suction mechanism is moved in the low-speed movement section. As a result, in the article transport processing system, the total time for moving the suction mechanism to the article can be shortened, and the suction state to the article can be reliably detected.

[0047] Effects of Invention

[0048] According to the present application, an article transport processing system can be realized in which articles can be efficiently taken out from and / or loaded on shelves and the like (e.g., mobile carts) even when a plurality of types of mobile carts are used. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 is a diagram showing the schematic structure of the article transport processing system 1000 of the first embodiment.

[0050] Figure 2 is a diagram showing the functional structure of the article transport processing system 1000 of the first embodiment.

[0051] Figure 3 is a diagram showing the schematic structure of the mobile mechanism Rbt arm and the robot hand 100 of the first embodiment, showing the rotation axes of each link of the mobile mechanism Rbt arm and the rotation axes (corresponding to the yaw axis, the pitch axis, and the roll axis) for controlling the posture of the robot hand 100.

[0052] Figure 4 is a diagram showing the schematic structure of the robot hand 100 of the first embodiment.

[0053] Figure 5 is a diagram showing the schematic structure of the robot hand 100 of the first embodiment, and is a diagram for explaining the posture control of the robot hand 100.

[0054] Figure 6 is a diagram showing the schematic structure of the robot hand 100 of the first embodiment (the diagram showing the extension mechanism 11 and the suction mechanism 12 is extracted).

[0055] Figure 7 is a diagram showing the schematic structure of the first distance sensor 13 of the robot hand 100 of the first embodiment.

[0056] Figure 8is a diagram showing the schematic configuration of the manipulator 100 of the first embodiment, showing a line line.absorber indicating the telescopic direction of the telescopic mechanism 11, a straight line line.range-snsrl connecting the measurement reference point and the measurement point of the first distance sensor 13, a straight line line.range-snsr2 connecting the measurement reference point and the measurement point of the second distance sensor 14, a straight line line.camera indicating the optical axis of the imaging section 15, and an imaginary plane V_plane1 orthogonal to these lines (parallel to the x-y plane). rh -z rh parallel to the x-y plane).

[0057] Figure 9 is a diagram showing the schematic configuration of the second distance sensor 14 of the manipulator 100 of the first embodiment.

[0058] Figure 10 is a diagram showing the schematic configuration of the mobile cart 200 of the first embodiment.

[0059] Figure 11 is a diagram showing the schematic configuration of the mobile cart 200 of the first embodiment.

[0060] Figure 12 is a flowchart of the processing performed by the article transport processing system 1000.

[0061] Figure 13 is a flowchart of the processing performed by the article transport processing system 1000.

[0062] Figure 14 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0063] Figure 15 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0064] Figure 16 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0065] Figure 17 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0066] Figure 18 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0067] Figure 19 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0068] Figure 20is a diagram for explaining the processing performed by the article transport processing system 1000.

[0069] Figure 21 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0070] Figure 22 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0071] Figure 23 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0072] Figure 24 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0073] Figure 25 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0074] Figure 26 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0075] Figure 27 is a diagram for explaining the processing performed by the article transport processing system 1000.

[0076] Figure 28 is a diagram for explaining the processing performed by the article transport processing system 1000. DETAILED DESCRIPTION

[0077] [First Embodiment]

[0078] The first embodiment will be described below with reference to the drawings.

[0079] <1.1: Configuration of Article Transport Processing System>

[0080] Figure 1 is a diagram showing the schematic structure of the article transport processing system 1000 of the first embodiment.

[0081] Figure 2 is a diagram showing the functional structure of the article transport processing system 1000 of the first embodiment.

[0082] Figure 3 is a diagram showing the schematic structure of the mobile mechanism Rbt arm and the robot hand 100 of the first embodiment, showing the rotation axes of the respective links of the mobile mechanism Rbt arm and the rotation axes (corresponding to the three axes of yaw, pitch, and roll) for controlling the posture of the robot hand 100.

[0083] Figure 4is a diagram showing the schematic structure of the robot hand 100 of the first embodiment. Specifically, Figure 4 (a) of FIG. 10 is a diagram (perspective view) showing the schematic structure of the robot hand 100, Figure 4 (b) of FIG. 10 is a diagram (perspective view) showing the schematic structure of the loading section 10Tr of the robot hand 100. In addition, Figure 4 (c) of FIG. 10 is a diagram (perspective view) showing the schematic structure of the robot hand 100 with the extension mechanism 11 and the adsorption mechanism 12 omitted. In addition, as shown in Figure 4 (a) to Figure 4 (c) of FIG. 10, the front direction, the rear direction, the upper direction, the lower direction, the right direction, and the left direction are defined.

[0084] Figure 5 is a diagram showing the schematic structure of the robot hand 100 of the first embodiment, and is a diagram for explaining the posture control of the robot hand 100. In addition, as shown in Figure 5 (a) to Figure 5 (c) of FIG. 11, the front direction, the rear direction, the upper direction, the lower direction, the right direction, and the left direction are defined.

[0085] Figure 6 is a diagram showing the schematic structure of the robot hand 100 of the first embodiment (a diagram in which the extension mechanism 11 and the adsorption mechanism 12 are extracted). In addition, as shown in Figure 6 the upper diagram and the lower diagram of FIG. 12, the front direction, the rear direction, the upper direction, and the lower direction are defined.

[0086] Figure 7 is a diagram showing the schematic structure of the first distance sensor 13 of the robot hand 100 of the first embodiment.

[0087] Figure 8 is a diagram showing the schematic structure of the robot hand 100 of the first embodiment, and shows a line line.absorber showing the extension direction of the extension mechanism 11, a straight line line.range-snsr1 connecting a measurement reference point and a measurement point of the first distance sensor 13, a straight line line.range-snsr2 connecting a measurement reference point and a measurement point of the second distance sensor 14, a straight line line.camera showing the optical axis of the imaging section 15, and an imaginary plane V_plane1 orthogonal to these lines (a plane parallel to the y rh -z rh plane).

[0088] Figure 9 is a diagram showing the schematic structure of the second distance sensor 14 of the robot hand 100 of the first embodiment.

[0089] Figure 10is a view showing the schematic structure of the mobile cart 200 of the first embodiment. Further, with respect to the directions of the mobile cart 200, as shown in Figure 10 , the front direction, the rear direction, the upper direction, the lower direction, the inner direction, and the front direction are defined.

[0090] Figure 11 is a view showing the schematic structure of the mobile cart 200 of the first embodiment. Further, with respect to the directions of the mobile cart 200, as shown in Figure 11 , the front direction, the rear direction, the upper direction, the lower direction, the inner direction, and the front direction are defined.

[0091] The article handling processing system 1000 is, for example, a system capable of performing a process of taking out and / or placing an article from a mobile shelf (for example, a mobile cart). As shown in Figure 1 , Figure 2 , the article handling processing system 1000 is provided with, for example, a mobile mechanism Rbt arm (for example, a robot arm, a multi-joint robot arm), a robot hand 100, a control device Devl that controls the mobile mechanism Rbt arm and the robot hand 100. Also, the article handling processing system 1000 is capable of taking out an article (for example, a cash box) placed on a shelf of the mobile cart 200 with the robot hand 100 and / or handling the article (for example, the cash box) with the robot hand 100, and loading the article (for example, the cash box) on the shelf of the mobile cart 200.

[0092] The mobile mechanism Rbt arm is a mobile mechanism for freely moving the robot hand 100 in a prescribed region in a three-dimensional space. The mobile mechanism Rbt arm is constituted by, for example, a multi-joint robot arm. As shown in Figure 3 , the mobile mechanism Rbt arm is constituted by, for example, a multi-joint robot arm of six degrees of freedom. The mobile mechanism Rbt arm is provided on a platform B1 provided on a floor FLR. As shown in Figure 3 , the mobile mechanism Rbt arm is provided with a base Rbt base, a first link Rbt L1, a second link Rbt L2, a third link Rbt L3, a fourth link Rbt L4, a fifth link Rbt L5, and a sixth link Rbt L6.

[0093] The first link Rbt L1 is connected to the base Rbt base so as to be rotatable (rotation angle θ1) about an axis r ax1 as a rotation axis. In addition, the first link Rbt L1 is connected to the second link Rbt L2 so as to be rotatable about an axis r ax2 as a rotation axis.

[0094] The second link Rbt_L2 is connected to the first link Rbt_Ll so as to be rotatable about the axis r_ax2 (by an angle θ2) with the axis r_ax2 as a rotation axis. The second link Rbt_L2 is connected to the third link Rbt_L3.

[0095] The third link Rbt_L3 is connected to the second link Rbt_L2. The third link Rbt_L3 is connected to the fourth link Rbt_L4 so as to be rotatable about the axis r_ax3 (by an angle θ3) with the axis r_ax3 as a rotation axis.

[0096] The fourth link Rbt_L4 is connected to the third link Rbt_L3 so as to be rotatable about the axis r_ax3 (by an angle θ3) with the axis r_ax3 as a rotation axis. The fourth link Rbt_L4 is connected to the fifth link Rbt_L5 so as to be rotatable about the axis r_ax4 (by an angle θ4) with the axis r_ax4 as a rotation axis.

[0097] The fifth link Rbt_L5 is connected to the fourth link Rbt_L4 so as to be rotatable about the axis r_ax4 (by an angle θ4) with the axis r_ax4 as a rotation axis. The fifth link Rbt_L5 is connected to the sixth link Rbt_L6 so as to be rotatable about the axis r_ax5 (by an angle θ5) with the axis r_ax5 as a rotation axis.

[0098] The sixth link Rbt_L6 is connected to the fifth link Rbt_L5 so as to be rotatable about the axis r_ax5 (by an angle θ5) with the axis r_ax5 as a rotation axis. The front end portion of the sixth link Rbt_L6 has a mechanism for mounting the robot hand 100 (referred to as "robot hand mounting mechanism").

