Holding device, holding method, and storage medium

Abstract

The present application provides a holding device, a holding method, and a storage medium. The holding device includes a handle portion that holds a single side of a workpiece, a support portion that supports the handle portion and moves the workpiece, a detection portion that detects a force applied to the handle portion, and a control portion that controls an angle of the support portion with respect to the ground to make the force detected by the detection portion not exceed a threshold value when the support portion moves the workpiece.

Description

Technical Field

[0001] This disclosure relates to a holding device, a holding method, and a storage medium. Background Technology

[0002] An automated device has been developed for providing an automated work device capable of holding items that are laid out on a shelf and stored, and that have a length in the depth direction. International Publication No. 2016 / 142981 discloses an automated device comprising a handle for holding the item and a protrusion disposed relative to the handle on the gravity side. Summary of the Invention

[0003] However, in the automatic devices described in the aforementioned documents, the article must come into contact with both the handle and the protrusion, thus requiring a large contact area and consequently confining the article. Therefore, the object of this disclosure is to provide a holding device for holding a variety of articles, including smaller articles.

[0004] The holding device disclosed herein comprises: a handle portion for holding one side of a workpiece; a support portion for supporting the handle portion and moving the workpiece; a detection portion for detecting the force applied to the handle portion; and a control portion for controlling the angle of the support portion relative to the ground when the support portion moves the workpiece, so that the force detected by the detection portion does not exceed a threshold.

[0005] The holding device disclosed herein can hold a wide variety of items, including smaller items.

[0006] The holding device disclosed herein is a holding device in which the support portion is equipped with a robotic arm.

[0007] The holding device disclosed herein can be applied to automated devices with arms.

[0008] The retaining device disclosed herein is such that the support portion is equipped with a drone.

[0009] The holding device disclosed herein can be applied to unmanned aerial vehicles (UAVs).

[0010] The retaining device disclosed herein is a retaining device in which the detection unit has a force sensor mounted on the handle.

[0011] In the retaining device disclosed herein, the detection unit includes a force sensor mounted on the handle. This force sensor enables the detection of the force applied to the handle.

[0012] The holding device disclosed herein is a holding device in which the detection unit has a load sensor mounted on the handle.

[0013] In the retaining device disclosed herein, the detection unit includes a load sensor mounted on the handle. This load sensor enables the detection of the force applied to the handle.

[0014] The holding device disclosed herein is a holding device in which the detection part includes a force sensor mounted on the support part.

[0015] In the retaining device disclosed herein, the detection unit includes a force sensor mounted on the support. This force sensor enables the detection of the force applied to the handle.

[0016] The holding device disclosed herein is a holding device in which the detection unit detects the force applied to the drive motor unit, the drive motor unit being mounted on the support unit.

[0017] In the holding device disclosed herein, the detection unit is capable of detecting the force applied to the drive motor unit mounted in the support unit.

[0018] The holding device disclosed herein is a holding device in which the detection unit has a learned model learned using an image of the workpiece, an image of the handle, and force measurement values, and the detection unit infers the force applied to the handle based on an image of the workpiece and an image of the handle captured by an image capturing unit.

[0019] In the holding device disclosed herein, the detection unit can infer the force applied to the handle based on an image of the workpiece captured by an external or internal image capturing unit and an image of the handle.

[0020] The holding device disclosed herein is a holding device in which the weight or pull load of the workpiece is registered in the control unit, and the control unit controls the angle of the support relative to the ground based on the weight or pull load of the workpiece.

[0021] By controlling the angle of the support according to the weight or pull load of the registered workpiece, the support can hold the workpiece at an angle appropriate to the weight.

[0022] The holding device disclosed herein includes an image capturing unit connected to the control unit, which captures an image of the workpiece. The control unit calculates the surface area of ​​the side of the workpiece based on the image of the workpiece captured by the image capturing unit. The volume of the workpiece is registered in the control unit. The control unit calculates the depth of the workpiece based on the volume and the surface area of ​​the side of the workpiece, and controls the angle of the support relative to the ground based on the depth of the workpiece.

[0023] By controlling the angle of the support portion according to the depth of the workpiece, the support portion can hold the workpiece at an angle appropriate to the depth of the workpiece.

