Robot control system, method of controlling robot, and information storage medium

Abstract

The invention relates to a robot control system, a method of controlling a robot, and an information storage medium. In order to prevent the cutter blade from coming into contact with the contents of the packaging material, a robot control system (1) includes a robot (20) configured to hold a cutter (22), and a robot controller (10) that controls the robot (20) such that the robot (20) cuts the packaging material (PM) with the blade (220) of the cutter (22). The robot controller (10) includes an orientation control module (102) that controls the robot (20) such that when the robot (20) cuts a face of the packaging material (PM) with the blade (220), the blade (220) faces more outside of the packaging material (PM) than when the robot (20) cuts a corner of the packaging material (PM) with the blade (220).

Description

Technical Field

[0001] The present disclosure relates to a robot control system, a robot control method and an information storage medium. Background Art

[0002] For example, Japanese Patent Application Publication No. H8-252785 discloses a robot that moves an end effector along the surface of a workpiece. When an angle change of a predetermined value or more occurs at a corner portion of the workpiece, the advancing speed of the end effector is reduced, and when the end effector approaches the corner portion, the pressing force of the end effector on the workpiece is reduced.

[0003] For example, in Japanese Patent Application Publication No. H7-265035, a tobacco raw material box opening device is disclosed, which opens a tobacco raw material box containing tobacco raw materials, the tobacco raw material box being located in a rectangular columnar box forming a rectangular parallelepiped storage space. When the tobacco raw material box opening device is placed on a turntable and rotated, the tobacco raw material box opening device cuts the tobacco raw material box by using a rotating saw blade arranged in a forward and backward manner near the turntable toward the rotation axis of the turntable.

[0004] For example, in Japanese Patent Application Publication No. 2003-081229, an automatic dispensing method is disclosed, in which, when a packaging material in which contents are packaged is placed on a support frame, a robot cuts the packaging material to remove a top portion of the packaging material, and then dispenses the contents by rotating the remaining portion of the packaging material. Summary of the invention

[0005] One object of the present disclosure is, for example, to prevent the cutter blade from coming into contact with the contents of the packaging material.

[0006] According to at least one aspect of the present disclosure, a robot control system is provided, the system comprising: a robot comprising a cutter; and a robot controller, the robot controller being configured to control the robot so that the robot cuts packaging materials with a blade of the cutter, the robot controller comprising a direction control module, the module being configured to control the robot so that when the robot cuts a surface of the packaging material with the blade, the blade is more toward the outside of the packaging material than when the robot cuts a corner of the packaging material with the blade.

[0007] According to the present disclosure, for example, the cutter blade can be prevented from coming into contact with the contents of the packaging material. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a schematic diagram for illustrating an example of the hardware configuration of a robot control system.

[0009] Figure 2 is a schematic diagram for illustrating an example of a space in which the robot controller and the robot in the first embodiment of the present disclosure are arranged.

[0010] Figure 3 It is a schematic diagram for illustrating an example of a photographing position.

[0011] Figure 4 is a schematic diagram for illustrating an example of a cutting location.

[0012] Figure 5 is a schematic diagram for illustrating an example of a cutter.

[0013] Figure 6 It is a schematic diagram for illustrating an example of a cutting location viewed from directly above the packaging material.

[0014] Figure 7 is a schematic diagram for illustrating an example of a method of cutting a packaging material.

[0015] Figure 8 is a schematic diagram for illustrating an example of a method of cutting a packaging material.

[0016] Fig. 9 is a schematic diagram for illustrating an example of a method of cutting a packaging material.

[0017] Fig.10 is a schematic diagram for illustrating an example of a method of cutting a packaging material.

[0018] Fig.11 is a schematic diagram for illustrating an example of a method of cutting a packaging material.

[0019] Fig.12 is a schematic diagram for illustrating an example of functions implemented in the first embodiment.

[0020] Fig.13 is a schematic diagram for illustrating an example of a movement path of a cutter.

[0021] Fig.14 is a schematic diagram for illustrating an example of processing performed by a direction control module.

[0022] Fig.15 Is used to Fig.14 Schematic diagrams showing examples of processing performed by the control module are shown from different perspectives.

[0023] Fig.16 is a flowchart for illustrating an example of processing performed in the first embodiment.

[0024] Fig.17is a schematic diagram for illustrating an example of a hardware configuration of a robot control system according to a second embodiment of the present disclosure.

[0025] Fig.18 is a schematic diagram for illustrating an example of a space in which the robot controller, the robot, and the fixture in the second embodiment are arranged.

[0026] Fig.19 is a schematic diagram for illustrating an example of the relationship between the bottom surface of the packaging material and the fixing device.

[0027] Fig. 20 is a schematic diagram for illustrating an example of functions implemented in the second embodiment.

[0028] Fig.21 is a flowchart for illustrating an example of processing performed in the second embodiment.

[0029] Fig. 22 is a schematic diagram for illustrating an example of functions implemented in a modification example related to the first embodiment.

[0030] Fig.23 is a schematic diagram for illustrating an example of a hardware configuration of a robot control system according to a modification example related to the second embodiment.

[0031] Fig.24 is a schematic diagram for illustrating an example of functions implemented in a modification example related to the second embodiment.

[0032] Fig.25 is a schematic diagram for illustrating an example of a space in which a first robot controller, a first robot, a second robot controller, and a second robot are arranged.

[0033] Fig.26 is a schematic diagram for illustrating an example of how to remove the upper portion of the packaging material in Modification Example 2-3.

[0034] Fig. 27 is a schematic diagram for illustrating an example of how the table is rotated in Modification Example 2-4. DETAILED DESCRIPTION

[0035] [1. First embodiment]

[0036] A first embodiment of the present disclosure is described, which is an example of an embodiment of a robot control system, a method of controlling a robot, and a program according to the present disclosure.

[0037] [1-1.Hardware configuration of robot control system]

[0038] Figure 11 is a schematic diagram for illustrating an example of a hardware configuration of a robot control system. For example, the robot control system 1 includes a robot controller 10 and a robot 20. The robot controller 10 is connected to the robot 20 via a cable such as a power cable or a signal cable. The devices included in the robot control system 1 are not limited to Figure 1 The robot control system 1 may include any device. For example, the robot control system 1 may include a host controller that controls the robot controller 10.

[0039] The robot controller 10 is a device for controlling at least one robot 20. For example, the robot controller 10 includes a CPU 11, a storage unit 12, and a communication unit 13. The CPU 11 includes at least one processor. The storage unit 12 includes at least one of a volatile memory or a non-volatile memory. The communication unit 13 includes at least one of a communication interface for wired communication or a communication interface for wireless communication. The robot controller 10 also includes other hardware, such as a power supply unit for supplying power to at least one motor included in the robot 20.

[0040] The robot 20 is a device including at least one motor controlled by the robot controller 10. In the first embodiment, the case where the robot 20 is a vertical articulated robot is described, but the robot 20 may be of any type and is not limited to a vertical articulated robot. For example, the robot 20 may be a horizontal articulated robot, a parallel robot, or a Cartesian robot. The robot 20 may have any number of axes, for example, any number from 4 to 7 axes.

[0041] For example, the robot 20 may hold at least one camera 21. The camera 21 may also be referred to as a "visual sensor". In the first embodiment, a case where the camera 21 is a 3D camera is described, but the camera 21 may be of any type and is not limited to a 3D camera. For example, the camera 21 may be a 2D camera (a camera without a depth sensor) or an infrared camera. The camera 21 may generate a moving image by continuously capturing images at a predetermined frame rate, or may generate a still image without continuously capturing images.

[0042] The robot 20 may hold at least one cutter 22. In the first embodiment, the case where the cutter 22 is an ultrasonic cutter is described, but the cutter 22 may be of any type and is not limited to an ultrasonic cutter. For example, the cutter 22 may be a vibration cutter that vibrates at high speed instead of ultrasonic vibration, or may be a cutter that does not generate vibration. In the first embodiment, the case where the cutter 22 is removably connected to the robot 20 is given, but the cutter 22 is not limited to being removably connected, but may be fixed to the robot 20.

[0043] The program or data stored in the storage unit 12 may be provided to the robot controller 10 via a network (e.g., an industrial network, the Internet, or a LAN). For example, the robot controller 10 may include at least one of a reading unit (e.g., a memory card slot) that reads a computer-readable information storage medium or an input / output unit (e.g., a USB terminal) that connects to an external device. The program or data stored in the computer-readable information storage medium may be provided to the robot controller 10 via the reading unit or the input / output unit.

[0044] Various hardware can be applied to the robot controller 10 and the robot 20. The hardware configuration of each of the robot controller 10 and the robot 20 is not limited to the above-mentioned examples. For example, the robot controller 10 may include a circuit such as an FPGA or an ASIC. In the first embodiment, a case where the CPU 11 corresponds to a configuration referred to as a "circuit" is described, but other circuits such as an FPGA or an ASIC may also correspond to the "circuit". For example, a sensor such as a motor encoder, a torque sensor, a position sensor, an acceleration sensor, a gyroscope, or a contact sensor may be connected to the robot controller 10. These sensors may be included in the robot 20.

[0045] [1-2. Overview of First Embodiment]

[0046] Figure 2 1 is a schematic diagram for illustrating an example of a space in which the robot controller 10 and the robot 20 in the first embodiment are arranged. For example, the robot controller 10 and the robot 20 are arranged in a facility such as a factory. For example, a camera 21 and a cutter 22 are attached to the tip of the robot 20. A workbench T is arranged in front of the robot 20. In the first embodiment, the robot controller 10 controls the robot 20 so that the robot 20 rotates around the side of the packaging material PM placed on the workbench T and cuts the side with the cutter 22.

[0047] The packaging material PM is a material used to package the object to be packaged. In the first embodiment, the case where the corrugated cardboard corresponds to the packaging material PM is described, but the packaging material PM can be any material and is not limited to the corrugated cardboard. The packaging material PM can be a box made of paper other than the corrugated cardboard, a plastic box, a plastic can, a metal can, an air bubble film, or other materials other than the corrugated cardboard. The object packaged using the packaging material PM is hereinafter referred to as "contents".

[0048] In the first embodiment, the top plate of the workbench T is smaller than the bottom surface of the packaging material PM. Therefore, when the robot 20 cuts the packaging material PM with the cutter 22, interference between the workbench T and the robot 20 can be prevented. The workbench T is not limited to the example of the first embodiment. For example, as long as the workbench T and the robot 20 do not interfere with each other, the top plate of the workbench T can be larger than the bottom surface of the packaging material PM. For example, the workbench T can be such that the difference between the long side of the top plate of the workbench T and the long side of the packaging material PM is less than a threshold value corresponding to the length of the cutter 22. As another example, the workbench T can be such that the difference between the short side of the top plate of the workbench T and the short side of the packaging material PM is less than a threshold value corresponding to the length of the cutter 22. For example, the packaging material PM can be placed so that the top plate of the workbench T is not visible from above only at the portion of the packaging material PM to be cut by the robot 20 with the cutter 22.

[0049] In the first embodiment, the case where a plastic bag corresponds to the content is described, but the content can be any object and is not limited to a plastic bag. For example, the content can be an aluminum vapor-deposited bag, a polyethylene bag, a paper bag, a jute bag, a flexible intermediate bulk container, another bag, a box, an object wrapped with a bubble film, or another object. The packaging material PM can package various types of contents. For example, the raw materials or materials of the products to be produced in the factory where the robot 20 is arranged can be packaged in the content. The content can be a fixed object with a shape that is not easily changed, rather than an amorphous object with an easily changeable shape like a plastic bag.

[0050] For example, the robot controller 10 controls the robot 20 so that the robot 20 photographs the packaging material PM by using the camera 21 so as to identify the relative positional relationship between the robot 20 and the packaging material PM and the overall shape of the packaging material PM. The photographing of the camera 21 is performed before the robot 20 starts cutting the packaging material PM. In the first embodiment, the packaging material PM is photographed from each of a plurality of predetermined photographing positions.

[0051] Figure 3 2 is a schematic diagram for illustrating an example of a photographing position. For example, the robot controller 10 recognizes a position in a real space by using a coordinate system in which an X1 axis, a Y1 axis, and a Z1 axis are set around an origin O1 corresponding to a base on which the robot 20 is arranged. The coordinate system may be any coordinate system used in robot control, and is not limited to Figure 3 For example, a coordinate system may be set for each axis of the robot 20.

[0052] exist Figure 3In the example, a photographing position FP1 on the upper side of the packaging material PM and a photographing position FP2 on the lateral side of the packaging material PM are predetermined. At the photographing position FP1, a photographing direction FD1 in the negative direction of the Z1 axis is determined. At the photographing position FP2, a photographing direction FD2 in the positive direction of the X1 axis is determined. For example, the robot controller 10 controls the robot 20 so that the camera 21 photographs the packaging material PM from the photographing position FP1 along the photographing direction FD1. Then, the robot controller 10 controls the robot 20 so that the camera 21 photographs the packaging material PM from the photographing position FP2 along the photographing direction FD2.

[0053] The combination of photographic position and shooting direction is not limited to Figure 3 There are two combinations shown in . There may be only one combination of photographing position and photographing direction, or there may be three or more combinations of photographing position and photographing direction. For example, the robot controller 10 may control the robot 20 so that the camera 21 uniformly photographs the packaging material PM while moving around the packaging material PM. The combination of photographing position and photographing direction does not need to be determined in advance. For example, the robot controller 10 may determine the combination of photographing position and photographing direction when the camera 21 generates a photographed image.