[0099] The movement mechanism Rbt_arm moves the robot hand 100 mounted at the front end thereof to a prescribed position in a three-dimensional space in accordance with an instruction from the control section 1 (an instruction for rotating each joint (each link) by a prescribed angle (torque command), which drives each joint (each link) by means of an actuator (not shown).

[0100] The robot hand 100 is mounted at the front end portion of the movement mechanism Rbt_arm in a posture-controllable manner, and is, for example, a mechanism for taking out an article (for example, a cash box) placed on a shelf of the mobile cart 200 from the mobile cart 200 and carrying it to a prescribed place, and / or placing the article at a prescribed position (a prescribed position of a prescribed shelf) of the mobile cart 200.

[0101] As shown in FIG. 1, the mobile cart 200 is provided with a movement mechanism Rbt_cart for moving the mobile cart 200 in a three-dimensional space. Figure 4As shown in (a) of FIG. 1, the robot hand 100 has a flat top plate 10T, a flat bottom plate 10B, side plates 10S1 and 10S2 arranged between the top plate 10T and the bottom plate 10B to function as supports for the top plate 10T and the bottom plate 10B. In addition, as shown in (b) of FIG. 1, the robot hand 100 has a loading portion 10Tr including a first side L-shaped plate 10L1, a second side L-shaped plate 10L2, and a loading flat plate 10LT provided between the first side L-shaped plate 10L1 and the second side L-shaped plate 10L2. Figure 4 As shown in (a) of FIG. 1, the robot hand 100 has a flat top plate 10T, a flat bottom plate 10B, side plates 10S1 and 10S2 arranged between the top plate 10T and the bottom plate 10B to function as supports for the top plate 10T and the bottom plate 10B. In addition, as shown in (b) of FIG. 1, the robot hand 100 has a loading portion 10Tr including a first side L-shaped plate 10L1, a second side L-shaped plate 10L2, and a loading flat plate 10LT provided between the first side L-shaped plate 10L1 and the second side L-shaped plate 10L2. Figure 4 As shown in (a) of FIG. 1, the robot hand 100 has a flat top plate 10T, a flat bottom plate 10B, side plates 10S1 and 10S2 arranged between the top plate 10T and the bottom plate 10B to function as supports for the top plate 10T and the bottom plate 10B. In addition, as shown in (b) of FIG. 1, the robot hand 100 has a loading portion 10Tr including a first side L-shaped plate 10L1, a second side L-shaped plate 10L2, and a loading flat plate 10LT provided between the first side L-shaped plate 10L1 and the second side L-shaped plate 10L2. Figure 2 、 Figure 4 As shown in (a) of FIG. 1, the robot hand 100 has a flat top plate 10T, a flat bottom plate 10B, side plates 10S1 and 10S2 arranged between the top plate 10T and the bottom plate 10B to function as supports for the top plate 10T and the bottom plate 10B. In addition, as shown in (b) of FIG. 1, the robot hand 100 has a loading portion 10Tr including a first side L-shaped plate 10L1, a second side L-shaped plate 10L2, and a loading flat plate 10LT provided between the first side L-shaped plate 10L1 and the second side L-shaped plate 10L2.

[0102] In addition, the frame 10Fr of the robot hand 100 is mainly composed of the top plate 10T, the bottom plate 10B, the side plates 10S1 and 10S2, the first side L-shaped plate 10L1, and the second side L-shaped plate 10L1.

[0103] The top plate 10T is a substantially rectangular flat plate having a robot hand connecting mechanism JT10 on its upper surface, which is rotatably (controllably in posture) attached to the front end of the moving mechanism Rbt_arm. In addition, the side plates 10S1 and 10S2, the first side L-shaped plate 10L1, and the second side L-shaped plate 10L1 are attached to the lower surface of the top plate 10T.

[0104] The upper surface of the bottom plate 10B has the side plates 10S1 and 10S2 attached thereto. In addition, the lower surface of the bottom plate 10B has the photographing portion 15 attached thereto. In addition, the lower surface of the end portion of the front of the bottom plate 10B has the loading flat plate 10LT attached thereto.

[0105] As shown in (a) of FIG. 1, one end of each of the side plates 10S1 and 10S2 is attached to the lower surface of the top plate 10T, and the other end is attached to the upper surface of the bottom plate 10B. In addition, the side plates 10S1 and 10S2 are arranged in substantially parallel fashion at opposite positions, and as shown in (b) of FIG. 1, the side plates 10S1 and 10S2 are arranged in a manner to sandwich the loading flat plate 10LT. Figure 4 Figure 4 As shown in (a) of FIG. 1, one end of each of the side plates 10S1 and 10S2 is attached to the lower surface of the top plate 10T, and the other end is attached to the upper surface of the bottom plate 10B. In addition, the side plates 10S1 and 10S2 are arranged in substantially parallel fashion at opposite positions, and as shown in (b) of FIG. 1, the side plates 10S1 and 10S2 are arranged in a manner to sandwich the loading flat plate 10LT.

[0106] As shown in (a) of FIG. 1, one end of each of the side plates 10S1 and 10S2 is attached to the lower surface of the top plate 10T, and the other end is attached to the upper surface of the bottom plate 10B. In addition, the side plates 10S1 and 10S2 are arranged in substantially parallel fashion at opposite positions, and as shown in (b) of FIG. 1, the side plates 10S1 and 10S2 are arranged in a manner to sandwich the loading flat plate 10LT. Figure 5 rh rh , z​​​rh} is determined. In the frame 10Fr of the robot hand 100, the upper surface of the top plate 10T is substantially parallel to the x Figure 5 -y rh -y rh -y rh -y rh -y rh -y

[0107] Furthermore, the posture control of the robot hand 100 (the frame 10Fr) is performed as follows. That is, in the moving mechanism Rbt_arm, the fifth link Rbt_L5 is rotated by the corresponding rotation angle θ4 around the rotation axis r_ax4, the sixth link Rbt_L6 is rotated by the corresponding rotation angle θ5 around the rotation axis r_ax5, and the robot hand 100 is rotated by the corresponding rotation angle θ6 around the rotation axis r_ax6, so that the robot hand 100 (the frame 10Fr) can be brought to an arbitrary posture. That is, the robot hand 100 is controlled to form a predetermined posture (predetermined direction) by being integrated with the frame 10Fr and being rotated by a predetermined angle around the three rotation axes r_ax4, r_ax5, and r_ax6 (see (b) of FIG. 10). Figure 5

[0108] The telescopic mechanism 11 is provided inside the frame 10Fr of the robot hand 100 and can move the front end portion thereof in a predetermined direction. The telescopic mechanism 11 is realized by, for example, a telescoping tong type mechanism for a magic hand or the like. The rear end portion of the telescopic mechanism 11 is fixed to the rear end portion of the frame 10Fr (for example, the rear end portion of the lower surface of the top plate 10T), and the main body of the telescopic mechanism 11 is stretched in a predetermined direction, so that the front end portion of the telescopic mechanism 11 is moved in a predetermined direction. The telescopic mechanism can also be realized using the technology and structure disclosed in Japanese Patent Application No. 2021-039180.

[0109] As shown in FIG. 11, the front end portion of the telescopic mechanism 11 is provided with a fixing flat plate 11T, and the fixing flat plate 11T is provided with a hole for fixing the suction mechanism 12. The fixing flat plate 11T is installed on the front end portion of the telescopic mechanism 11 in a state in which the suction mechanism 12 penetrates the hole of the fixing flat plate 11T. Furthermore, the main body of the telescopic mechanism 11 is stretched in a predetermined direction, so that the suction portion 12S of the suction mechanism 12 installed on the front end portion of the telescopic mechanism 11 is moved in a predetermined direction (the direction indicated by the line line.absorber in FIG. 11). Furthermore, the telescopic mechanism 11 is configured such that, when the telescopic mechanism 11 is telescoped, the moving direction of the front end portion thereof (the direction indicated by the line line.telescope in FIG. 11) is substantially parallel to the x Figure 6 Figure 6 Figure 6 ​​​The orientation of the robot arm 100 (in the direction shown by line.absorber) is determined by a coordinate system (the orthogonal vector of this coordinate system is {x}) and the orientation of the frame 10Fr of the robot arm 100 is determined by the direction shown by line. rh y rh , z rh (See also) Figure 5 )) y rh -z rh The normals of the planes are roughly in the same direction.

[0110] For example, such as Figure 6 As shown, in the case where the telescopic mechanism 11 is a telescopic clamp mechanism composed of multiple links, by moving the slider SH1, which is movably mounted along the guide GD1 at one end of the link located at the rearmost side, and the slider SH2, which is movably mounted along the guide GD2 at the other end of the link, in a predetermined direction, the telescopic mechanism 11 can be extended or retracted. Figure 6 In the case shown, by causing sliders SH1 and SH2 to move along guides GD1 and GD2 respectively... Figure 6 Moving the sliders SH1 and SH2 in the direction of the arrows shown in the diagram above allows the telescopic mechanism 11 to extend. This is achieved by moving the sliders SH1 and SH2 along the guides GD1 and GD2 respectively. Figure 6 Moving the arrow in the direction shown in the figure below allows the telescopic mechanism 11 to retract.

[0111] And, as Figure 6 As shown, when the telescopic mechanism 11 extends or retracts, the direction of movement of its front end is ( Figure 6 The orientation of the robot arm 100 (in the direction shown by line.absorber) is determined by a coordinate system (the orthogonal vector of this coordinate system is {x}) and the orientation of the frame 10Fr of the robot arm 100 is determined by the direction shown by line. rh y rh , z rh (See also) Figure 5 )) y rh -z rh The normals to the plane are in approximately the same direction (and). Figure 6 (The directions are roughly the same front and back).