[0024] The holding method disclosed herein comprises: a step of holding a handle portion on one side of a workpiece; a step of supporting the handle portion and moving the workpiece; a step of detecting a force applied to the handle portion; and a step of controlling the angle of the support portion relative to the ground as the support portion moves the workpiece, so that the force detected by the detection portion does not exceed a threshold.

[0025] The holding method disclosed herein enables the holding of a wide variety of items, including smaller items.

[0026] The storage medium of this disclosure stores a program that causes the holding device to perform the following steps: holding a handle on one side of a workpiece; supporting the handle and moving the workpiece; detecting a force applied to the handle; and controlling the angle of the support relative to the ground as the support moves the workpiece so that the force detected by the detection unit does not exceed a threshold.

[0027] By storing the program in the storage medium of this disclosure, a holding device capable of holding a wide variety of items, such as small items, can be provided.

[0028] This disclosure provides a holding device capable of holding a wide variety of items, such as smaller items. Attached Figure Description

[0029] The features, advantages, technical and industrial value of representative embodiments of the present invention will be depicted in the following drawings for reference, wherein the same symbols in the drawings denote the same elements, wherein:

[0030] Figure 1 This is a block diagram of the holding device according to the embodiment.

[0031] Figure 2 This is a flowchart of a method for holding a workpiece according to an embodiment.

[0032] Figure 3 This is a diagram illustrating how the workpiece involved in the implementation method is held.

[0033] Figure 4 This diagram illustrates how the workpiece involved in the embodiment is held in a tilted manner relative to the ground.

[0034] Figure 5 This is a block diagram of the holding device according to Embodiment 1.

[0035] Figure 6 This is a flowchart of the workpiece holding method according to Embodiment 1.

[0036] Figure 7 This is a schematic diagram of the handle and detection unit involved in the implementation method.

[0037] Figure 8 This is a schematic diagram of the handle and detection unit according to another embodiment.

[0038] Figure 9 This is a schematic diagram of the detection unit according to another embodiment.

[0039] Figure 10 This is a schematic diagram of the detection unit according to yet another embodiment.

[0040] Figure 11 This is a block diagram of the detection unit according to yet another embodiment.

[0041] Figure 12 This is a schematic diagram of a holding device according to yet another embodiment. Detailed Implementation

[0042] Implementation

[0043] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the scope of the invention is not limited to the following embodiments. Furthermore, not all structures described in the embodiments are necessarily necessary as means to solve the problem. For clarity, the following description and drawings have been appropriately omitted and simplified. In the drawings, the same symbols are used for the same elements, and repeated descriptions have been omitted as needed.

[0044] Description of the holding device involved in the embodiments

[0045] Figure 1 This is a block diagram of the holding device according to the embodiment. (Referring to...) Figure 1 Meanwhile, the holding device 100 according to the embodiment will be described. The holding device 100, for example, can hold the workpiece 301 stored on the shelf and move the workpiece 301.

[0046] like Figure 1 As shown, the holding device 100 according to the embodiment includes a handle 101, a support 102, a detection 103, and a control 104.

[0047] First, for the workpiece 301 to be moved (in Figure 3 (As shown in the figure below) The workpiece 301 has an adsorption surface or an adhesive surface that is adsorbed or bonded to the handle portion 101. Although the adsorption surface or adhesive surface is preferably flat, it may also be curved. Furthermore, the workpiece 301 is preferably a cuboid or a cube. The workpiece 301 is an item stored on a shelf and moved from the shelf to a predetermined position.

[0048] The handle 101 holds the side of the workpiece 301 by means of adsorption, adhesion, etc. In the case of adsorption, the handle 101 is a vacuum pad connected to a vacuum pump. In the case of electromagnetic adsorption, the handle 101 is an electromagnet such as a coil. In addition, the handle 101 can also be a component using adhesives, tape, etc.

[0049] The support portion 102 has a handle portion 101 at its top end. The support portion 102 is a component that supports the handle portion 101 and allows for changes in the held posture. For example, the support portion 102 has three or six degrees of freedom. The support portion 102 enables the workpiece 301 held by the handle portion 101 to move.