[0054] The packaging material PM can be photographed by the camera 21 at any time. The timing of the camera 21 photographing the packaging material PM is not limited to the example of the first embodiment. For example, in a case where the robot 20 uses the cutter 22 to cut each side of the packaging material PM one by one, instead of rotating around the packaging material PM and cutting the packaging material PM with the cutter 22, the following operation can be repeated: the camera 21 photographs one side of the packaging material PM, and the robot 20 cuts the photographed side with the cutter 22.

[0055] For example, the robot controller 10 analyzes the captured image generated by the camera 21 and recognizes the position of the packaging material PM and the shape of the packaging material PM. Any method used in the field of image processing can be used as the recognition method. For example, the robot controller 10 can recognize the shape of the packaging material PM based on a machine learning method such as a neural network or based on a pattern of feature points extracted from the captured image. The robot controller 10 determines the cutting location of the packaging material PM based on the position of the packaging material PM and the shape of the packaging material PM.

[0056] Figure 4 is a schematic diagram for illustrating an example of a cutting location. Figure 4 The dotted line represents the shape of the packaging material PM recognized by the robot controller 10. The dotted line can also be said to be the outline of the packaging material PM. Figure 4In the example of , in order to simplify the description, the case where the packaging material PM is a rectangular parallelepiped is illustrated, but the shape of the packaging material PM may be a shape other than a perfect rectangular parallelepiped. For example, when the packaging material PM is filled with contents, the packaging material PM may be convex. On the contrary, when the worker drops the packaging material PM, the packaging material PM may be concave. Even in this case, the robot controller 10 can recognize the convexity or concaveness of the surface through image analysis.

[0057] For example, the robot controller 10 may identify the positions of the vertices V1 to V8 of the packaging material PM based on the captured image generated by the camera 21. The robot controller 10 identifies the surface defined by the four vertices V2, V4, V6, and V8 positioned on the relatively lower side as the bottom surface of the packaging material PM. The robot controller 10 determines the line connecting the points where the horizontal plane (XY plane) at a predetermined distance d1 (e.g., about 1 cm to about 5 cm) from the bottom surface of the packaging material PM intersects with the surface (side) of the packaging material PM as the cutting location CP to be cut by the cutter 22.

[0058] For example, the robot controller 10 controls the robot 20 so that the cutter 22 of the robot 20 moves along the cutting location CP of the packaging material PM. The cutter 22 may be a double-edged blade, but in the first embodiment, the cutter 22 is a single-edged blade. In addition, in the first embodiment, the cutter 22 has no blade at the tip, and the tip is rounded, so the possibility of the blade of the cutter 22 contacting the content is small.

[0059] Figure 5 2 is a schematic diagram for illustrating an example of the cutter 22. Figure 5 In the example of , a coordinate system of an X2 axis, a Y2 axis, and a Z2 axis set around an origin O2 corresponding to the axis of the tip of the robot 20 is illustrated. For example, the cutter 22 includes a main body portion 221 including a blade 220 and a tip 222. The main body portion 221 is a portion of the cutter 22 relatively close to the robot 20. The tip 222 is a portion of the cutter 22 relatively far from the robot 20. The tip 222 does not have the blade 220 and has a circular shape.

[0060] For example, the blade 220 is disposed at an edge portion E1 of the cutter 22. Figure 5 In the example of FIG. 1 , the blade 220 is arranged at one edge portion E1 of the two edge portions in the short direction (Y2-axis direction) of the cutter 22. Figure 5 When the cutter 22 is viewed from the direction D1, one edge portion E1 is a visible edge portion. The blade 220 is arranged on the one edge portion E1 so that the one edge portion E1 of the main body portion 221 is sharper than the other edge portion E2 of the main body portion 221.

[0061] For example, of the two edge portions in the short direction (Y2-axis direction) of the cutter 22, the other edge portion E2 is an edge portion on which the blade 220 is not arranged. Figure 5 When the cutter 22 is viewed from the direction D2, the other edge portion E2 is the visible edge portion. The other edge portion E2 does not have the blade 220. The other edge portion E2 corresponds to the spine of the blade 220. The other edge portion E2 is the edge portion on the opposite side of the one edge portion E1. The other edge portion E2 is thicker than the portion of the blade 220 of the one edge portion E1 (at Figure 5 The other edge portion E2 is sharper than the blade 220 of the one edge portion E1. When the cutter 22 is double-edged, the other edge portion E2 may have a blade.

[0062] For example, the tip 222 does not include the blade 220. The tip 222 can also be said to be a portion of the cutter 22 that is further forward than the blade 220. An edge portion E1 of the main body portion 221 is sharper than the tip 222. The tip 222 is sharper than a portion of the blade 220 of an edge portion E1. The tip 222 is thicker than a portion of the blade 220 of an edge portion E1. The tip 222 can be any component that prevents the blade 220 from contacting the contents, and the shape of the tip 222 is not limited to Figure 5 The tip 222 serves as a cap for the blade 220 .

[0063] For example, during the cutting of the packaging material PM by the robot 20, the tip 222 enters the packaging material PM. The tip 222 enters the packaging material PM by the cutting performed by the blade 220 in the packaging material PM. The thickness of the tip 222 ( Figure 5 The thickness in the Z2-axis direction of the packaging material PM is reduced to a certain extent so that the tip 222 can enter the packaging material PM through the cut in the packaging material PM. For example, the thickness is less than 5 mm. An example of control is now described, in which Figure 5 Cutter 22 cutting Figure 4 The cutting location CP.

[0064] Figure 6 It is a schematic diagram for illustrating an example of viewing the cutting point CP from directly above the packaging material PM. Figure 6 The dotted line represents the contents CT (a plastic bag in the first embodiment). Figure 6 In the example, the contents CT are in contact with the inner side of the side of the packaging material PM. Even if the volume of the contents CT is close to the volume of the packaging material PM, Figure 6As shown in FIG. 1 , there is often some space inside the packaging material PM near the corners C1 to C4. The robot controller 10 controls the robot 20 so that the robot 20 cuts at any one of the corners C1 to C4. Even if the blade 220 cuts a small amount inside any one of the corners C1 to C4, in many cases, the blade 220 does not contact the contents CT.

[0065] Figures 7 to 11 is a schematic diagram for illustrating an example of a method of cutting the packaging material PM. Figures 7 to 11 Not shown Figure 6 The dashed line of the contents of CT and Figure 6 The coordinate axis of . Figures 7 to 11 In FIG. 1 , in the packaging material PM, the portion of the packaging material PM that is not cut at the cutting point CP is indicated by a solid line, and the portion of the packaging material PM that is cut at the cutting point CP is indicated by a dotted line. Figures 7 to 11 In the example of FIG. 2 , the cutter 22 is depicted in a large size in order to facilitate viewing of the cutter 22 in the figure.

[0066] For example, Figure 7 As shown in the upper part of , the robot controller 10 controls the robot 20 so that the blade 220 moves along the moving direction MD1 and approaches the corner C1 of the packaging material PM. Figure 7 In the example of FIG. 1 , the moving direction MD1 is aligned with the side of the packaging material PM on the cutter 22 side (on the Figure 7 In other words, the moving direction MD1 is a direction from the corner C1 initially cut by the cutter 22 toward the corner C2 to be cut next by the cutter 22. When the blade 220 moves along the moving direction MD1, the blade 220 comes into contact with the corner C1 of the packaging material PM, such as Figure 7 The robot controller 10 controls the robot 20 so that the blade 220 continues to move along the moving direction MD1 and starts cutting the corner C1 of the packaging material PM.

[0067] For example, cutting can be performed at and around the corner C1 of the packaging material PM. The robot controller 10 controls the robot 20 so that the tip 222 enters the packaging material PM from the cutting position. For example, the robot controller 10 moves the cutter 22 a predetermined distance outside the packaging material PM, then rotates the cutter 22 and inserts the tip 222 into the packaging material PM so that the tip 222 enters the packaging material PM, and moves the cutter 22 a certain distance along the moving direction MD1.

[0068] For example, Figure 8As shown in the upper part of FIG. 1 , the robot controller 10 controls the robot 20 so that when the tip 222 enters the packaging material PM, the cutter 22 is rotated by a predetermined angle in the counterclockwise rotation direction RD1. Then, as shown in FIG. Figure 8 As shown in the lower part of FIG. , the robot controller 10 controls the robot 20 so that the cutter 22 moves along the moving direction MD2 while maintaining its orientation. Figure 8 In the example of FIG. 5 , the moving direction MD2 is the direction from the corner C1 that the cutter 22 has cut most recently to the corner C2 that the cutter 22 is going to cut next. Fig. 9 As shown in the upper and lower parts of the cutter 22, when the cutter 22 moves along the moving direction MD2, the tip 222 may contact the content CT. However, since the tip 222 does not have the blade 220, the possibility of tearing the content CT is small. For example, the cutter 22 moves forward by pushing the content CT (plastic bag) with the tip 222, so that when the cutter 22 moves, the blade 220 is less likely to contact the content CT.

[0069] For example, when the cutter 22 reaches the corner C2, Fig.10 As shown in the upper part of FIG. 1 , the robot controller 10 controls the robot 20 so that the cutter 22 is rotated by a predetermined angle in the clockwise rotation direction RD2. As a result, as shown in FIG. Fig.10 As shown in the lower part of , the cutting of corner C2 is completed. The robot controller 10 can control the robot 20 so that the cutter 22 moves to the corner C3 to a certain extent. In addition, the robot controller 10 can control the robot 20 so that after the cutter 22 reaches the corner C2, the cutter 22 continues to move along the moving direction MD2, and the cutter 22 is pulled out of the packaging material PM. Then, the robot controller 10 can control the robot 20 so that the angle of the cutter 22 changes in the area where the robot 20 does not interfere with the packaging material PM, and starts cutting from the corner C2 to the corner C3. When cutting the other corners C3 and C4, the cutter 22 can be pulled out of the packaging material PM in a similar manner.

[0070] For example, Fig.11 As shown in the upper part of FIG. 1 , the robot controller 10 controls the robot 20 so that the cutter 22 is rotated by a predetermined angle in the counterclockwise rotation direction RD3. Then, as shown in FIG. Fig.11 As shown in the lower part of FIG. 1 , the robot controller 10 controls the robot 20 so that the cutter 22 moves along the moving direction MD3 while maintaining its orientation. Fig.11In the example of FIG. 1 , the moving direction MD3 is a direction from the corner C2 most recently cut by the cutter 22 to the corner C3 to be cut next by the cutter 22. When the cutter 22 advances while having such an orientation, even if the cutter 22 comes into contact with the content CT, the tip 222 will come into contact with the content CT, so that the content CT is less likely to be torn.

[0071] Then, in the same manner, the robot controller 10 controls the robot 20 so that the cutter 22 moves along the cutting location CP and returns to the starting point at or near the corner C1. As described above, the robot controller 10 controls the robot 20 so that when the robot 20 cuts the face of the packaging material PM with the blade 220, the blade 220 is more toward the outside of the packaging material PM than when the robot 20 cuts the corners C1 to C4 with the blade 220. As a result, the possibility of the contents CT being torn is small. The details of the robot control system 1 are now described.

[0072] [1-3. Functions Implemented in the First Embodiment]

[0073] Fig.12 1 is a schematic diagram for illustrating an example of the functions implemented in the first embodiment. For example, the robot controller 10 includes a data storage unit 100 and a robot control module 101. The data storage unit is implemented by the storage unit 12. The robot control module 101 is implemented by the CPU 11.

[0074] [Data storage unit]

[0075] The data storage unit 100 stores data required for the robot controller 10 to control the robot 20. For example, the data storage unit 100 stores a program including a code (command) indicating the control content of the robot 20. The program can be written in any language, for example, a robot language or a ladder diagram language. Any code used in these languages ​​can be used. For example, the program includes at least one of a code for moving the robot 20, a code for changing the posture of the robot 20, or a code for changing the orientation of the robot 20.

[0076] For example, the data storage unit 100 stores the following programs.

[0077] (1) Shape recognition program: a program for recognizing the shape of the packaging material PM based on the captured image generated by the camera 21

[0078] (2) Cutting location program: A program for calculating the cutting location CP based on the shape of the packaging material PM

[0079] (3) Robot control program: a program for controlling the robot 20 so that the cutter 22 cuts the cutting location CP

[0080] For example, the shape recognition program includes a code for estimating the shape of the packaging material PM based on the captured image generated by the camera 21. In the first embodiment, the shape of the packaging material PM is recognized based on the vertices V1 to V8, but when the surface of the packaging material PM is curved, it is assumed that the shape of the curved surface is also recognized by the shape recognition program. The shape recognition program may be a program used in a known object detection.

[0081] In the first embodiment, the camera 21 is a 3D camera, so the shape recognition program includes a code for estimating the shape of the packaging material PM based on a photographed image taken by the 3D camera (an image including the depth between the camera 21 and the object). For example, the shape recognition program recognizes the three-dimensional shape of the packaging material PM based on a plurality of photographed images taken by the camera 21. Figure 4 In the example of FIG. , the shape recognition program identifies the positions of vertices V1 to V8.

[0082] For example, the cutting location program includes code for determining the cutting location CP based on the shape of the packaging material PM. The cutting location program includes code for calculating the following path as the cutting location CP: the path connects the locations where a horizontal plane at a predetermined distance d1 above the bottom surface of the packaging material PM intersects with the surface of the packaging material PM. The cutting location program may include code for calculating the cutting location CP based on the top surface or side surface of the packaging material PM instead of the bottom surface. It is not required that the cutting location CP is a horizontal plane. For example, the cutting location CP may correspond to a path that avoids some kind of obstacle.