[0112] The adsorption mechanism 12 includes an adsorption tube 12T and an adsorption section 12S, and is a mechanism for adsorbing items placed on shelves or the like using the adsorption section 12S. Figure 4 to Figure 6As shown, the adsorption mechanism 12 is mounted on a fixed plate 11T, and its position is moved by the extension and retraction of the telescopic mechanism 11. Furthermore, the adsorption tube 12T of the adsorption mechanism 12 is connected to the flexible tube 1, so even when the telescopic mechanism 11 extends and retracts, causing the position of the adsorption section 12S to move, the flow of air used for adsorption can be controlled by the adsorption section 12S, the adsorption tube 12T, and the flexible tube 1. The adsorption mechanism 12 is controlled by the control unit 1 of the control device Dev1.

[0113] Furthermore, when the telescopic mechanism 11 extends or retracts, the adsorption part 12S of the adsorption mechanism 12 moves along a coordinate system that determines the posture of the manipulator 100 (the direction of the frame 10Fr of the manipulator 100) (the orthogonal vector of this coordinate system is {x rh y rh , z rh (See also) Figure 5 )) y rh -z rh The direction of the plane's normal is approximately the same (as with) Figure 6 It moves in roughly the same direction as the front and back.

[0114] The first distance sensor 13 is a sensor that measures the distance between the robot arm 100 and a predetermined point (e.g., a point on a generally flat plane (e.g., a point on the frame of the mobile trolley 200)). Figure 4 As shown, it is located on the lower side of the L-shaped plate 10L1 on the second side. The first distance sensor 13 is, for example, a distance sensor for close-range use, such as... Figure 7 As shown, this can be achieved using a CIS-type distance sensor (CIS: Contact Image Sensor). For example... Figure 7 As shown, the laser irradiation point P_tx and the light-receiving sensor 13_CIS are located on the same plane. Figure 7 On the imaginary plane V_plane_CIS), the laser light irradiating from the irradiation point P_tx to the measurement point P_msr is reflected by the measurement point P_msr, and the first distance sensor 13 measures the distance by the position of the reflected light on the light-receiving sensor 13_CIS. Specifically, as Figure 7 As shown, if we define the illumination angle of the laser from the first distance sensor 13 ( Figure 7 Let θ1 be the angle between the imaginary plane V_plane_CIS and the irradiating laser, and d1 be the distance between the irradiating point P_tx and the receiving point P_rx. Then, the following formula can be used to...

[0115] d_msr = 0.5 × d1 × tan(θ1)

[0116] To calculate the measurement reference point P_ref ( Figure 7The distance d_msr is the distance between a point P_ref on the imaginary plane V_plane_CIS and the measurement point P_msr. The first distance sensor 13 is controlled by the control unit 1 of the control device Dev1.

[0117] The first distance sensor 13 is configured such that, if the straight line connecting the measurement reference point P_ref and the measurement point P_msr is line.range-snsr1, then as follows: Figure 8 As shown, the line line.range-snsr1 and the coordinate system used to determine the pose of the robot 100 (the direction of the frame 10Fr of the robot 100) are intersected by the coordinate system (the orthogonal vector of this coordinate system is {x... rh y rh , z rh (See also) Figure 5 )) y rh -z rh The normals of the planes are in approximately the same direction, and the first distance sensor 13 is positioned at a predetermined location on the frame 10Fr. Figure 8 (b) and Figure 8 The hypothetical plane V_plane1 shown in (c) is perpendicular to the coordinate system used for attitude determination (the orthogonal vectors of this coordinate system are {x}). rh y rh , z rh (See also) Figure 5 )) y rh -z rh The line line.range-snsr1 is parallel to the plane, and its normal is approximately the same as that of the imaginary plane V_plane1.

[0118] The second distance sensor 14 is a sensor that measures the distance between the robot arm 100 and a predetermined point (e.g., a point on a generally flat surface, such as a point on the surface of an item placed on a shelf of the mobile trolley 200). Figure 4 As shown in (c), the second distance sensor 14 is positioned at a predetermined location within the frame 10Fr (e.g., to the side of the telescopic mechanism 11, at approximately the midpoint of the height of the frame 10Fr). The second distance sensor 14 is, for example, a distance sensor for long-distance applications, such as... Figure 9 As shown, this can be achieved using a TOF (Time of Flight) distance sensor. Figure 9 As shown, the laser irradiation point P_tx and the light-receiving point P_rx are located on the same plane. Figure 9On the imaginary plane V_plane_TOF), the laser light illuminating the measurement point P_msr from the illumination point P_tx is reflected by the measurement point P_msr. The second distance sensor 14 measures the distance by the time it takes for the reflected light to reach the illumination point P_rx. Specifically, as... Figure 9 As shown, if we define the illumination angle of the laser from the second distance sensor 14 ( Figure 9 Let θ2 be the angle between the imaginary plane V_plane_TOF and the irradiating laser, and let d_tof be the distance the laser travels (the distance between points P_tx, P_msr, and P_rx). Then, the following formula can be used to...

[0119] d_msr=0.5×d_tof×sin(θ2)

[0120] To calculate the measurement reference point P_ref ( Figure 9 The distance d_msr is the distance between a point P_ref on the imaginary plane V_plane_TOF and the measurement point P_msr. The second distance sensor 14 is controlled by the control unit 1 of the control device Dev1.

[0121] Furthermore, the second distance sensor 14 is configured such that, if the straight line connecting the measurement reference point P_ref and the measurement point P_msr is the straight line line.range-snsr2, then as follows: Figure 8 As shown, the line line.range-snsr1 and the coordinate system used to determine the pose of the robot 100 (the direction of the frame 10Fr of the robot 100) are intersected by the coordinate system (the orthogonal vector of this coordinate system is {x... rh y rh , z rh (See also) Figure 5 )) y rh -z rh The normals of the planes are in approximately the same direction, and the second distance sensor 14 is positioned at a predetermined location on the frame 10Fr. Figure 8 (b) and Figure 8 The hypothetical plane V_plane1 shown in (c) is perpendicular to the coordinate system used for attitude determination (the orthogonal vectors of this coordinate system are {x}). rh y rh , z rh (See also) Figure 5 )) y rh -z rh The line line.range-snsr2 is parallel to the plane, and its normal is approximately the same as that of the imaginary plane V_plane1.

[0122] The imaging unit 15 is, for example, a small camera equipped with an optical system consisting of one or more lenses, a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor, a CCD (Charge-Coupled Device) image sensor, etc., and is mounted on the lower surface of the base plate 10B of the robot arm 100 (for example, at approximately the center of the lower surface of the base plate 10B in the width direction), and takes pictures of the front of the robot arm 100. The imaging unit 15 is controlled by the control unit 1 of the control device Dev1.

[0123] In addition, such as Figure 8 As shown, the imaging unit 15 is configured such that, if the straight line representing the optical axis of the optical system is defined as line.camera, then as follows: Figure 8 As shown, the line line.camera is used to determine the pose of the robot 100 (the direction of the frame 10Fr of the robot 100) using a coordinate system (the orthogonal vector of this coordinate system is {x... rh y rh , z rh (See also) Figure 5 )) y rh -z rh The normals of the plane are in approximately the same direction, and the imaging part 15 is positioned at a predetermined position on the frame 10Fr. Figure 8 (b) and Figure 8 The hypothetical plane V_plane1 shown in (c) is perpendicular to the coordinate system used for attitude determination (the orthogonal vectors of this coordinate system are {x}). rh y rh , z rh (See also) Figure 5 )) y rh -z rh The plane is parallel to the plane, and the line line.camera is roughly in line with the normal of the imaginary plane V_plane1.

[0124] like Figure 8 As shown, the telescopic mechanism 11, the first distance sensor 13, the second distance sensor 14, and the camera unit 15 are configured such that, regardless of the posture of the robotic arm 100 (regardless of how the posture is controlled), the lines line.absorber, line.range-snsr1, line.range-snsr2, and line.camera always maintain alignment with the posture-determining coordinate system (the orthogonal vector of this coordinate system is {x... rh y rh , z rh (See also) Figure 5 )) y rh -z rh The normals of the plane (and the imaginary plane V_plane1) are roughly in the same position.

[0125] As Figure 2 shown, the control device Dev1 is provided with a control section 1, a communication interface IF1, and a storage section Mem1.

[0126] The control section 1 is connected to the moving mechanism Rbt arm, the extension mechanism 11, the adsorption mechanism 12, the first distance sensor 13, the second distance sensor 14, and the photographing section 15, and controls the moving mechanism Rbt arm, the extension mechanism 11, the adsorption mechanism 12, the first distance sensor 13, the second distance sensor 14, and the photographing section 15. In addition, the control section 1 performs conversion processing of the robot coordinate system and the cart coordinate system (details will be described later).

[0127] The communication interface IF1 is a communication interface for communicating with an external device (not shown) using a wire or wirelessly.

[0128] The storage section Mem1 is a memory for storing data, and can read data stored in the storage section Mem1 from the control section 1, and in addition, can write prescribed data into the storage section Mem1 using the control section 1.

[0129] As Figure 1 , Figure 10 shown, the mobile cart 200 has, for example, a plurality of shelves capable of loading articles (for example, cash boxes), and supports each shelf by a plurality of frames. As Figure 10 shown, the mobile cart 200 is configured, for example, to have longitudinally arranged frames 20v1, 20v2, 20v3, 20v4, 20v5, 20v6, horizontally (transversely) arranged frames 20h1, 20h2, 20h3, 20h4, 20h5, 20h6, 20h7, and to support loading flat plates (shelves) 20PL1, 20PL2, 20PL3, 20PL4, 20PL5, 20PL6 using the above frames. Furthermore, the loading flat plates (shelves) 20PL1 to 20PL6 are respectively arranged in parallel and at equal intervals.

[0130] In addition, as Figure 1 , Figure 10 shown, the mobile cart 200 has, for example, four wheels 20wh1, 20wh2, 20wh3, 20wh4 (the wheel 20wh4 is arranged below the frame 20v6, but is not shown in Figure 1 , Figure 10 dead corners), and is manually movable, for example.