[0050] A detection unit 103 is mounted on a handle 101. The detection unit 103 detects the force applied to the handle 101 when the workpiece 301 is lifted. The detection unit 103 may be equipped with a force sensor or a load sensor.

[0051] The control unit 104 controls the support unit 102 based on the force applied to the handle 101 detected by the detection unit 103, ensuring that the handle 101 does not detach from the workpiece 301 in the correct orientation and at the correct speed. When the support unit 102 moves the workpiece 301, the control unit 104 calculates the torque on the workpiece 301 generated by the gravity applied to it and controls the tilt of the workpiece 301 relative to the ground so that the force detected by the detection unit 103 does not exceed a threshold. Therefore, the handle 101 will not detach from the workpiece 301. Although the control unit 104 is included in the same holding device 100, it can also be configured in a central control device or the like, allowing for remote operation of the holding device 100.

[0052] In order to change the angle of the workpiece 301 relative to the ground, the control unit 104 controls not only the angle of the support unit 102, but also the attitude of the support unit 102 and the attitude of the handle unit 101. The attitude includes not only the angle relative to the ground, but also changes in pitch information and position information in three-dimensional or two-dimensional space (x-axis, y-axis, z-axis, tilt, pitch, yaw).

[0053] Figure 2 This is a flowchart of a workpiece holding method according to an embodiment. For example, the workpiece holding method according to an embodiment involves... Figure 1 The holding device 100 is executed. For example... Figure 2 As shown, firstly, the handle 101 holds one side of the workpiece 301 (step S201). Next, the support 102 supports the handle 101 and moves the workpiece 301 (step S202). Next, the detection unit detects the force applied to the handle 101 (step S203). Finally, the control unit 104 controls the angle of the support 102 (step S204) and ends the process.

[0054] As described above, in the holding device 100 according to the embodiment, the control unit 104 controls the angle of the support unit 102 and holds and moves the workpiece 301. Therefore, it is possible to hold a variety of items, such as smaller items.

[0055] Explanation of the principle of tilting and holding the workpiece involved in the embodiment.

[0056] Figure 3 This is a diagram illustrating how the workpiece involved in the implementation method is held. Figure 4 This diagram illustrates how the workpiece involved in the embodiment is held at an angle relative to the ground. (See also...) Figure 3 as well as Figure 4The principle of tilting and holding the workpiece involved in the embodiment will be explained.

[0057] like Figure 3 As shown in the figure above, the workpiece 301 is adsorbed or bonded to the handle portion 101. A detection part 103 is mounted on the handle portion 101. A support part 102 is mounted on the detection part 103. The handle portion 101 has an upper part 303 and a lower part 304. Figure 3 As shown in the figure below, when the workpiece 301 held by the handle 101 is lifted while being pulled, due to the effect of gravity 308, the upper inertial torque 309 acts on the upper part 303 of the handle in the direction of the workpiece 301, and the lower inertial torque 310 acts on the lower part 304 of the handle in the direction of the handle 101. The upper adsorption force 306 acts on the upper part 303 of the handle, and the lower adsorption force 307 acts on the lower part 304 of the handle. It is fine if the upper adsorption force 306 and the upper inertial torque 309 are balanced, but if the upper inertial torque 309 is higher than the upper adsorption force 306, the handle 101 will detach from the workpiece 301.

[0058] like Figure 4 As shown, when the workpiece 301 is tilted relative to the ground, the upper inertial torque 309 and the lower inertial torque 310 generated by gravity 308 will decrease. Therefore, even if the upper suction force 306 and the lower suction force 307 of the handle 101 are the same as before the tilt, the handle 101 will not detach from the workpiece 301.

[0059] Therefore, by tilting the workpiece 301 relative to the ground, the handle 101 will not detach from the workpiece 301.

[0060] Description of the holding device according to Embodiment 1

[0061] Figure 5 This is a block diagram of the holding device according to Embodiment 1. (Refer to...) Figure 5 The holding device according to Embodiment 1 will now be described.

[0062] The holding device 500 according to Embodiment 1 includes a handle 101, a support 102, a detection unit 103, a control unit 104, and an image capturing unit 501. The holding device 500 according to Embodiment 1 differs from the holding device 100 according to Embodiment 1 in that it pre-inputs workpiece data to the control unit 104 and includes an image capturing unit 501. Points that overlap with those in Embodiment 1 are omitted from the description.