[0083] For example, the robot control program includes a code for controlling the robot 20 based on the cutting location CP. The robot control program includes a code indicating calculation of the movement path of the cutter 22, calculation of the orientation of the cutter 22, and control of the robot based on these calculations. The movement path of the cutter 22 may be the same as the cutting location CP, but in the first embodiment, the robot 20 is required to insert the tip 222 into the packaging material PM, so the movement path of the cutter 22 and the cutting location CP do not completely match.

[0084] Fig.13 22 is a schematic diagram for illustrating an example of a moving path of the cutter 22. Any algorithm for robot control can be used as an algorithm for calculating the moving path MP. For example, the robot control program may include a code for calculating the moving path based on linear interpolation, circular interpolation, or spline interpolation. In the first embodiment, in addition to the code representing these algorithms, the robot control program also includes a code for the operation of the robot 20 inserting the tip 222 into the packaging material PM.

[0085] For example, the robot control program includes a code for moving the cutter 22 to the initial position P1. The initial position P1 is pre-specified by the user of the robot control system 1. The robot control program includes a code for moving the cutter 22 in a direction toward the corner C1 ( Figure 7 The robot control program includes a code indicating an operation of causing the tip 222 to enter the packaging material PM from the position P2. Fig.13 In the example, it is assumed that the position after the operation is position P3.

[0086] For example, the robot control program includes a code for rotating the cutter 22 that has been moved to the position P3 counterclockwise by a predetermined angle. The position P3 is assumed to be a position moved from the corner C1 to the next corner C2 by a predetermined distance. The robot control program includes a code for moving the cutter 22 from the position P3 to the position P4, which is located at a predetermined distance before the corner C2. The robot control program includes a code for rotating the cutter 22 clockwise at the position P4. The robot control program includes a code for moving the cutter 22 from the corner C2 to the next corner C3 by a predetermined distance, and rotating the cutter 22 that has been moved to the position P5 counterclockwise by a predetermined angle.

[0087] For example, the robot control program includes a code for moving the cutter 22 from position P5 to position P6, which is a predetermined distance before the corner C3. The robot control program includes a code for rotating the cutter 22 clockwise at position P6. The robot control program includes a code for moving the cutter 22 from the corner C3 to the next corner C4 to position P7, which is a predetermined distance away, and rotating the cutter 22, which has been moved to position P7, counterclockwise by a predetermined angle.

[0088] For example, the robot control program includes a code for moving the cutter 22 from position P7 to position P8, where position P6 is located at a predetermined distance before corner C4. The robot control program includes a code for rotating the cutter 22 clockwise at position P8. The robot control program includes a code for moving the cutter 22 from corner C4 to the next corner C1 to position P9 outside a predetermined distance, and rotating the cutter 22 moved to position P9 counterclockwise by a predetermined angle. The robot control program includes a code for moving the cutter 22 from position P9 to position P10, which is located on an extension line leading to corner C1. The above series of operations are defined in the robot control program.

[0089] The data stored in the data storage unit 100 is not limited to the above examples. For example, the data storage unit 100 may store other programs besides the shape recognition program, the cutting location program, and the robot control program. In addition, the data stored in the data storage unit 100 is not limited to the programs. For example, the data storage unit 100 may store cutting location data representing the cutting location CP and moving path data representing the moving path of the robot 20. For example, the data storage unit 100 may store parameters referenced by the above programs. These parameters may be any parameters used in the robot control. For example, the parameters may be position parameters representing the position of the motor in the robot 20, or may be values ​​detected by various sensors such as torque sensors.

[0090] [Robot control module]

[0091] The robot control module 101 controls the robot 20 based on the program and parameters stored in the data storage unit 100 so that the robot 20 cuts the packaging material PM with the blade 220 of the cutter 22. In the first embodiment, the content CT is a plastic bag, so the robot control module 101 controls the robot 20 so that the robot 20 cuts the packaging material PM packed with the bag-shaped content CT with the blade 220. The bag-shaped content CT is not limited to a plastic bag, but may be any of the various bags described above.

[0092] For example, the robot control module 101 estimates the shape of the packaging material PM based on the captured image generated by the camera 21 and the shape recognition program. The robot control module 101 executes the code included in the shape recognition program and extracts vertices V1 to V8 from the captured image. The robot control module 101 records data representing the vertices V1 to V8 in the data storage unit 100.

[0093] For example, the robot control module 101 calculates the cutting location CP based on the shape of the packaging material PM and the cutting location program. In the first embodiment, the robot control module 101 calculates the cutting location CP as a predetermined distance d1 above the bottom surface of the packaging material PM defined by vertices V2, V4, V6 and V8.

[0094] For example, based on the robot control program, the robot control module 101 calculates the movement path MP, and controls the robot 20 so that the cutter 22 moves along the movement path MP. The control of the robot 20 based on the robot control program is as described above. For example, when the robot control program is written in a robot language, the robot control module 101 executes the code of the MOVE instruction included in the robot control program to control the robot 20 so that the cutter 22 moves along the movement path MP. Fig.13 The moving path MP moves.

[0095] [Towards the control module]

[0096] For example, the robot control module 101 includes an orientation control module 102. The orientation control module 102 controls the orientation of the cutter 22. The orientation of the cutter 22 may also be referred to as the orientation of the blade 220, the orientation of the main body 221, or the orientation of the tip 222. The orientation of the cutter 22 may also be referred to as the posture of the cutter 22. In the first embodiment, a code indicating a change in the orientation of the cutter 22 is defined in the robot control program, so that the orientation control module 102 controls the orientation of the cutter 22 based on the robot control program. For example, the code is a code for rotating a motor corresponding to an axis of the tip of the robot 20.

[0097] Fig.14 is a schematic diagram for illustrating an example of processing performed by the direction control module 102. Fig.14 , the normal direction of the blade 220 is defined as the orientation BD of the blade 220. Among the four sides of the packaging material PM, the normal direction (normal direction) of the side being cut by the blade 220 is represented by the reference symbol PD. When the orientation control module 102 changes the orientation of the cutter 22, the angle θ1 between the orientation BD of the blade 220 and the normal direction PD of the side being cut by the blade 220 changes. Compared with when the blade 220 cuts the corner C1, when the blade 220 cuts from the position P3 to the next corner C2, the angle θ1 is smaller.

[0098] For example, the orientation control module 102 of the robot controller 10 controls the robot 20 so that when the robot 20 cuts the surface of the packaging material PM with the blade 220, the blade 220 is more oriented (pointed) toward the outside of the packaging material PM than when the robot 20 cuts the corner of the packaging material PM with the blade 220. In other words, "more oriented" means "towards... more". As used herein, "more oriented (pointed) toward the outside of the packaging material PM" means that the blade 220 rotates in a direction perpendicular to the side being cut. Fig.14 In the example of FIG. 4 , a decrease in the angle θ1 corresponds to the blade 220 being more toward (directed toward) the outside of the packaging material PM.

[0099] For example, when the cutter 22 reaches the position P3 on the moving path MP, the cutter 22 is rotated toward the control module 102 so that the angle θ1 becomes smaller. The control module 102 controls the robot 20 so that the motor corresponding to the axis of the tip of the robot 20 is rotated by a predetermined angle (the difference between θ1 before rotation and θ1 after rotation) in the rotation direction in which the angle θ1 becomes smaller. It is assumed that the target angle θ1 (θ1 after rotation) is indicated in advance in the robot control program. Instead of the target angle θ1, the rotation amount (the above-mentioned predetermined angle) may be indicated in advance in the robot control program.

[0100] Fig.15 Is used to Fig.14 Different perspectives show schematic diagrams of examples of processing toward the control module 102. Fig.15 In FIG. 1 , the longitudinal direction of the cutter 22 is indicated by reference symbol LD. The direction from corner C1 to corner C2 of the packaging material PM is indicated by reference symbol SD, and SD may also be referred to as the moving direction of the cutter 22. When the orientation control module 102 changes the orientation of the cutter 22, the angle θ2 between the longitudinal direction LD of the cutter 22 and the direction SD from corner C1 to corner C2 changes. Fig.15 In the example of , the decrease in angle θ2 corresponds to the blade 220 being more toward (directed toward) the outside of the packaging material PM. When the blade 220 cuts from the position P3 to the next corner C2, the angle θ2 is smaller than when the blade 220 cuts the corner C1.

[0101] For example, when the cutter 22 reaches the position P3 on the moving path MP, the cutter 22 is rotated toward the control module 102 so that the angle θ2 becomes smaller. The control module 102 controls the robot 20 so that the motor corresponding to the axis of the tip of the robot 20 is rotated by a predetermined angle (the difference between θ2 before rotation and θ2 after rotation) in the rotation direction in which the angle θ2 becomes smaller. It is assumed that the target angle θ2 (θ2 after rotation) is indicated in advance in the robot control program. Instead of the target angle θ2, the rotation amount (the above-mentioned predetermined angle) may be indicated in advance in the robot control program.

[0102] Apart from Fig.14 and Fig.15 In addition to the angles θ1 and θ2 shown in FIG, other angles may be used to define that the blade 220 is more toward (directed to) the outside of the packaging material PM. For example, a decrease in the angle between the longitudinal direction LD of the cutter 22 and the normal direction PD of the side of the packaging material PM may correspond to the blade 220 being more toward (directed to) the outside of the packaging material PM. A decrease in the angle between the direction BD of the blade 220 and the direction SD from the corner C1 to the corner C2 may correspond to the blade 220 being more toward (directed to) the outside of the packaging material PM.

[0103] In the first embodiment, when viewed from the top of the packaging material PM, the cutter 22 cuts the packaging material PM by rotating clockwise around the packaging material PM. In this case, the cutter 22 rotates counterclockwise around the packaging material PM when viewed from the top of the packaging material PM, corresponding to the blade 220 more toward (pointing to) the outside of the packaging material PM. On the contrary, when the cutter 22 cuts the packaging material PM by rotating counterclockwise around the packaging material PM when viewed from the top of the packaging material PM, the cutter 22 rotates clockwise around the packaging material PM when viewed from the top of the packaging material PM, corresponding to the blade 220 more toward (pointing to) the outside of the packaging material PM. Towards the control module 102 can control the direction of the cutter 22, so that when the cutter 22 cuts the corner of the packaging material PM, the blade 220 contacts the outside of the packaging material PM, and when the cutter 22 cuts the face of the packaging material PM, the blade 220 contacts the inside of the packaging material PM. As described above, the cutter 22 can be pulled out from the packaging material PM while rotating around the packaging material PM.

[0104] In the first embodiment, the orientation control module 102 includes a first orientation control module 102A, a second orientation control module 102B, and a third orientation control module 102C. For example, the first orientation control module 102A controls the robot 20 so that the blade 220 enters the corner C1 of the packaging material PM, and then makes the blade 220 face the outside of the packaging material PM, and then cuts the surface of the packaging material PM with the blade 220. For example, the first orientation control module 102A is based on the following example: Fig.13 The determined moving path MP is shown to allow the blade 220 to enter the corner C1 by moving the cutter 22 from the initial position P1 along the moving direction MD1.

[0105] For example, the first direction control module 102A moves the cutter 22 from Fig.13 The first orientation control module 102A controls the robot 20 so that the blade 220 faces the outside of the packaging material PM at the position P3. Fig.13 In the example of , when viewed from above the packaging material PM, the first orientation control module 102A rotates the cutter 22 at the position P3 counterclockwise by a predetermined angle. Then, the first orientation control module 102A controls the robot 20 so that the cutter 22 moves toward the position P4, and the blade 220 cuts the surface of the packaging material PM.

[0106] For example, the second orientation control module 102B changes the orientation BD of the blade 220 so that the tip 222 is disposed between the content CT of the packaging material PM and the body portion 221. Fig.13In the example of , the second orientation control module 102B moves the cutter 22 from the position P2 to the position P3 and causes the tip 222 to enter the packaging material PM. In this state, the second orientation control module 102B arranges the tip 222 between the content CT and the main body 221 by rotating the cutter 22 at the position P3 counterclockwise by a predetermined angle when viewed from above the packaging material PM. The second orientation control module 102B changes the orientation BD of the blade 220 so that the blade 220 does not contact the content CT even when the tip 222 contacts the content CT.

[0107] For example, the third orientation control module 102C changes the orientation of the blade 220 so that the other edge portion E2 is arranged between the content CT and the one edge portion E1. Fig.13 In the example of FIG. 1 , the third orientation control module 102C moves the cutter 22 from the position P2 to the position P3 and inserts the tip 222 into the packaging material PM. In this state, the third orientation control module 102C arranges the other edge portion E2 between the content CT and the one edge portion E1 by rotating the cutter 22 at the position P3 counterclockwise by a predetermined angle when viewed from above the packaging material PM. The third orientation control module 102C changes the orientation BD of the blade 220 so that the one edge portion E1 where the blade 220 is arranged does not contact the content CT.

[0108] [1-4. Processing performed in the first embodiment]

[0109] Fig.16 is a flowchart for illustrating an example of processing performed in the first embodiment. Fig.16 The processing shown in is performed by the CPU 11 executing the program stored in the storage unit 12. Fig.16 The processing is performed when the packaging material PM is placed on the worktable T. The placement of the packaging material PM on the worktable T may be detected by any method. For example, the placement of the packaging material PM on the worktable T may be detected by a contact sensor disposed on the worktable T or the like.