[0131] In addition, as Figure 1 , Figure 10As shown, the mobile cart 200 has an identification information mark mk1 including identification information of the mobile cart affixed, for example, near a position where the vertical frame 20v2 and the horizontal frame 20h6 intersect. In addition, an identification information mark can also be affixed to the opposite side of the mobile cart 200 (for example, near a position where the vertical frame 20v5 and the horizontal frame 20h6 intersect).

[0132] In addition, the mobile cart 200 has a money box loaded on each of the shelves (each of the loading platforms). Figure 11 The upper drawing of FIG. 10 is a view of the uppermost shelf (loading platform 20PL1) of the mobile cart 200 viewed from above, and the money box loaded on the loading platform 20PL1 is indicated by a rectangle. Figure 11 The lower drawing of FIG. 10 is a view of the uppermost shelf (loading platform 20PL1) of the mobile cart 200 viewed from the front. Figure 11 The lower drawing of FIG. 10 is a view of the uppermost shelf (loading platform 20PL1) of the mobile cart 200 viewed from the front.

[0133] In addition, in the mobile cart 200, Figure 11 In the mobile cart 200, a guide (as the guide, for example, a guide (guide plate) provided on a mobile shelf disclosed in Japanese Patent Application No. 2021-039181) is provided at part or all of the positions indicated by the single-dotted line, the arrangement of the money box (or the substantially rectangular article) is restricted, and the money box can also be loaded in a row on the loading platform 20PL1.

[0134] Note that the above description has been given for the uppermost shelf (loading platform 20PL1) of the mobile cart 200, but the same applies to the other loading platforms 20PL2 to 20PL6.

[0135] <1.2: Operation of the article transport processing system>

[0136] The operation of the article transport processing system 1000 configured as described above will be described with reference to the drawings.

[0137] Figure 12 , Figure 13 is a flowchart of the processing performed by the article transport processing system 1000.

[0138] Figure 14 to Figure 24 is a view for explaining the processing performed by the article transport processing system 1000. In addition, in Figure 14 to Figure 16 , Figure 18 , Figure 20 , Figure 21 In the mobile cart 200, a money box is loaded on each of the shelves (each of the loading platforms).

[0139] Hereinafter, the operation of the article transport processing system 1000 will be described in accordance with the flowchart ofFigure 12 , Figure 13 The flowchart illustrates the operation of the goods handling system 1000.

[0140] (Step S1):

[0141] In step S1, the coordinate system setting process of the handcart is performed.

[0142] (Step S11):

[0143] In step S11, a process is performed to detect the approximate location of the trolley 200. For example, the mobile trolley 200 is manually moved and placed... Figure 14 The state (direction) shown will be explained. The control unit 1 of the control device Dev1 uses the imaging unit 15 of the robot arm 100 connected to the front end of the moving mechanism Rbt_arm and various sensors to process and obtain the approximate position of the mobile handcart 200.

[0144] (Step S12):

[0145] In step S12, the control unit 1 drives the moving mechanism Rbt_arm, and using the imaging unit 15, moves the robot arm 100 to a position (the vicinity of the identification information mark mk1) where it can capture detailed information about the identification information mark mk1 of the mobile trolley 200. At this time, the control unit 1 performs posture control on the robot arm 100 so that the optical axis (line.camera) of the imaging unit 15's optical system is approximately orthogonal to the surface of the frame on which the identification information mark mk1 of the mobile trolley 200 is attached (for example, posture control is performed considering the degree of distortion in the captured image of the identification information mark mk1).

[0146] (Step S13):

[0147] In step S13, the setting process of the horizontal axis (y-axis of the trolley coordinate system) of the trolley coordinate system is performed. Furthermore, the "trolley coordinate system" is a coordinate system set to adapt to the state (direction) of the mobile trolley 200.

[0148] The control unit 1 drives the moving mechanism Rbt_arm, using the identification information marker mk1 as the approximate center, and uses two different points (e.g., the inner point and the near-front point) on the cross frame 20h6 of the mobile handcart 200 as distance measurement points, so that the robot arm 100 moves to a position where the distance can be measured using the first distance sensor 13 of the robot arm 100. The specific processing will be described below.

[0149] First, such as Figure 15As shown, the control unit 1 drives the moving mechanism Rbt_arm, using a point further inward than the identification information mark on the cross frame 20h6 as the distance measurement point, to perform posture control on the robot arm 100, and move the robot arm 100 to a position where the distance can be measured using the first distance sensor 13 of the robot arm 100. That is, as Figure 15 As shown, the laser light emitted from the first distance sensor 13 of the robot 100 is reflected by a distance measurement point on the cross frame 20h6. This reflected light is received by the first distance sensor 13, which performs posture control on the robot 100, causing it to move to a position where the distance between the measurement reference point of the first distance sensor 13 and the distance measurement point can be measured. Then, the control unit 1 uses the first distance sensor 13 to measure the distance between the measurement reference point and the distance measurement point (the cross frame 20h6 of the mobile trolley 200). Furthermore, if it is not possible to measure the distance between the measurement reference point and the distance measurement point using the first distance sensor 13 of the robot 100, the control unit 1 can simply change the posture of the robot 100 to control (posture control) it to form a posture in which the distance between the measurement reference point and the distance measurement point can be measured using the first distance sensor 13.

[0150] The measured value of the distance between the measurement reference point and the distance measurement point, measured by the first distance sensor 13, is set as the distance dm1, and the vector vec_x is used. rh (vector vec_x) rh To determine the pose of the robotic arm 100 using the x-coordinate system rh Vectors with the same axis direction) and vec_z rh (vector vec_z) rh To determine the pose of the robotic arm 100 using the z-coordinate system rh The vector with the same axis direction will be used to mark the posture (direction) of the robot 100 when the measurement value is obtained as Ori(vec_x). rh vec_z rh (The same applies below). Additionally, the pose Ori (vec_x) rh vec_z rh ) represents x of robotic arm 100 rh The axis (positive direction) and vector vec_x rh Consistent, and the z-axis of the robotic arm 100 rh The axis (positive direction) and vector vec_z rh Consistent posture (direction).

[0151] Next, the control unit 1 drives the moving mechanism Rbt_arm, using a point closer to the front than the identification information mark on the cross frame 20h6 as the distance measurement point, to perform posture control on the robot arm 100, and moves the robot arm 100 to a position where distance measurement can be performed using the first distance sensor 13 of the robot arm 100 (and maintains the posture Ori(vec_x)). rh vec_z rh )).

[0152] That is, such as Figure 16 As shown, the laser light emitted from the first distance sensor 13 of the robotic arm 100 is reflected by a distance measurement point on the cross frame 20h6. The reflected light is received by the first distance sensor 13, and the control unit 1 performs posture control on the robotic arm 100 and maintains the posture Ori(vec_x). rh vec_z rh The control unit 1 moves the robotic arm 100 to a position where it can measure the distance between the measurement reference point of the first distance sensor 13 and the distance measurement point. Then, the control unit 1 uses the first distance sensor 13 to measure the distance between the measurement reference point and the distance measurement point (the cross frame 20h6 of the mobile trolley 200). This measured value is set as distance dm2.

[0153] Then, the control unit 1 determines whether the difference between the measured distances dm1 and dm2 between the two points is within the specified range (within the specified error ε).

[0154] (1) If the difference between the measured distance values ​​dm1 and dm2 (=|dm1-dm2|) of the two points is not within the specified range (within the specified error ε), then the straight line line.range-snsr1 between the measurement reference point of the first distance sensor 13 of the robot 100 and the distance measurement point is significantly offset relative to the normal direction of the horizontal frame 20h6 of the mobile handcart 200. Therefore, the robot 100 is subjected to posture control again (especially for the rotation axis r_ax6 (see Figure 8 (a) The rotation posture is controlled, and the distance between the two points is measured. In addition, this process is repeated until the difference between the measured distances dm1 and dm2 between the two points is within the specified range (within the specified error ε).

[0155] (2) On the other hand, if the difference between the measured distance values ​​dm1 and dm2 (=|dm1-dm2|) of the two points mentioned above is within the specified range (within the specified error ε), then it can be determined that the measurement reference point of the first distance sensor 13 of the robot 100 and the distance measurement point are connected by the straight line line.range-snsr1 (the direction of the straight line line.range-snsr1 is the same as the vector vec_x that determines the posture of the robot 100) rhThe direction of the robot arm 100 is approximately the same as the direction of the normal of the cross frame 20h6 of the mobile handcart 200. Furthermore, the control unit 1 moves the robot arm 100 in the direction of the distance measurements dm1 and dm2 between the two points (where the direction is approximately the same as the normal direction of the cross frame 20h6 of the mobile handcart 200 is approximately the same). Figure 17 The direction represented by DirH is set (determined) as the direction of the horizontal axis (y-axis of the trolley coordinate system) of the trolley coordinate system. Furthermore, the control unit 1 uses the robot coordinate system of the moving mechanism Rbt_arm (the coordinate system used to determine the position when controlling the moving mechanism Rbt_arm (the trolley arm Rbt_arm)) to grasp (acquire) the position of the robot arm 100 when acquiring the measured distance values ​​dm1 and dm2 between the two points, and acquires (calculates) the vector connecting the coordinates of the robot arm 100's position when acquiring the measured value dm1 and the coordinates of the robot arm 100's position when acquiring the measured value dm2, thereby enabling the acquisition of the direction in which the robot arm 100 moves when acquiring the measured distance values ​​dm1 and dm2 between the two points. Figure 17 The direction indicated by DirH is the center direction.

[0156] Furthermore, when the y-axis setting process of the handcart coordinate system is completed (the process in (2) above), the posture (direction) of the robot arm 100 is set to Ori(vec1_x). rh vec1_z rh Vector vec1_x rh The orientation of the robot arm 100 is determined by the x-axis of the coordinate system when the y-axis of the trolley coordinate system is set (as described in (2) above). rh Same axis.