[0063] The weight or pull-out load of the workpiece 301 is pre-registered in the control unit 104. By using this method, the angle at which the workpiece 301 tilts relative to the ground can be inferred when the workpiece 301 is pulled out of the shelf.

[0064] Furthermore, the control unit 104 is connected to the image capturing unit 501. The image capturing unit 501 captures images of the side of the workpiece 301 that is being adsorbed or bonded. The control unit 104 calculates the surface area of ​​the side of the workpiece 301 based on the image of the workpiece 301. The volume of the workpiece 301 is pre-registered in the control unit 104. The control unit 104 calculates the depth of the workpiece 301 based on its volume and surface area. The control unit 104 can control the angle at which the workpiece 301 tilts relative to the ground based on the depth of the workpiece 301.

[0065] Description of the workpiece holding method according to Embodiment 1

[0066] Figure 6 This is a flowchart of the workpiece holding method according to Embodiment 1. (Refer to...) Figure 6 The method for holding the workpiece according to Embodiment 1 will now be described.

[0067] First, workpiece information is obtained (step S601). The control unit 104 obtains information such as the weight, pull-out load, and volume of the workpiece 301 from the database 600 in advance. For example, the control unit 104 can also obtain workpiece information by having the user input information related to the workpiece. Alternatively, the control unit 104 can also obtain workpiece information by determining the workpiece 301 from an image of the workpiece 301 using image processing. An image of the side of the workpiece 301 is captured by the image capturing unit 501. The surface area can also be calculated based on the captured image of the side, and the depth of the workpiece 301 can be calculated. This information is then used in the step of tilting the handle 101 forward (step S607).

[0068] Next, the workpiece 301 is attracted laterally and pulled out (step S602). The handle 101 is attracted to one side of the workpiece 301 stored on a shelf or the like. The handle 101 holds only one side of the workpiece 301. Then, the support 102 that supports the handle 101 pulls the workpiece out in order to move the workpiece 301.

[0069] Next, it is determined whether a force exceeding a threshold is detected on the handle portion 101 as a whole (step S603). The force is detected by the detection unit 103 provided on the handle portion 101. The force exceeding the threshold is determined based on whether it is a force sufficient to disengage the handle portion 101 from the workpiece 301.

[0070] If a force exceeding the threshold is detected (if step S603 is yes), the pulling of workpiece 301 is stopped, and the process is attempted again (step S608). Picking is temporarily stopped, and if possible, the picking process is repeated.

[0071] If no force exceeding the threshold is detected (if step S603 is not detected), the workpiece 301 is lifted while being pulled (step S604). This step is performed slowly while detecting the force applied to the handle 101.

[0072] Next, it is determined whether a force exceeding the threshold is detected at the upper part 303 of the handle (step S605). If no force exceeding the threshold is detected (if step S605 is negative), the conveying is carried out while maintaining this posture (step S609). This is because there is no concern that the handle 101 will detach from the workpiece 301.

[0073] If a force exceeding a threshold is detected at the upper part 303 of the handle (if step S605 is yes), it is determined whether a force exceeding the threshold is detected at the lower part 304 of the handle (step S606). If no force exceeding the threshold is detected at the lower part 304 of the handle (if step S606 is yes), the pulling of the workpiece 301 is stopped, and the attempt is made again (step S608). This is because in this case, there is a concern that even if the workpiece 301 is tilted, the handle 101 may detach from the workpiece 301.

[0074] If no force exceeding the threshold is detected at the lower part of the handle 101 (if step S606 is not present), the handle 101 is tilted forward (step S607). The handle 101, i.e., the workpiece 301, can be angled relative to the ground. By adopting this method, the force applied to the handle 101 will be reduced.

[0075] After tilting the handle 101 forward, the workpiece 301 is lifted again while being pulled (step S604). Thereafter, the support 102 repeatedly pulls the workpiece 301 (step S604) and tilts the handle 101 forward (step S607) until the workpiece 301 is held at an appropriate angle relative to the ground. If the angle becomes appropriate, the support 102 moves the workpiece 301.