[0110] like Fig.16 As shown in FIG. 1 , the robot controller 10 controls the robot 20 so that the robot 20 photographs the packaging material PM by using the camera 21 (step S100). The robot controller 10 recognizes the shape of the packaging material PM based on the photographed image generated by the camera 21 and the shape recognition program (step S101). The robot controller 10 calculates the cutting location CP based on the shape of the packaging material PM estimated in step S101 and the cutting location program (step S102).

[0111] The robot controller 10 calculates the movement path MP of the robot 20 based on the cutting location CP calculated in step S102 and the robot control program (step S103). In step S103, the robot controller 10 also determines the position to rotate the cutter 22. The robot controller 10 controls the robot 20 based on the movement path MP calculated in step S103 so that the cutter 22 moves to the initial position P1 (step S104).

[0112] The robot controller 10 moves the cutter 22 from the initial position P1 to the corner C1 of the packaging material PM, cuts the corner C1 with the blade 220, and then moves the cutter 22 to the position P2 (step S105). The robot controller 10 moves the cutter 22 to the position P3 so that the tip 222 enters the cut made by the movement in step S105, and rotates the cutter 22 counterclockwise so that the blade 220 faces the outside of the packaging material PM (step S106).

[0113] The robot controller 10 moves the cutter 22 to position P4 and rotates the cutter 22 clockwise (step S107). The robot controller 10 moves the cutter 22 to position P5 and rotates the cutter 22 counterclockwise (step S108). The robot controller 10 moves the cutter 22 to position P6 and rotates the cutter 22 clockwise (step S109). The robot controller 10 moves the cutter 22 to position P7 and rotates the cutter 22 counterclockwise (step S110).

[0114] The robot controller 10 moves the cutter 22 to the position P8 and rotates the cutter 22 clockwise (step S111). The robot controller 10 moves the cutter 22 to the position P9 and rotates the cutter 22 counterclockwise (step S112). The robot controller 10 moves the cutter 22 to the position P10 (step S113), and the cutting of the packaging material PM is completed.

[0115] [1-5. Summary of the First Embodiment]

[0116] The robot control system 110 of the first embodiment controls the robot 20 so that the blade 220 is more oriented (directed) toward the outside of the packaging material PM when the robot 20 cuts the face of the packaging material PM with the blade 220 than when the robot 20 cuts the corners C1 to C4 of the packaging material PM with the blade 220. Since the blade 220 of the cutter 22 is more oriented (directed) toward the outside of the packaging material PM when the robot 20 cuts the face of the packaging material PM with the blade 220 than when the robot 20 cuts the corners C1 to C4 of the packaging material PM with the blade 220, the blade 220 can be prevented from coming into contact with the content CT of the packaging material PM.

[0117] In addition, the robot control system 1 controls the robot 20 so that the blade 220 enters the corner C1 of the packaging material PM, the blade 220 is directed toward the outside of the packaging material PM, and the surface of the packaging material PM is cut with the blade 220. Since the robot 20 is controlled so that the blade 220 of the cutter 22 enters the corner C1 of the packaging material PM, the blade 220 of the cutter 22 is directed toward the outside of the packaging material PM, and the surface of the packaging material PM is cut with the blade 220 of the cutter 22, the packaging material PM can be cut smoothly. For example, the packaging material PM can be cut so that the blade 220 of the cutter 22 rotates around the side of the packaging material PM. As a result, it is easier to remove the content CT and clean the cut packaging material PM.

[0118] In addition, the cutter 22 includes a main body portion 221 including a blade 220, and a tip 222. The robot control system 1 changes the orientation of the blade 220 so that the tip 222 is arranged between the content CT of the packaging material PM and the main body portion 221. Since the tip 222 is arranged between the content CT of the packaging material PM and the main body portion 221 including the blade 220, the blade 220 of the cutter 22 is less likely to come into contact with the content CT. Even if the tip comes into contact with the content CT, since the tip is not as sharp as the main body portion, the content CT is less likely to be damaged.

[0119] In addition, the blade 220 is arranged on one edge portion E1 of the cutter 22. The one edge portion E1 is sharper than the other edge portion E2 of the cutter 22. The robot control system 1 changes the orientation of the blade 220 so that the other edge portion E2 is arranged between the content CT and the one edge portion E1. Since the other edge portion E2 is arranged between the content CT and the one edge portion E1 where the blade 220 is arranged, the probability that the blade 220 of the cutter 22 comes into contact with the content CT can be further reduced. As a result, the probability that the content CT is damaged can be further reduced.

[0120] In addition, the robot control system 1 controls the robot 20 so that the robot 20 cuts the packaging material PM in which the bag-shaped contents CT are packaged with the blade 220. The bag-shaped contents CT may contact the inside of the surface of the packaging material PM, but in many cases, the bag-shaped contents CT do not contact the inside of the corners C1 of the packaging material PM. For the packaging material PM in which the contents CT are packaged in this manner, there is often a space inside the packaging material PM near the corners C1 to C4. When the robot 20 cuts the corners C1 to C4 of the packaging material PM with the blade 220 of the cutter 22, the possibility that the blade 220 of the cutter 22 comes into contact with the contents CT is small, but when the robot 20 cuts the surface of the packaging material PM, the possibility that the blade 220 of the cutter 22 comes into contact with the contents CT is large. Since the blade 220 of the cutter 22 is more toward (pointing toward) the outside when the robot 20 cuts the surface of the packaging material PM with the blade 220 of the cutter 22 than when the robot 20 cuts the corners C1 to C4 of the packaging material PM with the blade 220 of the cutter 22, the blade 220 of the cutter 22 can be prevented from coming into contact with the contents CT of the packaging material PM.

[0121] [2. Second embodiment]

[0122] Next, a second embodiment of the present disclosure is described, which is an example of another embodiment of the robot control system 1. In the second embodiment, description of the same points as those in the first embodiment is omitted.

[0123] Fig.17 2 is a schematic diagram for illustrating an example of the hardware configuration of the robot control system 1 of the second embodiment. The robot control system 1 of the second embodiment includes a fixing device 30. For example, the fixing device 30 is a device that contacts the bottom surface of the packaging material PM and fixes at least a part of the portion that contacts the bottom surface when the robot 20 including the cutter 22 is controlled to rotate around the packaging material PM and cut the side of the packaging material PM with the blade 220 of the cutter 22.

[0124] For example, the fixing device 30 includes a suction device 31 that sucks at least a portion of the portion in contact with the bottom surface of the packaging material PM. The suction device 31 includes a suction cup (suction tube) in contact with the packaging material PM, and a pump for suction. For example, the suction device 31 uses a pump to create a vacuum state between the suction cup and the object in contact with the suction cup. The suction device 31 can be of any type, and is not limited to the type using a suction cup. For example, the suction device 31 can be a type similar to a pad, rather than a suction cup, or can be a type called a vacuum gripper.

[0125] For example, the robot controller 10 is connected to the fixture 30 via a cable such as a signal line or a communication line. In the second embodiment, the fixture 30 controls the on / off of the suction of the suction device 31 based on the instruction from the robot controller 10. The fixture 30 controls the suction force of the suction device 31 based on the instruction from the robot controller 10. The fixture 30 may be connected to another device other than the robot controller 10. In this case, at least one of the on and off of the suction of the suction device 31 or the suction force may be controlled by another device.

[0126] The fixing device 30 may fix at least a portion of the portion in contact with the bottom surface of the packaging material PM by a method other than suction. That is, the fixing device 30 does not need to include the suction device 31. For example, the fixing device 30 may fix at least a portion of the portion in contact with the bottom surface of the packaging material PM by using a straw, rubber, clamps, or another component that does not have a suction function. The component may have a static friction coefficient higher than that of the top plate of the workbench T, such as a straw or rubber, or may have a shape capable of supporting the bottom surface of the packaging material PM, such as a clamp. For example, the fixing device 30 may fix at least a portion of the portion in contact with the bottom surface of the packaging material PM by using magnetic force or electrostatic force. In addition, for example, the fixing device 30 may be a robot different from the robot 20, such as in the modified example described later.

[0127] Fig.18 2 is a schematic diagram for illustrating an example of a space in which the robot controller 10, the robot 20, and the fixture 30 in the second embodiment are arranged. Fig.18 , an example of a workbench T before placing a packaging material PM on the workbench T is illustrated. Fig.18 As shown in , the top plate of the workbench T has a hole near the center. The fixing part 300 is arranged in the hole so that the suction cup of the suction device 31 faces upward. For example, the fixing device 30 is arranged so that the suction cup is at the same height as the top plate of the workbench T. A sensor for detecting an object can be arranged on the surface of the suction device 31 on which the suction cup is arranged. When the packaging material PM is placed on the suction cup of the suction device 31, the suction device 31 can automatically start suction.

[0128] Fig.19 3 is a schematic diagram for illustrating an example of the relationship between the bottom surface of the packaging material PM and the fixing device 30. Fig.19, illustrating the outline L1 of the top plate of the table T, the outline L2 of the bottom surface of the packaging material PM, the outline L3 of the hole in the top plate of the table T, and the outline L4 of the fixture 30. For example, the outline L2 is larger than the outline L1, so even when the packaging material PM is placed on the top plate of the table T, there is an area on the bottom surface of the packaging material PM that does not contact the top plate of the table T.

[0129] For example, the profile L2 is larger than the profiles L3 and L4, and therefore, even when the packaging material PM is placed on the top plate of the workbench T, there is an area on the bottom surface of the packaging material PM that is not sucked by the suction device 31. In the bottom surface of the packaging material PM, the static friction of the area of ​​all or a part of the profile L4 sucked by the suction device 31 (for example, the suction cup part) is greater than the static friction of the area that is not sucked by the suction device 31 (for example, the area between the profile L3 and the profile L1). The area of ​​all or a part of the profile L4 is an example of at least a part of the portion that contacts the bottom surface of the packaging material PM. In the second embodiment, due to the suction performed by the suction device 31, the static friction of the sucked area of ​​the bottom surface of the packaging material PM becomes greater than the static friction of other areas of the bottom surface.

[0130] Fig. 20 1 is a schematic diagram for illustrating an example of functions implemented in the second embodiment. Similar to the first embodiment, the robot control module 101 in the second embodiment controls the robot 20 so that the robot 20 rotates around the side of the packaging material PM and cuts the side of the packaging material PM with the blade 220 of the cutter 22. The functions of the robot control module 101 are the same as those in the first embodiment, but the robot control module 101 in the second embodiment does not need to include all the functions described in the first embodiment.

[0131] For example, the robot control module 101 in the second embodiment does not need to include the orientation control module 102. In this case, the robot control module 101 controls the robot 20 so that the robot 20 rotates around the side of the packaging material PM and cuts the side of the packaging material PM with the blade 220 of the cutter 22, but the orientation of the blade 220 does not need to be changed when the blade 220 cuts the side of the packaging material PM. Fig.13 In the case of such a moving path MP, the robot control module 101 does not need to change the orientation of the cutter 22 at positions P3, P5, P7 and P9. For example, in the second embodiment, the cutter 22 may be a rotating blade instead of the cutter 22 described in the first embodiment.

[0132] In the second embodiment, the robot controller 10 includes a suction device control module 103. For example, the suction device control module 103 is implemented by the CPU 11. The suction device control module 103 controls the suction force of the suction device 31. For example, the suction device control module 103 sends at least one of a suction start signal indicating the start of suction, a suction stop signal indicating the stop of suction, an increase suction force signal for increasing the suction force, or a decrease suction force signal for decreasing the suction force to the suction device 31. These signals may be predetermined signals.

[0133] For example, when the suction device 31 receives a suction start signal, the suction device 31 starts suctioning through the pump. When the suction device 31 receives a suction stop signal, the suction device 31 stops suctioning through the pump. When the suction device 31 receives a suction force increase signal, the suction device 31 controls the pump so that the suction force is increased. When the suction device 31 receives a suction force decrease signal, the suction device 31 controls the pump so that the suction force is decreased. The circuit of the suction device 31 is designed to perform these operations when the suction device 31 receives the corresponding signal.

[0134] For example, the suction device control module 103 controls the suction device 31 so that the suction force of the suction device 31 is increased when the robot 20 rotates around the side of the packaging material PM and cuts the side of the packaging material PM with the blade 220. As used herein, "when the robot 20 rotates around the side of the packaging material PM and cuts the side of the packaging material PM with the blade 220" may only refer to when the blade 220 contacts the packaging material PM, but in the second embodiment, its meaning includes before the blade 220 contacts the packaging material PM.

[0135] exist Fig.13 In the example of the moving path MP, the time point after the cutter 22 has moved to the initial position P1 may correspond to "when the robot 20 rotates around the side of the packaging material PM and cuts the side of the packaging material PM with the blade 220". For example, when the cutter 22 moves to the initial position P1, the suction device control module 103 sends a suction start signal to the suction device 31. When the suction device 31 receives the suction start signal, the suction device 31 starts suction. When the cutter 22 moves to the position P10 and the cutting of the packaging material PM is completed, the suction device control module 103 sends a suction stop signal to the suction device 31. When the suction device 31 receives the suction stop signal, the suction device 31 stops suction.

[0136] When suction has already begun before the cutter 22 moves to the initial position P1, the suction device control module 103 may send a suction force increase signal to the suction device 31 instead of a suction start signal. When the suction device 31 receives the suction force increase signal, the suction device 31 increases the suction force. In addition, when the cutter 22 moves to the position P10 and the cutting of the packaging material PM is completed, the suction device control module 103 may send a suction force reduction signal to the suction device 31 instead of a suction stop signal. When the suction device 31 receives the suction force reduction signal, the suction device 31 reduces the suction force.