[0157] (Step S14):

[0158] In step S14, the origin acquisition process is performed (the process of obtaining the coordinates of the origin of the trolley coordinate system in the robot coordinate system). Specifically, the following processing is performed.

[0159] Control unit 1 drives the moving mechanism Rbt_arm to perform posture control on the robotic arm 100, causing the robotic arm 100 to move to the position where the optical axis (line.range-camera) of the imaging unit 15 of the robotic arm 100 passes the recognition information marker mk1 and maintain the posture Ori (vec1_x). rh vec1_z rh Furthermore, the photographic parameters (focal length, angle of view, etc.) of the imaging unit 15 are adjusted (or, the distance between the imaging unit 15 and the identification information marker mk1 is adjusted) (for example, Figure 18 (as shown in the image), so that the image captured by the imaging unit 15 forms a focus state (focus-aligned state) on the identification information mark mk1.

[0160] After the above state is formed, the control section 1 captures the identification information mark ml with the imaging section 15, and acquires an image of the identification information mark ml. Then, the control section 1 sets a prescribed position of the identification information mark ml as the origin of the trolley coordinate system. For example, as shown in FIG. 6, in a case where the identification information mark ml is a two-dimensional code, the control section 1 sets the black square portion at the upper right end of the two-dimensional code as the origin of the trolley coordinate system. In a state where the captured image of the imaging section 15 is in a state of focus (a state of focus alignment) on the identification information mark ml, the control section 1 grasps the photographing parameters of the imaging section 15, so it is possible to acquire the coordinates of the point set as the origin of the trolley coordinate system (in the case of FIG. 6, the black square portion at the upper right end of the two-dimensional code) in the robot coordinate system. Furthermore, the coordinates of the point set as the origin of the trolley coordinate system (in the case of FIG. 6, the black square portion at the upper right end of the two-dimensional code) in the robot coordinate system are marked as [xo, yo, zo]. Figure 19 Figure 19 Figure 19 rbt （rbt） （rbt） （rbt）

[0161] (Step S15):

[0162] In step S15, reading processing of the identification information mark is performed. Specifically, the following processing is performed.

[0163] The control section 1 captures the identification information mark ml with the imaging section 15, and performs image processing on the captured image of the identification information mark ml, thereby acquiring information of the identification information mark ml (for example, in a case where the identification information mark ml is a two-dimensional code, the two-dimensional code is read, and information contained in the two-dimensional code is acquired).

[0164] Furthermore, in the present embodiment, it is assumed that the identification information mark ml (for example, a two-dimensional code) contains number information for identifying the mobile trolley.

[0165] Also, the control section 1 acquires the number information for identifying the mobile trolley contained in the identification information mark ml.

[0166] The number for identifying the mobile trolley and information associated with the number are stored in advance or from the outside to the storage section Meml of the control device Devl via the communication interface IF1. For example, the information associated with the number for identifying the mobile trolley is the following (example) information.

[0167] (1) Size (length, width, height) of the mobile trolley ​​​​​​​

[0168] (2) Number of layers (number of shelves) of the mobile cart

[0169] (3) A surface / B surface (information indicating whether it is a surface (A surface) or a back surface (B surface) of the mobile cart)

[0170] (4) Coordinates of the upper left end of the mobile cart (coordinates indicated by the cart coordinate system)

[0171] (5) Arrangement position and arrangement interval (arrangement interval) of articles of each shelf

[0172] The control section 1 reads out information associated with the number for identifying the mobile cart from the storage section Meml, based on the number acquired.

[0173] (Step S16):

[0174] In step S16, setting processing of the longitudinal axis (z axis of the cart coordinate system) of the cart coordinate system is performed.

[0175] The control section 1 drives the moving mechanism Rbt arm, with the recognition information mark ml as the approximate center, with two different points on the longitudinal frame 20v2 of the mobile cart 200 as distance measurement points, and moves the robot hand 100 to a position where distance measurement can be performed with the first distance sensor 13 of the robot hand 100 (see FIG. 9). Figure 20 、 Figure 21 ). The following describes the specific processing.

[0176] First, as shown in FIG. 10, the control section 1 drives the moving mechanism Rbt arm, with the points on the longitudinal frame 20v2 as distance measurement points, performs posture control (and maintains the posture Ori (vec1_x rh , vec1_z rh ) of the robot hand 100, and moves the robot hand 100 to a position where distance measurement can be performed with the first distance sensor 13 of the robot hand 100.

[0177] That is, as shown in FIG. 11, the control section 1 drives the moving mechanism Rbt arm, with the points on the longitudinal frame 20v2 as distance measurement points, performs posture control (and maintains the posture Ori (vec1_x rh , vec1_z rh ) of the robot hand 100, and moves the robot hand 100 to a position where distance measurement can be performed with the first distance sensor 13 of the robot hand 100.As shown, the laser light emitted from the first distance sensor 13 of the robot 100 is reflected by a distance measurement point on the longitudinal frame 20v2. This reflected light is received by the first distance sensor 13, which performs posture control on the robot 100 and moves it to a position where the distance between the measurement reference point of the first distance sensor 13 and the distance measurement point can be measured. Then, the control unit 1 uses the first distance sensor 13 to measure the distance between the measurement reference point and the distance measurement point (the longitudinal frame 20v2 of the mobile trolley 200). Furthermore, if it is not possible to measure the distance between the measurement reference point and the distance measurement point using the first distance sensor 13 of the robot 100, the control unit 1 can simply change the posture of the robot 100 and control it to form a posture in which the distance between the measurement reference point and the distance measurement point can be measured using the first distance sensor 13.

[0178] The measured value of the distance between the measurement reference point and the distance measurement point, measured by the first distance sensor 13, is set as the distance dm3, and the vector vec2_x is used. rh (vector vec2_x) rh To determine the pose of the robotic arm 100 using the x-coordinate system rh The vector with the same axis direction will be used to mark the posture (direction) of the robot 100 when the measurement value is obtained as Ori(vec2_x). rh vec2_z rh In addition, the pose Ori (vec2_x) rh vec2_z rh ) represents x of robotic arm 100 rh Axis and vector vec2_x rh Consistent posture (direction).

[0179] Next, the control unit 1 drives the moving mechanism Rbt_arm, using another point on the longitudinal frame 20v2 as a distance measurement point, to perform posture control on the robot arm 100 (and maintain the posture Ori(vec2_x)). rh vec2_z rh ), and move the robotic arm 100 to a position where distance measurement can be performed using the first distance sensor 13 of the robotic arm 100 (e.g., make it as Figure 20 , Figure 21 (As shown, move upwards).

[0180] That is, such as Figure 21As shown, the laser light irradiated from the first distance sensor 13 of the robot hand 100 is reflected by the distance measurement point on the vertical frame 20v2, and the reflected light is received by the first distance sensor 13, and the control section 1 moves the robot hand 100 to a position at which the distance between the measurement reference point of the first distance sensor 13 and the distance measurement point can be measured (and maintains the posture Ori (vec2_x rh , vec2_z rh ). Also, the control section 1 measures the distance between the measurement reference point and the distance measurement point (the vertical frame 20v2 of the mobile cart 200) using the first distance sensor 13. This measurement value is set as the distance dm4.

[0181] Also, the control section 1 determines whether the difference between the measurement values dm3 and dm4 of the distance of the above two points is within a prescribed range (within a prescribed error ε).

[0182] (1) If it is determined that the difference (= | dm3 - dm4 |) between the measurement values dm3 and dm4 of the distance of the above two points is not within the prescribed range (within the prescribed error ε), the straight line line.range-snsr1 connecting the measurement reference point of the first distance sensor 13 of the robot hand 100 and the distance measurement point is greatly deviated from the normal direction of the vertical frame 20v2 of the mobile cart 200 at the time of distance measurement, so the posture control of the robot hand 100 is performed again (particularly, the posture around the rotation axis r ax5 (see Figure 8 (a)) is controlled), and the distance of the above two points is measured. Also, in this processing, this processing is repeated until the difference between the measurement values dm3 and dm4 of the distance of the above two points is within the prescribed range (within the prescribed error ε).

[0183] (2) On the other hand, if it is determined that the difference (= | dm3 - dm4 |) between the measurement values dm3 and dm4 of the distance of the above two points is within the prescribed range (within the prescribed error ε), it can be determined that the straight line line.range-snsr1 connecting the measurement reference point of the first distance sensor 13 of the robot hand 100 and the distance measurement point at the time of distance measurement (the direction of the straight line line.range-snsr1 is in substantially the same direction as the direction of the vector vec_x rh that determines the posture of the robot hand 100) is substantially coincident with the normal direction of the vertical frame 20v2 of the mobile cart 200. Also, the control section 1 determines the direction in which the robot hand 100 is moved when the measurement values dm3 and dm4 of the distance of the above two points are acquired (the direction of the vector vec_x Figure 22The direction indicated by the middle direction DirV is set (determined) as the direction of the longitudinal axis (the trolley coordinate system z-axis) of the trolley coordinate system. Further, the control section 1 grasps (acquires) the position of the robot hand 100 at the time of acquiring the measurement values dm3 and dm4 of the distances of the two points using the robot coordinate system (a coordinate system used to determine the position when controlling (position control) the moving mechanism Rbt arm (the robot arm Rbt arm)), and acquires (calculates) a vector connecting the coordinates of the position of the robot hand 100 at the time of acquiring the measurement value dm3 and the coordinates of the position of the robot hand 100 at the time of acquiring the measurement value dm4, whereby the direction in which the robot hand 100 is moved at the time of acquiring the measurement values dm3 and dm4 of the distances of the two points can be acquired. Figure 17 The direction indicated by the middle direction DirH.