[0076] Description of the detection unit that is installed or not installed on the handle portion involved in the embodiment.

[0077] Figure 7 This is a schematic diagram of the handle and detection unit involved in the implementation method. Figure 8This is a schematic diagram of the handle and detection unit according to another embodiment. Figure 9 This is a schematic diagram of the detection unit according to another embodiment. Figure 10 This is a schematic diagram of the detection unit according to another embodiment. Figure 11 This is a block diagram of the detection unit according to another embodiment. (Refer to...) Figures 7 to 11 The detection unit, whether installed or not, on the handle portion involved in the embodiment will be explained.

[0078] like Figure 7 As shown, the detection unit 103 in this embodiment is a force sensor 701 located at the base of the handle portion 101. The force sensor 701 is a sensor capable of measuring the magnitude of forces or torques acting in multiple directions in real time. The force sensor 701 can be a triaxial sensor measuring forces in the X, Y, and Z directions, or a six-axis sensor measuring torques around each axis. The force sensor 701 can be resistive, capacitive, piezoelectric, or optical.

[0079] A force sensor 701 is mounted on a support 102. Here, the support 102 is a robotic arm 702. The robotic arm 702 is mounted on an automated device or a fixed part that serves as a moving body.

[0080] like Figure 8 As shown, in another embodiment, the detection unit 103 is a load sensor 801 mounted on the adsorption or bonding surface of the handle portion 101. The load sensor 801 can measure both compression and tension. Since the support portion 102 operates in three or six axes and the handle portion 101 rotates, it is preferable that the load sensor 801 is also mounted in four directions. By adopting this method, it is possible to handle workpieces 301 that are adsorbed or bonded in all directions of the handle portion 101. In this case, the support portion 102 is mounted on the handle portion 101.

[0081] like Figure 9 As shown, in another embodiment, the detection unit 103 is a force sensor 701 mounted on the end of a robotic arm. The force sensor 701 is mounted on the end opposite to the end of the handle portion 101 on which the robotic arm 702 is mounted. Since the robotic arm 702 and the handle portion 101 are fixed, the force sensor 701 can detect the force applied to the workpiece 301. In this way, the force applied to the handle portion 101 can be detected using the detection unit 103, which is not mounted on the handle portion 101.

[0082] like Figure 10As shown, in another embodiment, the detection unit 103 is connected to a robotic arm 1002 (different from the robotic arm 702) and a drive motor unit 1001 that connects to the automated device itself or a fixed part, such as a moving body. The detection unit 103 detects the force applied to the drive motor unit 1001, and also detects the force applied to the handle 101 to hold the workpiece 301. The detection unit 103 is a calculation unit that calculates the load based on the load applied to the drive motor unit 1001. In this way, the force applied to the handle 101 can be detected using the detection unit 103, which is not mounted on the handle 101.

[0083] like Figure 11 As shown, in another embodiment, the detection unit 103 is connected to the image capturing unit 1101. The image capturing unit 1101 can be located inside or outside the holding device 100. Furthermore, the image capturing unit 1101 can be the same as or different from the image capturing unit 501 of the holding device 500. The image capturing unit 1101 captures images of the workpiece 301 and the handle 101. The detection unit 103 captures images of the workpiece 301 and the handle 101 in advance and has a learning model that has been learned using the force applied to the handle 101, i.e., the force measurement value, as teaching data. Therefore, the detection unit 103 can infer the force applied to the handle 101 based on the images of the workpiece 301 and the handle 101 captured by the image capturing unit 1101. In this way, the force applied to the handle 101 can be detected using the detection unit 103, which is not installed on the handle 101.

[0084] Description of the support portion involved in other embodiments

[0085] Figure 12 This is a schematic diagram of a holding device according to another embodiment. (Refer to...) Figure 12 The support portion involved in the implementation method will be described below.

[0086] like Figure 12 As shown, the holding device 1200 includes a handle portion 101, a detection portion 103, and a drone 1201. The holding device 1200 differs from the embodiment described above in that the support portion 102 is the drone 1201.