[0137] The fixing device 30 includes a fixing portion 300. For example, the fixing portion 300 is implemented by the suction device 31. The fixing portion 300 contacts the bottom surface of the packaging material PM and fixes at least a portion of the portion in contact with the bottom surface. The portion in contact with the bottom surface of the packaging material PM may be the entire surface of the fixing device 30 located on the packaging material PM side, or may be a portion of the surface of the fixing device 30 located on the packaging material PM side. For example, the fixing portion 300 fixes at least a portion of the portion in contact with the bottom surface based on the suction of the suction device 31.

[0138] The fixing method of the fixing part 300 is not limited to the above examples. The fixing part 300 may fix at least a portion of the portion in contact with the bottom surface of the packaging material PM by a fixing method other than suction. For example, the fixing part 300 may fix at least a portion of the portion in contact with the bottom surface of the packaging material PM based on the static friction force generated between at least a portion of the portion in contact with the bottom surface of the packaging material PM and a straw, rubber or another member. The fixing part 300 may fix at least a portion of the portion in contact with the bottom surface of the packaging material PM based on the supporting force generated between at least a portion of the portion in contact with the bottom surface of the packaging material PM and the clamp. The fixing part 300 may fix at least a portion of the portion in contact with the bottom surface of the packaging material PM based on the magnetic force or electrostatic force generated between the fixing part 300 and at least a portion of the portion in contact with the bottom surface of the packaging material PM.

[0139] Fig.21 is a flowchart for illustrating an example of processing performed in the second embodiment. Fig.21 The processing shown in is performed by the CPU 11 executing the program stored in the storage unit 12. Fig.21As shown in , the robot controller 10 determines whether the packaging material PM has been placed on the workbench T (step S200). For example, the robot controller 10 performs the determination of step S200 based on, for example, an image captured by the camera 21 or a contact sensor arranged on the workbench T. When it is determined that the packaging material PM has been placed on the workbench T ("Yes" in step S200), the robot controller 10 causes the suction device 31 to start suction (step S201). The subsequent processing steps from step S202 to step S215 are the same as the processing steps from step S100 to step S113. Fig.21 , the case where the suction of the suction device 31 is started when the packaging material PM is placed on the table T is illustrated. However, in step S206, the robot controller 10 may start the suction of the suction device 31 when the robot 20 moves to the initial position P1. In addition, after the processing step of step S215 is performed and the cutting is completed, the robot controller 10 may stop the suction of the suction device 31.

[0140] The robot control system 1 of the second embodiment includes a fixing portion 300 that contacts the bottom surface of the packaging material PM, and fixes at least a portion of the portion that contacts the bottom surface. For example, in the case where a clamp supports the side of the packaging material PM, the clamp may interfere with the robot 20. However, the fixing portion 300 fixes at least a portion of the portion that contacts the bottom surface, so that when the robot 20 rotates around the side of the packaging material PM and cuts the side of the packaging material PM with the cutter 22, the packaging material PM can be fixed without interfering with the cutter 22. By the force from the cutter 22, the packaging material PM is prevented from moving.

[0141] In addition, the robot control system 1 includes a suction device 31 that sucks at least a portion of the portion of the packaging material PM that contacts the bottom surface of the packaging material PM. The suction device 31 enables the packaging material PM to be fixed without interfering with the cutter 22.

[0142] In addition, the robot control system 1 controls the suction device 31 so that the suction force of the suction device 31 is increased when the robot 20 rotates around the side of the packaging material PM and cuts the side of the packaging material PM with the blade 220. As a result, when the robot 20 rotates around the side of the packaging material PM and cuts the side of the packaging material PM with the blade 22, the packaging material PM can be easily fixed by increasing the suction force.

[0143] [3. Modification example]

[0144] The present disclosure is not limited to the first and second embodiments described above, and the present disclosure may be appropriately modified without departing from the spirit of the present disclosure.

[0145] [3-1. Modification example related to the first embodiment]

[0146] First, a modification example related to the first embodiment is described. Fig. 22 1 is a schematic diagram for illustrating an example of functions implemented in a modification example related to the first embodiment. For example, in the modification example related to the first embodiment, the robot control module 101 includes a shape recognition module 104, a cutting control module 105, a recess recognition module 106, a speed control module 107, an attribute recognition module 108, a type recognition module 109, and a thickness detection module 110. Each of the shape recognition module 104, the cutting control module 105, the recess recognition module 106, the speed control module 107, the attribute recognition module 108, the type recognition module 109, and the thickness detection module 110 is implemented by the CPU 11.

[0147] [Modification Example 1-1]

[0148] For example, as described in the first embodiment, the surface of the packaging material PM may bulge due to the content CT. Since the surface is curved, it may be difficult to cut the bulging location of the packaging material PM with the cutter 22. In addition, the content CT exists just inside the surface of the bulging location of the packaging material PM, so the cutter 22 may come into strong contact with the content CT. Thus, the robot controller 10 can control the robot 20 so that the robot 20 cuts below the bulge of the packaging material PM. In addition, the robot controller 10 can control the robot 20 so that the robot 20 cuts the packaging material PM by following the bulge of the packaging material PM.

[0149] The robot control system 1 of the modified example 1-1 includes a shape recognition module 104 and a cutting control module 105. The shape recognition module 104 recognizes the shape of the packaging material PM based on the camera 21. The function of the shape recognition module 104 is as described in connection with the function of the robot control module 101 in the first embodiment. The shape recognition module 104 recognizes the shape of the packaging material PM based on the captured image generated by the camera 21 and the shape recognition program.

[0150] For example, the packaging material PM in the modified example 1-1 has a bulge on the surface. For example, due to the pressure from the inside of the content CT, at least a portion of the side of the packaging material PM bulges. Here, it is assumed that the midpoint between the bottom surface and the top surface of the packaging material PM bulges the most. The shape recognition module 104 can also recognize such a bulge based on the image generated by the camera 21.

[0151] The cutting control module 105 controls the robot 20 so that the robot 20 cuts the packaging material PM with the cutter 22. The processing of the cutting control module 105 may be the same as the processing described for the robot control module 101 in the first embodiment. In the modified example 1-1, the cutting control module 105 includes a first cutting control module 105A. The first cutting control module 105A controls the robot 20 so that the robot 20 cuts below the protrusion on the side of the packaging material PM with the blade 220 based on the shape recognized by the shape recognition module 104. For example, the first cutting control module 105A recognizes the position with the most protrusion based on the recognition result of the shape recognition module 104 (the outline of the packaging material PM).

[0152] For example, the cutting control module 105 identifies the midpoint between the bottom surface and the top surface of the packaging material PM as the most convex position. The first cutting control module 105A determines the position between the most convex position of the packaging material PM and the bottom surface of the packaging material PM as the cutting location CP. For example, the first cutting control module 105A calculates the distance between the most convex position of the packaging material PM and the bottom surface of the packaging material PM. The first cutting control module 105A determines the position of a predetermined percentage (e.g., 80%) of the distance below the most convex position of the packaging material PM as the cutting location CP. After determining the cutting location CP, the processing of the robot control module 101 can be the same as in the first embodiment.

[0153] The method by which the first cutting control module 105A determines the cutting location CP is not limited to the above example. The first cutting control module 105A may determine the position below the protrusion of the packaging material PM as the cutting location CP. For example, the first cutting control module 105A may calculate the contour curvature (curvature) of the packaging material PM, and determine the position where the curvature is less than a threshold value as the cutting location CP. As another example, the first cutting control module 105A may determine the position whose distance from the bottom surface of the packaging material PM is a predetermined percentage (e.g., 20%) of the distance between the most protruding position of the packaging material PM and the bottom surface of the packaging material PM as the cutting location CP.

[0154] The robot control system 1 of Modified Example 1-1 recognizes the shape of the packaging material PM based on the camera 21. The robot control system 1 controls the robot 20 so that the robot 20 cuts below the protrusion on the side of the packaging material PM with the blade 220 based on the shape of the packaging material PM. As a result, the robot control system 1 uses the cutter 22 to cut below the protrusion on the side of the packaging material PM, so the blade 220 of the cutter 22 is less likely to come into contact with the content CT.

[0155] [Modification example 1-2]

[0156] For example, as described in the first embodiment, the surface of the packaging material PM may have depressions instead of protrusions as in the modified example 1-1. In this case, the robot controller 10 can control the robot 20 so that the robot 20 cuts the packaging material PM at a position corresponding to the depression with the blade 220. The robot control system 1 of the modified example 1-2 includes a depression recognition module 106 and a second cutting control module 105B.

[0157] For example, the packaging material PM in the modified example 1-2 has a depression on the surface. For example, the depression is generated when a worker drops the packaging material PM. Here, it is assumed that the packaging material PM has a depression near the vertex V2. The depression recognition module 106 recognizes the depression of the packaging material PM based on the camera 21. The depression recognition module 106 is a function of the shape recognition module 104. For example, the depression recognition module 106 recognizes the portion of the contour of the packaging material PM that is bent inward (the portion where the curvature of the contour in the inward direction is equal to or greater than a threshold value) as a depression.

[0158] The second cutting control module 105B controls the robot 20 so that the robot 20 cuts with the blade 220 at a position corresponding to the depression. As used herein, the "position corresponding to the depression" refers to a position other than the depressed portion of the packaging material PM. For example, the second cutting control module 105B controls the robot 20 so that the robot 20 cuts the packaging material PM while avoiding the depressed portion of the packaging material PM. The second cutting control module 105B determines the cutting location CP so that the cutting location CP does not pass through the depression. After determining the cutting location CP, the processing of the robot control module 101 can be the same as in the first embodiment.

[0159] The robot control system 1 of Modification Example 1-2 recognizes the depression of the packaging material PM based on the camera 21. The robot control system 1 controls the robot 20 so that the robot 20 cuts the position corresponding to the depression with the blade 220. As a result, even when the packaging material PM has a depression, the robot control system 1 enables the robot to appropriately cut the packaging material PM with the blade 220 of the cutter 22.

[0160] [Modify Example 1-3]

[0161] For example, when cutting is performed at a sufficient speed, the blade 220 is generally less likely to get stuck in the face portion of the packaging material PM. Thus, the speed of the cutter 22 can be changed between when the robot 20 cuts the corner of the packaging material PM and when the robot 20 cuts the face of the packaging material PM. The "speed" mentioned in Modification Example 1-3 refers to the moving speed, but in the case where the cutter 22 generates vibration, such as an ultrasonic cutter, the "speed" may refer to the vibration speed. The robot control system 1 of Modification Example 1-3 includes a speed control module 107.

[0162] The speed control module 107 controls the robot 20 so that the speed of the cutter 22 changes between when the robot 20 cuts the surface of the packaging material PM with the blade 220 and when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. For example, the speed control module 107 controls the robot 20 so that the speed at which the robot 20 cuts the surface of the packaging material PM with the blade 220 is faster than the speed at which the robot 20 cuts the corner C1 of the packaging material PM with the blade 220.

[0163] The control method of the speed control module 107 is not limited to the above example. The speed control module 107 can control the robot 20 so that the speed at which the robot 20 cuts the surface of the packaging material PM with the blade 220 is slower than the speed at which the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. For example, when the surface of the packaging material PM is wet and easily torn, by controlling the speed in this way using the speed control module 107, the wet surface of the packaging material PM can be prevented from tearing.

[0164] The robot control system 1 of Modification Example 1-3 controls the robot 20 so that the speed of the cutter 22 changes between when the robot 20 cuts the face of the packaging material PM with the blade 220 and when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. Since the speed of the cutter 22 is changed between when the blade 220 of the cutter 22 cuts the face of the packaging material PM and when the blade 220 of the cutter 22 cuts the corner C1 of the packaging material PM, the robot control system 1 can cut the packaging material PM at an appropriate speed. For example, the operation time is improved. The cutter 22 is less likely to stop in the middle of cutting.

[0165] [Modify Example 1-4]

[0166] For example, the robot controller 10 can control the robot 20 to change the torque on the blade 220 instead of changing the speed as in Modified Example 1-3. The torque on the blade 220 is the torque detected when the blade 220 cuts the packaging material PM. The torque may increase due to the reaction force received by the blade 220 from the packaging material PM. The robot control system 1 of Modified Example 1-4 includes a third cutting control module 105C.

[0167] The third cutting control module 105C controls the robot 20 so that the torque on the blade 220 changes between when the robot 20 cuts the surface of the packaging material PM with the blade 220 and when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. For example, the third cutting control module 105C controls the robot 20 so that the torque generated when the robot 20 cuts the surface of the packaging material PM with the blade 220 is greater than the torque generated when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. The third cutting control module 105C increases the force with which the robot 20 presses the blade 220 toward the packaging material PM so that the torque generated when the robot 20 cuts the surface of the packaging material PM with the blade 220 is greater than the torque generated when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220.

[0168] The control method of the third cutting control module 105C is not limited to the above example. The third cutting control module 105C can control the robot 20 so that the torque generated when the robot 20 cuts the surface of the packaging material PM with the blade 220 is less than the torque generated when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. The third cutting control module 105C reduces the force of the robot 20 pressing the blade 220 toward the packaging material PM so that the torque generated when the robot 20 cuts the surface of the packaging material PM with the blade 220 is less than the torque generated when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. For example, when the surface of the packaging material PM is wet and easy to tear, by controlling the robot 20 in this way using the third cutting control module 105C, the wet surface of the packaging material PM can be prevented from tearing.