[0184] Further, the posture (direction) of the robot hand 100 at the time of completing the setting process of the trolley coordinate system y-axis (the process of the above (2)) is set as Ori (vec3_x rh , vec3_z rh ). The direction of the vector vec3_x rh is the same as the x rh axis of the posture determination coordinate system of the robot hand 100 at the time of completing the setting process of the trolley coordinate system y-axis (the process of the above (2)). In addition, the posture (direction) of the robot hand 100 acquired in step S16 is set as Ori (vec3_x rh , vec3_z rh ), and the process of step S13 is performed again, and it is confirmed that the difference between the measurement values dm1 and dm2 of the distances of the two points (= | dm1 - dm2 |) is within a prescribed range (within a prescribed error ε). In addition, if the difference between the measurement values dm1 and dm2 of the distances of the two points (= | dm1 - dm2 |) is not within the prescribed range (within the prescribed error ε), the process starting from step S13 can be executed again.

[0185] (Step S17):

[0186] In step S17, a setting process of the depth axis (the trolley coordinate system x-axis) of the trolley coordinate system is performed.

[0187] The trolley coordinate system y-axis is set in step S13, and the trolley coordinate system z-axis is set in step S16, and the trolley coordinate system y-axis and the trolley coordinate system z-axis are grasped, so the control section 1 sets the direction (the normal direction of the trolley coordinate system y-z plane) orthogonal to both the trolley coordinate system y-axis and the trolley coordinate system z-axis as the direction of the depth axis (the trolley coordinate system x-axis) of the trolley coordinate system.

[0188] And, the control section 1 sets the origin acquired in step S14 as the origin of the trolley coordinate system (marks it as the origin o （cart） ). That is, the control section 1 sets the position Po （rbt） = [xo （rbt） , yo （rbt） , zo （rbt） ] of the robot coordinate system to the position Po （cart） = [0 （cart） , 0 （cart） , 0 （cart） ] of the origin of the trolley coordinate system ("P （rbt） " indicates that it is a coordinate, position vector of the robot coordinate system, and "P （cart） " indicates that it is a coordinate, position vector of the trolley coordinate system).

[0189] Further, if the control section 1 (1) sets a unit vector in the same direction as the y-axis direction of the trolley coordinate system acquired in step S13 as ye （cart） , (2) sets a unit vector in the same direction as the z-axis direction of the trolley coordinate system acquired in step S16 as ze （cart） , and (3) sets a unit vector in the same direction as the direction orthogonal to both the y-axis of the trolley coordinate system and the z-axis of the trolley coordinate system as xe （cart） , the trolley coordinate system is set as the coordinate system (three-dimensional coordinate system) described below: the origin is set to the point o （cart） , and the unit vectors xe （cart） (the vector (basis vector) that defines the x-axis (marks it as the x （cart） -axis) of the trolley coordinate system), ye （cart） (the vector (basis vector) that defines the y-axis (marks it as the y （cart） -axis) of the trolley coordinate system), and ze （cart） (the vector (basis vector) that defines the z-axis (marks it as the z （cart） -axis) of the trolley coordinate system) are set as basis vectors. Thus, the trolley coordinate system as shown in FIG. 8 is set. Figure 23

[0190] And, the control section 1 converts (coordinate conversion) the position vector (position coordinates) of the robot coordinate system and the position vector (position coordinates) of the trolley coordinate system by performing processing equivalent to the following formula.

[0191] <Conversion of the trolley coordinate system to the robot coordinate system>

[0192] Formula 1

[0193]

[0194] p （rbt） ​: a vector (position vector) representing a position in the robot coordinate system

[0195] rbt cart T: a matrix (affine transformation matrix) that converts the dolly coordinate system into the robot coordinate system (4 x 4 matrix)

[0196] p （cart） : a vector (position vector) representing a position in the dolly coordinate system

[0197] p （rbt） = [x （rbt） , y （rbt） , z （rbt） , 1] T

[0198] p （cart） = [x （cart） , y （cart） , z （cart） , 1] T

[0199] <Converting the robot coordinate system into the dolly coordinate system>

[0200] Equation 2

[0201]

[0202] p （rbt） : a vector (position vector) representing a position in the robot coordinate system

[0203] rbt cart T -1 : an affine transformation matrix rbt cart inverse matrix (4 x 4 matrix) of

[0204] p （cart） : a vector (position vector) representing a position in the dolly coordinate system

[0205] p （rbt） = [x （rbt） , y （rbt） , z （rbt） , 1] T

[0206] p （cart） = [x （cart） , y （cart） , z （cart） , 1] T

[0207] Further, if both the robot coordinate system and the trolley coordinate system are coordinate systems defined by orthogonal vectors, the affine transformation matrix described above can be a homogeneous transformation matrix.

[0208] As described above, the control section 1 can perform processing of converting the position vector (position coordinates) of the robot coordinate system and the position vector (position coordinates) of the trolley coordinate system (coordinate system conversion processing), for example, can perform conversion processing (coordinate system conversion processing) of the robot coordinate system and the trolley coordinate system as shown in FIG. 10. Figure 24

[0209] Thus, trolley coordinate system setting processing is performed.

[0210] (Step S2):

[0211] In step S2, loop processing (loop 1) is started, and the loop processing (loop 1) is repeated as long as the condition of the loop processing is satisfied (for example, until an instruction to end the article handling processing is issued by the control section 1).

[0212] (Step S3):

[0213] In step S3, movement processing of the moving mechanism Rbt arm is performed. For example, as shown in FIG. 10, in the case of taking out the cash box CB1 (an example of an article) loaded in the innermost column of the shelves of the uppermost layer of the mobile trolley 200, the control section 1 reads information associated with the number of the recognition information mark attached to the frame of the mobile trolley 200 from the storage section Mem1, and acquires the following information. Figure 25

[0214] (1) The size (length, width, height) of the mobile trolley 200

[0215] (2) The number of layers (the number of shelves) of the mobile trolley 200

[0216] (3) A surface / B surface

[0217] (4) The coordinates of the reference position of the upper left end of the mobile trolley 200 (coordinates of the trolley coordinate system) (for example, corresponds to the point P shown in FIG. 10) Figure 25 LT （cart） (Information of the position vector in the trolley coordinate system for determining the position of the column (the first column of the uppermost layer) in which the upper left end of the cash box is arranged in the mobile trolley 200)

[0218] (5) The article arrangement position and arrangement pitch (arrangement interval) of each shelf of the mobile trolley 200

[0219] ​​​(6) Whether the cross frames of each shelf of the mobile handcart 200 are attached with markings indicating the approximate center position of each column when arranging the cash boxes.

[0220] Control unit 1 acquires the coordinates of the upper left end of the mobile handcart 200 (position vector P in the handcart coordinate system). LT （cart） =[x LT （cart） y LT （cart） , z LT （cart） Taking into account the above information, the cash drawer CB1 is moved to a position where the telescopic mechanism 11 extends, allowing the cash drawer CB1 to be attracted and removed by the suction mechanism. The specific processing will now be explained. Furthermore, an example will be described where the position of the robotic arm 100 is controlled based on the focal position of the imaging unit 15.

[0221] Control unit 1 acquired information about the dimensions (length, width, height), number of shelves, item arrangement position on each shelf, and spacing between items on the mobile trolley 200. Therefore, as... Figure 26 As shown in (a), the distance Δy between columns of cash box CB1 and the distance Δz between shelves can be obtained.

[0222] And, as Figure 25 As shown, control unit 1 can acquire the coordinates from point P in the handcart coordinate system. LT （cart） (=P1) （cart） (Obtain point P from the information associated with the identification information tag number) LT （cart） The information) to the focus position of the shooting unit 15 (in Figure 25 The middle point is P2 （cart） The distance Δx of the position shown in the figure in the x-axis direction.

[0223] Therefore, control unit 1 Figure 26 Point P1 in (a) （cart） In focus mode (focus aligned), it can be determined that the shooting unit 15 can capture P1. （cart） (Points on the horizontal frame 20h2) (P1) （cart） =[x LT （cart） -Δx, y LT （cart） , z LT （cart） The position of the camera (the focal point of the camera unit 15 of the robotic arm 100) becomes point P2. （cart） (Location).

[0224] Furthermore, control unit 1 uses p（cart） =[P2] （cart） ,1] T =[x2 （cart） y2 （cart） z2 （cart） ,1] T By performing the coordinate transformation according to Formula 1, we can obtain p. （rbt） (= [P2]) （rbt） ,1] T =[x2 （rbt） y2 （rbt） z2 （rbt） ,1] T Therefore, it is possible to obtain point P2 in the handcart's coordinate system. （cart） The coordinates (position vector) P2 in the robot coordinate system （rbt） (=[x2) （rbt） y2 （rbt） z2 （rbt） Furthermore, the control unit 1 drives the moving mechanism Rbt_arm, causing the robot arm 100 to move to the coordinates (position vector) P2 in the robot coordinate system. （rbt） Thus, the robotic arm 100 can be moved to point P2 in the trolley coordinate system. （cart） .

[0225] Furthermore, the control unit 1 performs posture control on the robot arm 100 so that the posture of the robot arm 100 is determined using the x-coordinate system. rh The direction of the axis relative to the x-axis of the handcart coordinate system （cart） The axes are aligned.

[0226] Furthermore, in this state, the control unit 1 uses the camera unit 15 to monitor the horizontal frame 20h2 (point P1) of the mobile handcart 200. （cart） (The filming took place in the vicinity).

[0227] (Step S4):

[0228] In step S4, the pose fine-tuning of the moving mechanism Rbt_arm is performed. Specifically, the following processing is executed.

[0229] Control unit 1 monitors the horizontal frame 20h2 (point P1) of the mobile handcart 200 captured in step S3. （cart）The image (nearby) is analyzed to determine whether the length direction of the horizontal frame 20h2 is approximately consistent with the y-axis direction of the trolley coordinate system. If the tilt angle of the length direction of the horizontal frame 20h2 relative to the y-axis direction of the trolley coordinate system is greater than or equal to a specified angle, the following operation may be difficult to achieve, that is, when the telescopic mechanism 11 of the robot arm 100 is extended to absorb and remove the cash box CB1, the telescopic mechanism 11 of the robot arm 100 is extended in a straight line relative to the cash box CB1, and the absorption mechanism 12 reaches the cash box CB1.