[0087] In the above embodiments, the support 102 is a robotic arm mounted on a moving body or a robotic arm mounted on a fixed part. However, in this embodiment, the support 102 is a drone 1201. Therefore, the drone 1201 changes its attitude relative to the ground while maintaining flight, thereby changing the angle of the workpiece 301 relative to the ground.

[0088] Furthermore, some or all of the processing in the aforementioned holding devices 100 and 500 can be implemented as a computer program. Such a program can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of physical recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), Compact Disc Read Only Memory (CD-ROM), CD-R (recordable optical disc), CD-R / W (rewritable optical disc), and semiconductor memory (e.g., mask ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Flash ROM, Random Access Memory (RAM)). In addition, the program can also be provided to the computer via various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can provide the program to the computer via wired communication lines such as electrical wires and optical fibers, or wireless communication lines.

[0089] The above procedure enables the holding devices 100 and 500 to perform the following steps: holding the handle on one side of the workpiece; supporting the handle at the top and moving the workpiece; detecting the force applied to the handle; and controlling the angle of the support relative to the ground while the support moves the workpiece so that the force detected by the detection unit does not exceed a threshold.

[0090] Furthermore, the present invention is not limited to the above-described embodiments, and can be appropriately modified without departing from the spirit of the invention.

Claims

1. A holding device comprising: The handle holds the workpiece on one side. A support portion that supports the handle portion and allows the workpiece to move; The detection unit detects the force applied to the handle. The control unit controls the angle of the support relative to the ground when the support moves the workpiece, so that the force detected by the detection unit does not exceed a threshold. An image capturing unit, connected to the control unit, captures images of the workpiece. The control unit calculates the surface area of ​​the side of the workpiece based on the image of the workpiece captured by the image capturing unit. The volume of the workpiece is registered in the control unit. The control unit calculates the depth of the workpiece based on the volume of the workpiece and the surface area of ​​its side, and controls the angle of the support relative to the ground based on the depth of the workpiece.

2. The holding device as claimed in claim 1, wherein, The support portion is equipped with a robotic arm.

3. The holding device as claimed in claim 1, wherein, The support unit is equipped with a drone.

4. The holding device as claimed in claim 1, wherein, The detection unit includes a force sensor mounted on the handle.

5. The holding device as claimed in claim 1, wherein, The detection unit includes a load sensor mounted on the handle.

6. The holding device as claimed in claim 1, wherein, The detection unit includes a force sensor mounted on the support.

7. The holding device as claimed in claim 1, wherein, The detection unit detects the force applied to the drive motor unit, which is mounted on the support unit.

8. The holding device as claimed in claim 1, wherein, The detection unit has a learned model that has been learned using images of the workpiece, images of the handle, and force measurement values. The detection unit infers the force applied to the handle based on an image of the workpiece captured by the image capturing unit and an image of the handle.

9. A holding method, comprising: The step of holding the handle against one side of the workpiece; The step of supporting the handle portion and moving the workpiece; The step of the detection unit detecting the force applied to the handle; When the support moves the workpiece, the control unit controls the angle of the support relative to the ground so that the force detected by the detection unit does not exceed a threshold. The step of the image capturing unit connected to the control unit capturing an image of the workpiece; The step of the control unit calculating the surface area of ​​the side of the workpiece based on the image of the workpiece captured by the image capturing unit; The control unit registers the volume of the workpiece, calculates the depth of the workpiece based on its volume and the surface area of ​​its side, and controls the angle of the support relative to the ground based on the depth of the workpiece.

10. A storage medium storing a program for causing a holding device to perform the following steps, said steps including: The step of holding the handle against one side of the workpiece; The step of supporting the handle portion and moving the workpiece; The step of the detection unit detecting the force applied to the handle; When the support moves the workpiece, the control unit controls the angle of the support relative to the ground so that the force detected by the detection unit does not exceed a threshold. The step of the image capturing unit connected to the control unit capturing an image of the workpiece; The step of the control unit calculating the surface area of ​​the side of the workpiece based on the image of the workpiece captured by the image capturing unit; The control unit registers the volume of the workpiece, calculates the depth of the workpiece based on its volume and the surface area of ​​its side, and controls the angle of the support relative to the ground based on the depth of the workpiece.

Images