[0169] The robot control system 1 of Modification Example 1-4 controls the robot 20 so that the torque on the blade 220 changes between when the robot 20 cuts the face of the packaging material PM with the blade 220 and when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. Since the torque on the blade is changed between when the blade 220 of the cutter 22 cuts the face of the packaging material PM and when the blade 220 of the cutter 22 cuts the corner C1 of the packaging material PM, the robot control system 1 can cut the packaging material PM with an appropriate pressing force.

[0170] [Modify Example 1-5]

[0171] For example, the robot controller 10 can change the orientation of the blade 220 according to the properties of the packaging material PM. The properties of the packaging material PM can be at least one of the thickness, humidity, hardness or material of the packaging material PM. The robot control system 1 includes a property recognition module 108 and a fourth orientation control module 102D.

[0172] The attribute recognition module 108 recognizes the attribute of the packaging material PM. In the modification example 1-5, the user who uses the robot control system 1 inputs the attribute of the packaging material PM from the handheld terminal connected to the robot controller 10. The attribute recognition module 108 records the attribute parameters indicating the attribute of the packaging material PM input by the user in the data storage unit 100. For example, the user inputs at least one of the thickness, humidity, hardness, or material of the packaging material PM from the handheld terminal.

[0173] The attribute recognition module 108 may use another method to recognize the attribute of the packaging material PM. For example, the attribute recognition module 108 may recognize the attribute of the packaging material PM based on the captured image generated by the camera 21. It is difficult to recognize the thickness of the packaging material PM from the captured image, but at least one of the wettability, hardness, or material of the packaging material PM can be estimated to a certain extent from the color of the surface of the packaging material PM. The attribute recognition module 108 may recognize at least one of the wettability, hardness, or material of the packaging material PM by analyzing the captured image.

[0174] In addition, the attribute recognition module 108 may recognize the attribute of the packaging material PM based on a detection signal from a sensor included in the robot 20. For example, the attribute recognition module 108 may recognize the attribute of the packaging material PM based on a change in torque detected by the torque sensor when the cutter 22 cuts into the corner C1. The attribute recognition module 108 may recognize the attribute of the packaging material PM based on a change in a detection signal from the contact sensor when the cutter 22 cuts into the corner C1.

[0175] The fourth orientation control module 102D controls the robot 20 so that the orientation of the blade 220 changes based on the property of the packaging material PM. It is assumed that the relationship between the property of the packaging material PM and the orientation of the blade 220 is defined in the robot control program. The fourth orientation control module 102D controls the robot 20 so that the orientation of the blade 220 becomes the orientation associated with the property of the packaging material PM. For example, the fourth orientation control module 102D controls the orientation of the blade 220 so that the blade 220 is more oriented (pointed) to the outside of the packaging material PM when the packaging material PM has a first property than when the packaging material PM has a second property.

[0176] For example, when the packaging material PM is dry, even if the blade 220 is directed toward the outside of the packaging material PM, it is easier to cut the packaging material PM than when the packaging material PM is wet, so the fourth direction control module 102D controls the direction of the blade 220 so that the blade 220 is directed toward the outside of the packaging material PM. As the packaging material PM becomes thinner, the blade 220 becomes more likely to come into contact with the content CT, so the fourth direction control module 102D controls the direction of the blade 220 so that the blade 220 is directed toward the outside of the packaging material PM. As the material of the packaging material PM becomes softer, it is easier to cut the packaging material PM even if the blade 220 is directed toward the outside of the packaging material PM, so the fourth direction control module 102D controls the direction of the blade 220 so that the blade 220 is directed toward the outside of the packaging material PM.

[0177] The robot control system 1 of Modification Example 1-5 changes the orientation of the blade 220 based on the property of the packaging material PM. The robot control system 1 can cut the packaging material PM with the blade 220 oriented according to the property of the packaging material PM.

[0178] [Modify Example 1-6]

[0179] For example, the robot controller 10 may change the orientation of the blade 220 according to the type of the content CT. The type of the content CT is at least one of the material, thickness, humidity or hardness of the content CT. The robot control system 1 includes a type recognition module 109 and a fifth orientation control module 102E.

[0180] The type recognition module 109 recognizes the type of the content CT of the packaging material PM. In the modification example 1-6, the user inputs the type of the content CT from the handheld terminal connected to the robot controller 10. The type recognition module 109 records the type parameter indicating the type of the content CT input by the user in the data storage unit 100. For example, the user inputs at least one of the material, thickness, humidity, or hardness of the content CT from the handheld terminal.

[0181] The type recognition module 109 may use another method to recognize the type of the content CT. For example, when the top surface of the packaging material PM is opened, the type recognition module 109 may recognize the type of the content CT based on the captured image generated by the camera 21. For example, when the camera 21 is arranged at the tip of the cutter 22, the type recognition module 109 may use the camera 21 to capture the content CT when the tip 222 of the cutter 22 is inserted, and recognize the type of the content CT based on the captured image generated by the camera 21.

[0182] The fifth orientation control module 102E controls the robot 20 so that the orientation of the blade 220 changes based on the type of the content CT. It is assumed that the relationship between the type of the content CT and the orientation of the blade 220 is defined in the robot control program. The fifth orientation control module 102E controls the robot 20 so that the orientation of the blade 220 becomes the orientation associated with the type of the content CT. For example, the fifth orientation control module 102E controls the orientation of the blade 220 so that when the content CT is the first type, the blade 220 is more oriented (pointed) to the outside of the packaging material PM than when the content CT is the second type.

[0183] For example, as the material of the packaging material PM becomes softer, it is easier to cut the packaging material PM even if the blade 220 is facing the outside of the packaging material PM, so the fifth direction control module 102E controls the direction of the blade 220 so that the blade 220 faces the outside of the packaging material PM. As the material of the packaging material PM becomes thinner, it is more likely that the blade 220 will come into contact with the content CT, so the fifth direction control module 102E controls the direction of the blade 220 so that the blade 220 faces the outside of the packaging material PM. When the packaging material PM is dry, it is easier to cut the packaging material PM even if the blade 220 faces the outside of the packaging material PM than when the packaging material PM is wet, so the fifth direction control module 102E controls the direction of the blade 220 so that the blade 220 faces the outside of the packaging material PM.

[0184] The robot control system 1 of Modification Example 1-6 identifies the type of content CT of the packaging material PM. The robot control system 1 controls the robot 20 so that the orientation of the blade 220 changes based on the type of content CT. The robot control system 1 can cut the packaging material PM with the blade 220 set in the orientation according to the type of content CT.

[0185] [Modify Example 1-7]

[0186] For example, the robot controller 10 can detect the thickness of the packaging material PM based on the torque on the blade 220 detected by the torque sensor. The torque sensor can be arranged for detecting the thickness of the packaging material PM, but in the modification example 1-7, it is assumed that the torque sensor is arranged for the robot controller 10 to detect whether an abnormality has occurred in the robot 20. The robot controller 10 detects the thickness of the packaging material PM by using the torque sensor arranged for this purpose. The robot control system 1 of the modification example 1-7 includes a thickness detection module 110 and a sixth orientation control module 102F.

[0187] The thickness detection module 110 detects the thickness of the packaging material PM based on the torque on the blade 220. For example, the thickness detection module 110 detects the thickness of the packaging material PM based on the torque change after the blade 220 contacts the packaging material PM. When the blade 220 contacts the packaging material PM, the blade 220 receives a reaction force, so the increase in torque becomes equal to or greater than a threshold value. As a result, the thickness detection module 110 detects that the blade 220 has contacted the packaging material PM. When the blade 220 reaches the inner side of the packaging material PM, the reaction force on the blade 220 weakens, so the decrease in torque becomes equal to or greater than a threshold value. As a result, the thickness detection module 110 detects that the blade 220 has reached the inner side of the packaging material PM.

[0188] For example, the thickness detection module 110 detects the thickness of the packaging material PM based on the distance that the blade 220 moves from when the blade 220 contacts the packaging material PM to when the blade 220 reaches the inner side of the packaging material PM. The thickness detection module 110 may directly detect the moving distance as the thickness of the packaging material PM, or may detect a value obtained by multiplying the moving distance by a predetermined coefficient as the thickness of the packaging material PM.

[0189] The sixth orientation control module 102F controls the robot 20 so that the orientation of the blade 220 changes based on the thickness of the packaging material PM. It is assumed that the relationship between the thickness of the packaging material PM and the orientation of the blade 220 is defined in the robot control program. The sixth orientation control module 102F controls the robot 20 so that the orientation of the blade 220 becomes an orientation associated with the thickness of the packaging material PM. For example, the sixth orientation control module 102F controls the orientation of the blade 220 so that when the packaging material PM is thinner, the blade 220 is more oriented (pointed) to the outside of the packaging material PM.

[0190] The robot control system 1 of Modification Example 1-7 detects the thickness of the packaging material PM based on the torque on the blade 220. The robot control system 1 controls the robot 20 so that the orientation of the blade 220 changes based on the thickness of the packaging material PM. The robot control system 1 can cut the packaging material PM with the blade 220 whose orientation is set according to the thickness of the packaging material PM.

[0191] [Other Modification Examples Related to First Embodiment]

[0192] For example, a stopper may be provided on the cutter 22 so that the cutter 22 does not penetrate too deeply into the packaging material PM. When the cutter 22 cuts a corner of the packaging material PM, the robot controller 10 may increase the vibration frequency of the cutter 22 compared to when the cutter 22 cuts a face of the packaging material PM. When the packaging material PM is wet, the robot controller 10 may reduce the vibration frequency of the cutter 22. The robot controller 10 may replace the cutter 22 according to the packaging material PM.

[0193] [3-2. Modification example related to the second embodiment]

[0194] Next, a modification example related to the second embodiment is described. In the second embodiment, a case where the fixing part 300 is implemented by the suction device 31 arranged on the workbench T is described, but the fixing part 300 may also be implemented by other hardware. In a modification example related to the second embodiment, a case where the fixing part 300 is implemented by a robot different from the robot 20 is described. The robot control system 1 of the modification example related to the second embodiment includes another robot different from the robot 20.

[0195] Fig.23 1 is a schematic diagram for illustrating an example of a hardware configuration of a robot control system 1 according to a modified example related to the second embodiment. In the modified example related to the second embodiment, the robot controller 10 and the robot 20 described in the second embodiment are referred to as "first robot controller 10" and "first robot 20", respectively. For example, the robot control system 1 includes a second robot controller 40 and a second robot 50. The first robot 20 is an example of a robot including a cutter 22. The second robot 50 is an example of another robot.

[0196] In the modification example related to the second embodiment, a case where the first robot controller 10 and the second robot controller 40 are directly connected via an industrial network or a network such as a LAN is given as an example, but the first robot controller 10 and the second robot controller 40 may be connected via a host controller. The first robot controller 10 and the second robot controller 40 may perform processing described later based on instructions from the host controller.

[0197] For example, the second robot controller 40 includes a CPU 41, a storage unit 42, and a communication unit 43. The hardware configuration of each of the CPU 41, the storage unit 42, and the communication unit 43 may be the same as the hardware configuration of the CPU 11, the storage unit 12, and the communication unit 13, respectively. The point that the program and data stored in the storage unit 42 can be provided to the second robot controller 40 via a network, and the hardware configuration of the second robot controller 40 is not limited to Fig.23This is the same as described in connection with the first robot controller 10.

[0198] The hardware configuration of the second robot 50 may be the same as that of the first robot 20, but the second robot 50 differs from the first robot 20 in what is attached as an end effector. For example, the second robot 50 includes a fixture 30 as an end effector. In a modified example related to the second embodiment, the fixture 30 includes a suction device 31, as in the second embodiment. Thus, the second robot 50 includes a suction device 31 as an end effector at the tip. In addition, in the modified example related to the second embodiment, a case is described where the second robot 50 does not include a camera, but similar to the first robot 20, the second robot 50 may include a camera. The second robot 50 may include a motor encoder, a torque sensor, a contact sensor, or other sensors.

[0199] Fig.24 4 is a schematic diagram for illustrating an example of functions implemented in a modified example related to the second embodiment. For example, in the modified example related to the second embodiment, the second robot controller 40 includes a data storage unit 400 and a second robot control module 401. The data storage unit 400 is implemented by a storage unit 42. The second robot control module 401 is implemented by a CPU 41. The second robot control module 401 includes a fixing control module 402, a removal control module 403, a rotation control module 404, a cutting location recognition module 405, a cutting situation recognition module 406, and an attribute recognition module 407.

[0200] For example, the data storage unit 400 stores data required for the second robot controller 40 to control the second robot 50. For example, the data storage unit 400 stores a program including a code (command) indicating the control content of the second robot 50. The program can be written in any language, for example, a robot language or a ladder diagram language. Any code used in these languages ​​can be used. For example, the program includes at least one of a code for moving the second robot 50, a code for changing the posture of the second robot 50, or a code for controlling the suction device 31.

[0201] For example, the data storage unit 400 stores a robot control program for moving the suction device 31 to the surface of the packaging material PM, and a suction device control program for controlling the suction device 31. The robot control program is similar to the robot control program described in the first embodiment in that the robot control program is a program for achieving movement to a predetermined target position. For example, the robot control program may include an algorithm for calculating a path to the target position. The suction device control program is a program for sending various instructions to the suction device 31, such as the suction start instruction described in the second embodiment. The fixing control module 402 controls the second robot 50 based on these programs so that the fixing device 30 of the second robot 50 fixes the packaging material PM.