[0230] Therefore, if the tilt angle of the length direction of the horizontal frame 20h2 relative to the y-axis direction of the handcart coordinate system is greater than or equal to a specified angle, the control unit 1 controls the posture of the robot arm 100 so that the tilt angle of the length direction of the horizontal frame 20h2 relative to the y-axis direction of the robot arm 100 coordinate system is greater than or equal to a specified angle. rh The axes are roughly aligned, or the height of the loading plate 10LT of the robot arm 100 is adjusted to match the height of the transverse frame 20h2 along its length. This allows the telescopic mechanism 11 of the robot arm 100 to extend and reach the cash drawer CB1 in a straight line, thus enabling the cash drawer CB1 to be retrieved smoothly.

[0231] In addition, for example, such as Figure 26 As shown in (b), if the mobile trolley 200 is a mobile trolley with markings m11 to m1c on the cross frames of each shelf indicating the approximate center position of each column when the cash box CB1 is arranged and loaded, then the robot arm 100 can be controlled in position (movement control), in posture, and in fine-tuning of posture control based on the position of these markings m11 to m1c. In this case, since the robot arm 100 can be controlled in position (movement control), in posture, and in fine-tuning of posture control based on the markings m11 to m1c on the cross frames of each shelf of the mobile trolley 200, even if the mobile trolley 200 is deformed, the robot arm 100 can still be controlled in position (movement control) and in posture appropriately.

[0232] (Step S5):

[0233] In step S5, the item is removed. Specifically, the following process is performed.

[0234] When the process in step S4 ends, as follows: Figure 27 As shown in State 1, there is a high probability that the orientation (posture) of the robot arm 100 is approximately consistent with the normal direction of the surface on one side of the robot arm 100 of the cash drawer CB1. That is, if the cash drawer CB1 is arranged and placed on the shelf of the mobile trolley 200, there is a high probability that the orientation (posture) of the robot arm 100 is approximately consistent with the normal direction of the surface on one side of the robot arm 100 of the cash drawer CB1.

[0235] Therefore, as Figure 27 As shown in state two, the control unit 1 uses the second distance sensor 14 to measure the distance to the surface of the robot arm 100 on one side of the cash drawer CB1. Since the second distance sensor 14 uses a highly directional laser to measure the distance between the robot arm 100 and the measurement point on a roughly flat surface, if the measurement value is obtained normally, it can be determined that the direction (posture) of the robot arm 100 is approximately consistent with the normal direction of the surface of the robot arm 100 on one side of the cash drawer CB1.

[0236] Furthermore, if distance measurement can be performed normally using the second distance sensor 14, the control unit 1 sets a low-speed movement range, that is, it sets the range from the position where the distance d2 (the distance to the cash box CB1 is shorter than the distance d_all) to the cash box CB1 to the distance d_all to the cash box CB1 as the low-speed movement range. Figure 27 The range of Pb to Pc), and will be from the position of the robot arm 100 (e.g., the position of the second distance sensor 14 ( Figure 14 The interval from the position of Pa in the middle to the position d2 further forward than the surface of the money box CB1 is set as the high-speed movement interval. Figure 27 (The interval from Pa to Pb).

[0237] Furthermore, the control unit 1 drives and controls the telescopic mechanism 11 to extend, causing the adsorption mechanism 12 (adsorption part 12S) to reach the surface of the cash box CB1. At this time, the control unit 1 performs control, and within the high-speed movement range set above, using the position control method for driving the telescopic mechanism 11 (using the position control method for the electric cylinder used to drive the telescopic mechanism 11), the adsorption mechanism 12 (adsorption part 12S) installed at the front end of the telescopic mechanism 11 moves at high speed.

[0238] Furthermore, if it is determined that the adsorption mechanism 12 (adsorption section 12S) at the front end of the telescopic mechanism 11 has crossed the high-speed movement range and entered the low-speed movement range, the control unit 1 performs control by using the control method for driving the telescopic mechanism 11 as the contact control method (using the control method for driving the electric cylinder of the telescopic mechanism 11 as the control method, which stops the telescopic mechanism 11 from extending when monitoring the pressure change of the adsorption section 12S and determining that adsorption has occurred). The adsorption mechanism 12 (adsorption section 12S) installed at the front end of the telescopic mechanism 11 moves at low speed, and the adsorption state can be reliably detected.

[0239] Furthermore, if the adsorption mechanism 12 (adsorption part 12S) at the front end of the telescopic mechanism 11 reaches the surface of the cash box CB1, and the state of the surface of the cash box CB1 being adsorbed is detected ( Figure 27the state 3), the control section 1 performs processing to maintain the state of the surface of the money box CB1, retracts the extension mechanism 11, and pulls back the money box CB1 toward the robot 100. Also, as shown in the state 4, the control section 1 confirms that the money box CB1 is in a state of being loaded on the loading section 10Tr of the robot 100, and completes the article taking-out processing. Figure 28

[0240] (Step S6):

[0241] In step S6, article carrying processing is performed. In step S5, the control section 1 controls the movement mechanism Rbt arm to carry the money box CB1 loaded on the loading section 10Tr of the robot 100 to a prescribed position. Thus, the money box CB1 loaded on the loading section 10Tr of the robot 100 is carried to the prescribed position.

[0242] (Step S7):

[0243] In step S7, it is determined whether or not an end condition of the loop processing (loop 1) is satisfied, and if the end condition is satisfied, the article carrying processing is ended, and if the end condition is not satisfied, the processing returns to step S2, and the processing of steps S3 to S6 is performed.

[0244] For example, in the article carrying processing system 1000, if an article (for example, a money box) loaded on a column adjacent to the column on which the money box CB1 is loaded on the same shelf of the mobile cart 200 is to be taken out by the robot 100, it is sufficient to control the robot 100 to move to a position P1 （cart） (= [x LT （cart） - Δx, y LT （cart） , z LT （cart） ] - Δy1, z) in the cart coordinate system.

[0245] In addition, if an article (for example, a money box) loaded on a shelf layer next to the shelf layer on which the money box CB1 is loaded on the mobile cart 200 is to be taken out by the robot 100, it is sufficient to control the robot 100 to move to a position P1 （cart） (= [x LT （cart） - Δx, y LT （cart） , z LT （cart） ​The position of the coordinate obtained by subtracting a prescribed value (for example, Δz1 (Δz1 is the amount of movement in the z-axis direction of the trolley coordinate system)) from the z coordinate in the trolley coordinate system.

[0246] That is, in the article transport processing system 1000, since the trolley coordinate system acquired in a manner substantially identical to the length, width, and depth of the mobile trolley 200 can be used to move the robot 100, the article at a prescribed position of the mobile trolley 200 can be taken out, or the article can be simply processed and transported to a prescribed position of the mobile trolley 200. Also, in the article transport processing system 1000, since the posture of the robot 100 can be controlled in accordance with the trolley coordinate system acquired in a manner substantially identical to the length, width, and depth of the mobile trolley 200, the article loaded on the shelf of the mobile trolley 200 can be taken out at high speed and correctly (reliably), and the article can be loaded on a prescribed position of the mobile trolley 200 at high speed and correctly (reliably).

[0247] As described above, in the article transport processing system 1000, the trolley coordinate system acquired in a manner substantially identical to the length, width, and depth of the mobile trolley 200 can be used to control the movement of the robot 100 and control the posture of the robot 100. Also, in the article transport processing system 1000, the type and structure of the mobile trolley can be grasped using the recognition information mark attached to the mobile trolley 200, and the movement of the robot 100 and the posture of the robot 100 can be controlled in accordance therewith.

[0248] Thus, in the article transport processing system 1000, since the trolley coordinate system acquired in a manner substantially identical to the length, width, and depth of the mobile trolley 200 can be used to control the movement of the robot 100 and control the posture of the robot 100, the article can be taken out from and / or loaded on the shelf or the like (for example, the mobile trolley) at high efficiency regardless of the direction in which the various types of mobile trolleys are placed.

[0249] [Other Embodiments]

[0250] Although in the above-described embodiment, the case where the robot 100 is provided with two distance sensors (the first distance sensor 13 and the second distance sensor 14) in the article transport processing system 1000 is described, the number of distance sensors provided on the robot 100 is not limited to two, and the processing performed by the first distance sensor 13 and the second distance sensor 14 can be performed using one distance sensor.

[0251] In addition, in the robot 100, a distance sensor identical to the first distance sensor 13 can be installed at a position below the side surface of the second side surface L-shaped plate 10L2 of the robot 100 (a position symmetrical to the loading flat plate 10LT with the loading flat plate 10LT interposed), and the distance between the movable cart and the lateral frame is measured by the first distance sensor 13 and the newly installed distance sensor, and the posture control of the robot 100 is performed based on whether the measured distances of the two distance sensors are substantially the same.

[0252] In addition, although the above-described embodiment describes the case where the moving mechanism Rbt arm of the article transport processing system 1000 is a robot arm, it is not limited thereto, and other mechanisms (moving mechanisms) can be used as long as the moving mechanism Rbt arm is a mechanism capable of moving in three-dimensional space and achieving posture control.

[0253] In addition, although the above-described embodiment describes the case where the article transport processing system 1000 stores only the number for identifying the movable cart in the identification information marker ml, it is not limited thereto, and for example, in the above-described embodiment, the identification information marker ml can store the information stored in the storage portion Meml in association with the number for identifying the movable cart.

[0254] In addition, although the above-described embodiment describes the case where the article transport processing system 1000 stores only the number for identifying the movable cart in the identification information marker ml, it is not limited thereto, and for example, in the above-described embodiment, the identification information marker ml can store the information stored in the storage portion Meml in association with the number for identifying the movable cart.