[0202] Fig.25 1 is a schematic diagram for illustrating an example of a space in which the first robot controller 10, the first robot 20, the second robot controller 40, and the second robot 50 are arranged. For example, when viewed from the workbench T and the packaging material PM, the second robot 50 is arranged on the other side of the first robot 20. Note that, as with the first embodiment, the workbench T in the modified example related to the second embodiment does not include the fixture 30. In addition, Fig.25 In FIG. 1 , the communication line between the first robot controller 10 and the second robot controller 40 is not shown. Similarly, in the later described Fig.26 and Fig. 27 Communication lines are also not shown.

[0203] like Fig.25 As shown in FIG, the fixture 30 is attached to the tip of the second robot 50 as an end effector. Fig.25 In the example of FIG. 3 , the suction cup 31 of the suction device 31 of the fixing device 30 faces downward. Fig.25 In the state shown in , when the second robot controller 40 moves the second robot 50 so that the suction cup of the adsorption device 31 contacts the top surface of the packaging material PM, and controls so that the fixing device 30 presses on the packaging material PM from above, as a result, the fixing device 30 can fix the packaging material PM. In addition, the second robot controller 40 can fix the packaging material PM with a stronger force by starting suction using the suction device 31.

[0204] In a modification example related to the second embodiment, the first robot 20 and the second robot 50 do not interfere with each other. For example, the first robot 20 can be prevented from contacting the second robot 50 by moving so as to cut half the circumference of the packaging material PM each time. For example, the second robot 50 can retreat to another position when the first robot 20 passes by, and start fixing the packaging material PM again after the first robot 20 has passed.

[0205] [Modified Example 2-1]

[0206] For example, in the modified example 2-1, before the first robot 20 starts cutting the packaging material PM with the cutter 22, the second robot controller 40 moves the second robot 50 so that the second robot 50 fixes the top surface of the packaging material PM with the fixing device 30. For example, the second robot controller 40 receives packaging material data indicating the position and shape of the packaging material PM from the first robot controller 10. For example, the packaging material data indicates the positions of the vertices V1 to V8 of the packaging material PM in the coordinate system based on the first robot 20.

[0207] For example, the second robot controller 40 converts the coordinate system based on the first robot 20 in the packaging material data into a coordinate system based on the second robot 50. The relative positional relationship between the first robot 20 and the second robot 50 (for example, the direction and distance between the base of the first robot 20 and the base of the second robot 50) is specified in advance by the user as a parameter. The second robot controller 40 can convert the coordinate system of the packaging material data based on the relative positional relationship.

[0208] For example, the second robot controller 40 determines the position to which the fixing device 30 of the second robot 50 is to be moved based on the position and shape of the packaging material PM indicated by the packaging material data after the coordinate system is converted. After the packaging material PM is fixed by the fixing device 30 of the second robot 50, the first robot controller 10 starts cutting the packaging material PM. The method of cutting the packaging material PM may be the same as that in the second embodiment.

[0209] The coordinate system conversion may be performed by the first robot controller 10. In this case, the first robot controller 10 transmits the packaging material data converted into the coordinate system based on the second robot 50 to the second robot controller 40. In addition, when the second robot 50 includes a camera similar to the camera 21, the second robot controller 40 may control the second robot 50 so that the camera of the second robot 50 photographs the packaging material PM. Similar to the first robot controller 10, the second robot controller 40 may recognize the position and shape of the packaging material PM based on the photographed image generated by the camera of the second robot 50.

[0210] The robot control system 1 of modified example 2-1 includes a first fixing control module 402A. The first fixing control module 402A controls the second robot 50 so that the second robot 50 fixes the packaging material PM with the fixing device 30. For example, the first fixing control module 402A controls the second robot 50 so that the suction device 31 of the fixing device 30 contacts the top surface of the packaging material PM. The position of the top surface of the packaging material PM is determined from the packaging material data. The first fixing control module 402A controls the second robot 50 so that the second robot 50 fixes the packaging material PM by supporting the packaging material PM in a direction different from the direction of the force applied to the packaging material PM by the blade 220.

[0211] The direction of the force applied by the blade 220 to the packaging material PM is the moving direction of the blade 220 or a direction whose angle with the moving direction is less than a predetermined angle (e.g., less than 20 degrees). This direction is hereinafter referred to as the "cutting direction". As used herein, a direction different from the cutting direction is a direction whose angle with the cutting direction is a predetermined angle or greater (e.g., 45 degrees or greater). A direction different from the cutting direction is hereinafter referred to as the "support direction".

[0212] exist Fig.25 In the example of , the cutting direction is the horizontal direction, and the supporting direction is the vertical direction. The first fixed control module 402A controls the second robot 50 so that the second robot 50 supports the packaging material PM in the vertical direction (that is, so that the second robot 50 presses on the packaging material PM from above). For example, the first fixed control module 402A determines the target position of the fixture 30 of the second robot 50 based on the position and shape of the packaging material PM indicated by the packaging material data. In the modified example 2-1, the first fixed control module 402A determines the center point of the top surface of the packaging material PM as the target position of the fixture 30 of the second robot 50.

[0213] For example, the first fixed control module 402A controls the second robot 50 so that the fixing device 30 moves to the center point of the top surface of the packaging material PM in a state where the suction cup is facing downward. The movement path of the second robot 50 can be determined by any algorithm. For example, the first fixed control module 402A calculates the movement path from the initial position set for the second robot 50 to the target position based on linear interpolation, circular interpolation, or spline interpolation. The first fixed control module 402A controls the second robot 50 based on the calculated movement path.

[0214] In Modification Example 2-1, a case where the workbench T does not include another fixture different from the fixture 30 of the second robot 50 is given as an example, but the workbench T may include another fixture. That is, the packaging material PM may be fixed by the fixture 30 of the second robot 50 and another fixture of the workbench T so as to be clamped from above and below.

[0215] The robot control system 1 of Modification Example 2-1 controls the second robot 50 so that the second robot 50 fixes the packaging material PM by supporting the packaging material PM in a direction different from the direction of the force applied to the packaging material PM by the blade 220. The packaging material PM can be fixed by the second robot 50, which is different from the first robot 20 that cuts the packaging material PM. For example, the packaging material PM can be more easily fixed by the friction force generated on the bottom surface of the packaging material PM and the friction force generated on the top surface of the packaging material PM.

[0216] [Modified Example 2-2]

[0217] For example, in Modification Example 2-1, a case where the second robot 50 fixes the packaging material PM from the top surface of the packaging material PM is given as an example. The second robot 50 may fix other surfaces other than the top surface of the packaging material PM. In Modification Example 2-2, a case where the packaging material PM is not arranged on the workbench T but on the fixing device 30 of the second robot 50, and the second robot 50 fixes the packaging material PM from the bottom surface of the packaging material PM is described.

[0218] In the modified example 2-2, the workbench T is not included. Assume that the second robot 50 is in Fig.25 30 (however, the workbench T does not exist), the second robot controller 40 controls the second robot 50 so that the suction cup of the fixture 30 of the second robot 50 faces upward. The packaging material PM is placed on the fixture 30 by a worker or a transport robot. When the packaging material PM is placed on the fixture 30, the second robot controller 40 starts suction using the suction device 31. The second robot 50 supports the packaging material PM from below using the fixture 30.

[0219] The robot control system 1 of the modified example 2-2 includes a second fixing control module 402B. The second fixing control module 402B controls the second robot 50 so that the second robot 50 fixes the top surface of the packaging material PM or at least the portion in contact with the bottom surface of the packaging material PM. The process of the second robot 50 fixing the top surface of the packaging material PM is as described in the modified example 2-1, and therefore, in the modified example 2-2, the process of the second robot 50 fixing at least the portion in contact with the bottom surface of the packaging material PM is described.

[0220] The target position of the fixture 30 is determined in advance in the data storage unit 400. The target position is a position where the packaging material PM is placed. For example, the second fixture control module 402B controls the second robot 50 so that the fixture 30 moves to the target position with the suction cup facing upward. The second fixture control module 402B calculates a moving path from an initial position set for the second robot 50 to the target position based on any of the above algorithms. The second fixture control module 402B controls the second robot 50 based on the calculated moving path.

[0221] The robot control system 1 of Modification Example 2-2 controls the second robot 50 so that the second robot 50 fixes the top surface of the packaging material PM or at least the portion in contact with the bottom surface of the packaging material PM. The packaging material PM can be fixed by the second robot 50, which is different from the first robot 20 that cuts the packaging material PM. For example, by fixing the bottom surface of the packaging material PM by the second robot 50, the second robot 50 replaces the workbench T, so the workbench T can also be eliminated.

[0222] [Modify Example 2-3]

[0223] For example, in modified example 2-1, the second robot controller 40 may control the second robot 50 so that the second robot 50 removes the upper portion of the packaging material PM after the first robot 20 completes cutting of the packaging material PM. As another example, in modified example 2-2, the second robot controller 40 may control the second robot 50 so that the second robot 50 removes the bottom portion of the packaging material PM after the first robot 20 completes cutting of the packaging material PM and the contents CT are taken out.

[0224] The robot control system 1 of the modified example 2-3 includes a removal control module 403. The removal control module 403 controls the second robot 50 so that the second robot 50 removes the upper part or the bottom part of the packaging material PM after the cutting of the packaging material PM is completed. For example, when the first robot 20 completes the cutting of the packaging material PM, the first robot controller 10 sends a cutting completion notification to the second robot controller 40, indicating that the cutting of the packaging material PM has been completed. The second robot controller 40 recognizes that the cutting of the packaging material PM has been completed by receiving the cutting completion notification from the first robot controller 10.

[0225] Fig.26It is a schematic diagram for illustrating an example of how to remove the upper part of the packaging material PM in the modified example 2-3. In the modified example 2-3, the second fixing control module 402B controls the second robot 50 so that the second robot 50 fixes the top surface of the packaging material PM. The processing of the second fixing control module 402B in this case is the same as the processing of the first fixing control module 402A described in the modified example 2-1. While the packaging material PM is being cut, the second robot 50 presses on the packaging material PM from the top surface, and after the cutting of the packaging material PM is completed, the upper part of the packaging material PM is removed in the same process. The upper part of the packaging material PM refers to the part of the upper side of the packaging material PM separated by the cutting surface.

[0226] For example, the removal control module 403 includes an upper portion removal control module 403A, which controls the second robot 50 so that the second robot 50 removes the upper portion after the cutting of the packaging material PM is completed. When the second robot controller 40 receives the cutting completion notification from the first robot controller 10, the upper portion removal control module 403A moves the upper portion of the packaging material PM to another position while maintaining the suction of the suction device 31 of the fixing device 30. The moving destination position of the upper portion of the packaging material PM is determined in advance in the data storage unit 400.

[0227] For example, the upper removal control module 403A calculates a moving path from the current position where the fixing device 30 fixes the packaging material PM to the moving destination position based on any of the above-mentioned algorithms, and controls the second robot 50 based on the calculated moving path. When the fixing device 30 is moved to the moving destination position, the upper removal control module 403A turns off the suction of the suction device 31. The upper part of the packaging material PM is arranged at the moving destination position. The upper removal control module 403A controls the second robot 50 so that the fixing device 30 moves to the initial position.

[0228] Modification Example 2-2 and Modification Example 2-3 may be combined. In this case, the removal control module 403 may control the second robot 50 so that, after the first robot 20 completes the cutting of the packaging material PM and the worker removes the upper portion of the packaging material PM and takes out the contents CT, the second robot 50 moves the bottom of the packaging material PM to another position while maintaining the suction of the suction device 31 of the fixture 30. The bottom of the packaging material PM refers to the portion of the lower side of the packaging material PM separated by the cutting surface.

[0229] The robot control system 1 of the modified example 2-3 controls the second robot 50 so that the second robot 50 removes the upper part or the bottom part of the packaging material PM after the cutting of the packaging material PM is completed. By fixing the second robot 50 of the packaging material PM to remove the upper part or the bottom part of the packaging material PM, the packaging material PM can be removed efficiently, thereby improving the operation time.

[0230] In addition, when the robot control system 1 controls the second robot 50 so that the second robot 50 fixes the top surface of the packaging material PM, the robot control system 1 controls the second robot 50 so that the second robot 50 removes the upper portion after the cutting of the packaging material PM is completed. By fixing the top surface of the packaging material PM by the second robot 50 and removing the upper portion of the packaging material PM while the packaging material PM is still fixed, the packaging material PM can be removed efficiently, thereby improving the working time.

[0231] [Modify Example 2-4]

[0232] For example, the work table T may be rotatable. In this case, instead of the first robot 20 moving around the packaging material PM placed on the work table T as in the second embodiment, the packaging material PM may be cut by rotating the work table T. In Modification Example 2-4, as in Modification Example 2-1, a case where the work table T is rotated in a state where the top surface of the packaging material PM is fixed by the second robot 50 is given as an example.

[0233] Fig. 27 is a schematic diagram for illustrating an example of how to rotate the work table T in Modification Example 2-4. In Modification Example 2-4, a case where the first robot controller 10 rotates the work table T is described, but the work table T may be rotated by another device other than the first robot controller 10. The control manner in which the second robot controller 40 causes the second robot 50 to fix the top surface of the packaging material PM may be the same as in Modification Example 2-1.

[0234] The workbench T in the modified example 2-4 includes at least one motor. The workbench T itself may be a well-known turntable. The workbench T is rotated based on the rotation of the motor of the workbench T. The workbench T may include various sensors, such as a motor encoder for detecting the rotational position of the motor. The first robot controller 10 includes a power line for rotating the motor of the workbench T. The first robot controller 10 rotates the workbench T by controlling the power supplied to the power line.