[0255] In addition, in the above-described embodiment, only the main components required for the above-described embodiment are simply shown in the structural components. Therefore, any structural components not shown in the above-described embodiment can be provided. In addition, the dimensions and the like of the components in the above-described embodiment and the drawings are not necessarily shown as actual dimensions and dimensional ratios. Therefore, the dimensions and the like can be changed within a range not departing from the gist of the present application.

[0256] In the article transport processing system 1000 described in the above-described embodiment, each portion (each functional portion) can be individually monolithic by a semiconductor device such as an LSI (Large-scale integrated circuit) or can be monolithic in a manner including part or all. In addition, each portion (each functional portion) of the article transport processing system 1000 described in the above-described embodiment can be implemented by a plurality of semiconductor devices such as LSIs.

[0257] Moreover, the technique can be realized not only by an LSI but also by dedicated circuitry or a general-purpose processor. Furthermore, a post-LSI manufactured FPGAs (Field Programmable Gate Array) that can be reconfigured, reconfigurable processors in which internal circuits units of an LSI are reconfigured, or the like can be used.

[0258] Moreover, the method of manufacturing the integrated circuit is not limited to the LSI, and can be realized by a dedicated circuit or a general-purpose processor. Furthermore, a post-LSI manufactured FPGAs (Field Programmable Gate Array) that can be reconfigured, reconfigurable processors in which internal circuits units of an LSI are reconfigured, or the like can be used.

[0259] Moreover, part or all of the processing of each functional part of each of the above-described embodiments can be realized by a program. Part or all of the processing of each functional part of each of the above-described embodiments can be performed by a central processing unit (CPU) in a computer. Furthermore, the program for performing each processing is stored in a storage device such as a hard disk, a ROM (Read Only Memory), or the like, read out to a ROM or a RAM (Random Access Memory), and executed.

[0260] Moreover, each processing of each of the above-described embodiments can be realized by hardware or software (including a case where an OS (Operating System), middleware, or a predetermined library is used together). Furthermore, each processing can be realized by a mixed processing of software and hardware.

[0261] In a case where each functional part of each of the above-described embodiments is realized by software, each functional part can be realized by a software processing using a predetermined hardware structure (for example, a CPU (also a GPU (Graphics Processing Unit)), a ROM, a RAM, an input part, an output part, a communication part, a storage part (for example, a storage part realized by an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like), a hardware structure connected to an external medium using a bus Bus, or the like).

[0262] Moreover, in a case where each functional part of each of the above-described embodiments is realized by software, the software can be realized using a single computer having the above-described hardware structure or using a plurality of computers by distributed processing.

[0263] Moreover, the order of execution of the processing method in each of the above-described embodiments is not necessarily limited to the description of each of the above-described embodiments, and the order of execution can be changed within a range not deviating from the gist of the present application. Furthermore, in the processing method of each of the above-described embodiments, part of the steps can be executed in parallel with other steps within a range not deviating from the gist of the present application.

[0264] A computer program for causing a computer to execute the above-described method and a computer-readable recording medium recording the program are included in the scope of the present application. Here, as the computer-readable recording medium, for example, a floppy disk, a hard disk, a CD-ROM (Compact Disc-Read Only Memory), an MO (Magneto Optical), a DVD (Digital Video Disk), a DVD-ROM (Read Only Memory), a DVD-RAM (DVD Random Access Memory), a Blu-ray (registered trademark) Disc, a next-generation DVD, and a semiconductor memory can be given.

[0265] The above-described computer program is not limited to being recorded in the above-described recording medium, but can also be transmitted via a telecommunication line, a wireless or wired communication line, a network such as the Internet, and the like.

[0266] In addition, the specific structure of the present application is not limited to the above-described embodiments, and various changes and modifications can be made within the scope of the gist of the present application.

[0267] Explanation of Reference Signs

[0268] 1000 article handling system

[0269] 100 robot

[0270] Rbt arm moving mechanism

[0271] 1 control section

[0272] 11 extension mechanism

[0273] 12 suction mechanism

[0274] 13 first distance sensor

[0275] 14 second distance sensor

[0276] 15 imaging section

Claims

1. An article handling system for taking out an article from a mobile cart having a lateral frame and a longitudinal frame and / or for carrying and loading an article to the mobile cart, wherein the article handling system comprises: a robot for gripping and carrying an article; a moving mechanism for posture control and movement control of the robot; and a control section that controls the robot and the moving mechanism, the robot comprises: a frame; an extension mechanism, a suction mechanism, a first distance sensor, a second distance sensor, and a camera provided on the frame, the control section performs the following steps: a first distance acquisition step of measuring a distance between a first measurement point on the lateral frame of the mobile cart and the first distance sensor using the first distance sensor and acquiring a measurement value as a first distance, in a state where a posture of the robot is controlled to a prescribed posture with respect to the mobile cart; a second distance acquisition step of measuring a distance between a second measurement point on the lateral frame of the mobile cart different from the first measurement point and the first distance sensor using the first distance sensor and acquiring a measurement value as a second distance, in a state where the posture of the robot is controlled to a posture identical to the prescribed posture; a lateral error judgment step of judging whether a difference between the first distance and the second distance is less than or equal to a prescribed value; and a cart coordinate system lateral axis setting step of setting an axis in substantially the same direction as a vector from a position of the robot when the first distance is measured to a position of the robot when the second distance is measured as a lateral axis of a cart coordinate system that is a coordinate system serving as a reference when the movement control and / or the posture control of the robot with respect to the mobile cart is performed, if it is judged by the lateral error judgment step that the difference between the first distance and the second distance is less than or equal to the prescribed value; and a robot control step of controlling the robot in accordance with the cart coordinate system.

2. The article handling system according to claim 1, wherein the control section further performs the following steps: a third distance acquisition step of measuring a distance between a third measurement point on the longitudinal frame of the mobile cart and the first distance sensor using the first distance sensor and acquiring a measurement value as a third distance, in a state where the posture of the robot is controlled to the prescribed posture with respect to the mobile cart; a fourth distance acquisition step of measuring a distance between a fourth measurement point on the longitudinal frame of the mobile cart different from the third measurement point and the first distance sensor using the first distance sensor and acquiring a measurement value as a fourth distance, in a state where the posture of the robot is controlled to a posture identical to that at the time of the third distance acquisition step; a longitudinal error judgment step of judging whether a difference between the third distance and the fourth distance is less than or equal to a prescribed value; and a cart coordinate system longitudinal axis setting step of setting an axis in substantially the same direction as a vector from a position of the robot when the third distance is measured to a position of the robot when the fourth distance is measured as a longitudinal axis of the cart coordinate system, if it is judged by the longitudinal error judgment step that the difference between the third distance and the fourth distance is less than or equal to the prescribed value. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The trolley coordinate system longitudinal axis setting step sets, if it is judged by the longitudinal error judging step that the difference between the third distance and the fourth distance is less than or equal to a predetermined value, an axis in substantially the same direction as a vector from the position of the robot hand when the third distance is measured to the position of the robot hand when the fourth distance is measured as the longitudinal axis of the trolley coordinate system, which is a coordinate system serving as a reference when movement control and / or posture control of the robot hand with respect to the mobile trolley is performed.

3. The article transport processing system according to claim 1 or 2, wherein The control section further executes a trolley coordinate system depth axis setting step that sets an axis in a direction substantially orthogonal to both the lateral axis and the longitudinal axis of the trolley coordinate system as a depth axis of the trolley coordinate system.

4. The article transport processing system according to any one of claims 1 to 3, wherein The control section captures an identification information mark affixed to the longitudinal frame or the lateral frame of the mobile trolley with the imaging section, and analyzes the captured image, thereby acquiring information contained in the identification information mark.

5. The article transport processing system according to any one of claims 1 to 4, wherein The control section further executes a trolley coordinate system origin point setting step that sets a predetermined position of an identification information mark affixed to the longitudinal frame or the lateral frame of the mobile trolley as an origin point of the trolley coordinate system.

6. The article transport processing system according to any one of claims 1 to 5, wherein The control section further executes the following steps: A movement step that, if an article is taken out of or loaded into a predetermined shelf from the mobile trolley, performs posture control of the robot hand and moves it to a position at which the article can be taken out of or loaded into the predetermined shelf with the robot hand; An inclination detecting step that, with the imaging section of the robot hand moved to the predetermined position in the movement step, captures an image of a lateral frame supporting the predetermined shelf, and analyzes the captured image, thereby detecting the inclination of the lateral frame; A posture adjusting step that, if the inclination of the lateral frame is detected to be greater than a predetermined value by the inclination detecting step, adjusts the posture control of the robot hand to correct the inclination.

7. The article transport processing system according to any one of claims 1 to 6, wherein The mobile trolley has a reference mark for determining a center position when an article is loaded on the lateral frame in a column, for each column in which articles are arranged, The control section performs the robot hand control step by performing posture control of the robot hand and moving it in accordance with the reference mark.

8. The article transport processing system according to any one of claims 1 to 7, wherein The control section further executes the following steps: The interval setting step measures the distance from the article with the second distance sensor if the article is taken out from the prescribed shelf of the mobile cart, and sets a high-speed movement interval in which the suction mechanism mounted on the telescopic mechanism is controlled to move at high speed, and a low-speed movement interval in which the suction state of the suction portion of the suction mechanism mounted on the telescopic mechanism is monitored and the suction mechanism is controlled to move at low speed; The telescopic mechanism control step controls the telescopic mechanism so that the suction mechanism mounted on the telescopic mechanism moves at high speed in the high-speed movement interval set in the interval setting step, and controls the telescopic mechanism so that the suction state of the suction portion of the suction mechanism mounted on the telescopic mechanism is monitored and the suction mechanism moves at low speed in the low-speed movement interval set in the interval setting step.

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