[0235] The robot control system 1 includes a rotation control module 404. The rotation control module 404 rotates the packaging material PM in a state where the packaging material PM is fixed by the second robot 50. For example, when the fixing of the packaging material PM is completed, the second robot controller 40 sends a fixing completion notification to the first robot controller 10, indicating that the fixing of the packaging material PM is completed. When the first robot controller 10 receives the fixing completion notification, the first robot controller 10 recognizes that the fixing of the packaging material PM is completed.

[0236] For example, when the first robot controller 10 receives the fixation completion notification, the first robot controller 10 controls the first robot 20 so that the cutter 22 comes into contact with the corner C1. This control may be the same as in the second embodiment. Then, the rotation control module 404 rotates the worktable T at a predetermined speed. The first robot controller 10 controls the first robot 20 based on the position and shape of the packaging material PM identified in advance and the rotation speed of the worktable T so that the movement path of the cutter 22 is consistent with the first robot 20. Fig.13 As a method of controlling the first robot 20 at this time, a known cutting method using a turntable can be used.

[0237] The second robot controller 40 controls the tip motor so that the fixture 30 rotates to match the rotation of the table T. For example, when the rotation of the table T is started, the first robot controller 10 sends a rotation start notification to the second robot controller 40, indicating that the rotation of the table T is to be started. When the second robot controller 40 receives the rotation start notification, the second robot controller 40 starts rotating the fixture 30. Then, by performing communication between the first robot controller 10 and the second robot controller 40, the rotation of the table T and the rotation of the fixture 30 are synchronized until the cutting of the packaging material PM is completed.

[0238] The robot control system 1 of the modified example 2-4 includes a second robot 50 different from the first robot 20, and rotates the packaging material PM in a state where the second robot 50 fixes the packaging material PM. The packaging material PM can be rotated in a fixed state. For example, the robot control system 1 can rotate the packaging material PM and cut the side with the cutter 22.

[0239] [Modify Example 2-5]

[0240] For example, the second robot controller 40 may control the second robot 50 so that the position where the fixture 30 is fixed changes dynamically during the cutting of the packaging material PM. In the modified example 2-5, the worktable T does not rotate as in the modified example 2-4, but as in the modified example 2-1, the first robot 20 moves around the packaging material PM and cuts the packaging material PM. The robot control system 1 of the modified example 2-5 includes a cutting location recognition module 405. The second robot 50 in the modified example 2-5 may include a robot hand as the fixture 30 instead of the suction device 31.

[0241] The cutting location identification module 405 identifies the cutting location of the packaging material PM. The cutting location is the position where the blade 220 of the cutter 22 contacts the packaging material PM. The first robot controller 10 may identify the cutting location of the packaging material PM based on a detection signal from a sensor such as a motor encoder, a position sensor, or a contact sensor. The cutting location may be identified based on a captured image generated by the camera 21. The first robot controller 10 sends cutting location data indicating the cutting location of the packaging material PM to the second robot controller 40.

[0242] For example, the second robot controller 40 receives the cutting location data from the first robot controller 10. The cutting location identification module 405 identifies the cutting location of the packaging material PM based on the cutting location data. When the cutting location data indicates the coordinates of the cutting location in the coordinate system based on the first robot 20, the cutting location identification module 405 converts these coordinates into coordinates in the coordinate system based on the second robot 50. The cutting location identification module 405 identifies the cutting location of the packaging material PM based on the converted coordinates. The coordinate system conversion can be performed by the first robot controller 10.

[0243] The fixing control module 402 in the modified example 2-5 includes a third fixing control module 402C. The third fixing control module 402C controls the second robot 50 so that the second robot 50 fixes the packaging material PM at a position corresponding to the cutting location. It is assumed that the relationship between the cutting location and the fixed position of the packaging material PM is pre-stored in the data storage unit 400. The relationship may be defined as a part of the program code, or may be defined as data having another format, such as a table format. The third fixing control module 402C controls the second robot 50 so that the second robot 50 fixes the packaging material PM at a fixed position associated with the cutting location.

[0244] For example, in the first robot 20 based on the image Fig.13In the case of cutting the packaging material PM along such a moving path, when the cutting location is close to the corner C1, the third fixed control module 402C controls the second robot 50 so that, like modification 2-1, the fixed position is close to the center point of the top surface of the packaging material PM. When the cutting of the packaging material PM continues and the cutting location reaches the corner C3, the packaging material PM has been cut between the corner C1 and the corner C2 and between the corner C2 and the corner C3, so the third fixed control module 402C controls the second robot 50 so that the fixed position moves from the vicinity of the center point of the top surface of the packaging material PM toward the direction of the vertex V7, so that the uncut portion can be pressed down.

[0245] For example, when the cutting of the packaging material PM proceeds further and the cutting location reaches corner C4, the only uncut part of the packaging material PM is between corner C4 and corner C1, so that the second robot 50 is controlled so that the fixed position moves to the vicinity between vertex V7 and vertex V1 of the packaging material PM so that the part that has not yet been cut can be pressed.

[0246] The robot control system 1 of Modification Example 2-5 controls the second robot 50 so that the second robot 50 fixes the packaging material PM at a position corresponding to the cutting location. In the robot control system 1, the position at which the second robot 50 fixes the packaging material PM varies based on the cutting location, and the packaging material PM can be fixed at an optimal position corresponding to the cutting location, so that the packaging material PM is less likely to move.

[0247] [Modify Example 2-6]

[0248] For example, in the modified example 2-1, the case where the second robot 50 presses on the packaging material PM from the top surface is given as an example, but the second robot controller 40 may control the second robot 50 so that the second robot 50 presses on the corner of the packaging material PM. The robot control system 1 of the modified example 2-6 includes the fourth fixing control module 402D. The second robot 50 in the modified example 2-6 may include a robot hand as the fixing device 30 instead of the suction device 31. The second robot 50 in the modified example 2-6 presses the side of the packaging material PM.

[0249] In the modification example 2-6, it is described that the first robot 20 passes along the Fig.13 The fourth fixed control module 402D controls the second robot 50 so that the second robot 50 is pressed on the corner of the packaging material PM. The second robot controller 40 can communicate with the first robot controller 10 to obtain the cutting location of the packaging material PM in real time. This is as described in Modification Example 2-5.

[0250] For example, when the first robot 20 cuts between the corner C1 and the corner C2, a force acts on the packaging material PM in the direction from the corner C1 to the corner C2, and therefore, in order to press in the direction opposite to the direction from the corner C1 to the corner C2 (the direction from the corner C2 to the corner C1), the fourth fixing control module 402D controls the second robot 50 so that the fixing position approaches the corner C2. When the first robot 20 cuts between the corner C2 and the corner C3, a force acts on the packaging material PM in the direction from the corner C2 to the corner C3, and therefore, in order to press in the direction opposite to the direction from the corner C2 to the corner C3 (the direction from the corner C3 to the corner C2), the fourth fixing control module 402D controls the second robot 50 so that the fixing position approaches the corner C3.

[0251] For example, when the first robot 20 cuts between corner C3 and corner C4, a force acts on the packaging material PM in the direction from corner C3 to corner C4, and therefore, in order to press in the direction opposite to the direction from corner C3 to corner C4 (the direction from corner C4 to corner C3), the fourth fixing control module 402D controls the second robot 50 so that the fixing position approaches corner C4. When the first robot 20 cuts between corner C4 and corner C1, a force acts on the packaging material PM in the direction from corner C4 to corner C1, and therefore, in order to press in the direction opposite to the direction from corner C4 to corner C1 (the direction from corner C1 to corner C4), the fourth fixing control module 402D controls the second robot 50 so that the fixing position approaches corner C1.

[0252] The robot control system 1 of Modification Example 2-6 includes a second robot 50 different from the first robot 20, and controls the second robot 50 so that the second robot 50 presses on the corner C1 of the packaging material PM. The robot control system 1 uses the second robot 50 to press on the corner C1 of the packaging material PM, so the packaging material PM is less likely to move.

[0253] [Modify Example 2-7]

[0254] For example, the second robot controller 40 may use the robot 50 to support the packaging material PM in a direction opposite to the force applied to the packaging material PM by the blade 220. This control also includes the control described in Modification Example 2-6 as a mode. The robot control system 1 of Modification Example 2-7 includes a fifth fixing control module 402E.

[0255] The fifth fixing control module 402E controls the second robot 50 so that the second robot 50 fixes the packaging material PM by supporting the packaging material PM in a direction opposite to the direction of the force applied to the packaging material PM by the blade 220. The fifth fixing control module 402E may perform the same control as the fourth fixing control module 402D described in Modification Example 2-7, or may support the side surfaces instead of the corners C1 to C4.

[0256] For example, when the first robot 20 cuts between corners C1 and C2, a force acts on the packaging material PM in the direction from corner C1 to corner C2, so the fifth fixed control module 402E controls the second robot 50 to press on the side bounded by vertices V3, V4, V6, and V5. When the first robot 20 cuts between corners C2 and C3, a force acts on the packaging material PM in the direction from corner C2 to corner C3, so the fifth fixed control module 402E controls the second robot 50 to press on the side bounded by vertices V5, V6, V8, and V7.

[0257] For example, when the first robot 20 cuts between corner C3 and corner C4, a force acts on the packaging material PM in the direction from corner C3 to corner C4, so the fifth fixed control module 402E controls the second robot 50 to press on the side bounded by vertices V1, V2, V8, and V7. When the first robot 20 cuts between corner C4 and corner C1, a force acts on the packaging material PM in the direction from corner C4 to corner C1, so the fifth fixed control module 402E controls the second robot 50 to press on the side bounded by vertices V1, V2, V4, and V3.

[0258] The robot control system 1 of Modified Example 2-7 includes a second robot 50 different from the first robot 20, and controls the second robot 50 so that the second robot 50 fixes the packaging material PM by supporting the packaging material PM in the direction opposite to the force applied to the packaging material PM by the blade 220. The robot control system 1 uses the second robot 50 different from the first robot 20 that cuts the packaging material PM to support the packaging material PM in the direction opposite to the force applied to the packaging material PM by the cutter 22, and therefore, the packaging material PM is less likely to move.

[0259] [Modify Example 2-8]

[0260] For example, in Modified Example 2-5, a case where the second robot 50 fixes the packaging material PM at a position corresponding to the cutting location is described. In Modified Example 2-8, a case where the second robot controller 40 controls the second robot 50 so that the second robot 50 fixes the packaging material PM according to a cutting situation is described, and an example of a cutting situation is the cutting location in Modified Example 2-5. The robot control system 1 of Modified Example 2-8 includes a cutting situation recognition module 406.

[0261] The cutting situation identification module 406 identifies the cutting situation of the packaging material PM. The cutting situation is not limited to the cutting location as in the modified example 2-5, but may also be, for example, the moving speed of the cutter 22 or the torque on the cutter 22. The first robot controller 10 can identify the cutting situation of the packaging material PM based on a detection signal from a sensor such as a motor encoder, a position sensor, a contact sensor, a position sensor, an acceleration sensor, or a torque sensor. The first robot controller 10 sends cutting situation data indicating the cutting situation of the packaging material PM to the second robot controller 40. For example, the second robot controller 40 receives the cutting situation data from the first robot controller 10. The cutting situation identification module 406 identifies the cutting situation of the packaging material PM based on the cutting situation data.

[0262] The fixing control module 402 in the modified example 2-8 includes a sixth fixing control module 402F. The sixth fixing control module 402F controls the second robot 50 so that the second robot 50 fixes the packaging material PM based on the cutting situation. It is assumed that the relationship between the cutting situation and the method of fixing the packaging material PM is pre-stored in the data storage unit 400. The relationship may be defined as a part of the program code, or may be defined as data having another format, such as a table format. The sixth fixing control module 402F controls the second robot 50 so that the second robot 50 fixes the packaging material PM by using the fixing method associated with the cutting situation.

[0263] For example, the sixth fixing control module 402F can perform the same control as the fifth fixing control module 402E. In addition to the position-based fixing, other examples of fixing methods include fixing using force. The fixing force is a suction force or a pressing force. For example, the sixth fixing control module 402F controls the second robot 50 so that when the force applied by the cutter 22 to the packaging material PM is strong, the fixing force is also strong.

[0264] The robot control system 1 of Modification Example 2-8 controls the second robot 50 so that the second robot 50 fixes the packaging material PM based on the cutting condition of the packaging material PM. By using the second robot 50 to fix the packaging material PM based on the cutting condition of the packaging material PM, the robot control system 1 can achieve optimal fixation corresponding to the cutting condition.

[0265] [Modify Example 2-9]

[0266] For example, at the corner of the packaging material PM, there may be a portion where the corrugated cardboard is pasted, and therefore, when the cutter 22 cuts the corner of the packaging material PM, a greater force may be applied to the packaging material PM than when the cutter 22 cuts the face of the packaging material PM. Thus, the second robot controller 40 may control the second robot 50 so that when the cutter 22 cuts the corner of the packaging material PM, the second robot 50 fixes the packaging material PM by using a stronger fixing force.

[0267] The fixing control module 402 in the modified example 2-9 includes a seventh fixing control module 402G. The seventh fixing control module 402G controls the second robot 50 so that when the first robot 20 cuts the corner C1 of the packaging material PM with the cutter 22, the force used by the second robot 50 to fix the packaging material PM becomes stronger than when the first robot 20 cuts the face of the packaging material PM with the cutter 22. In the modified example 2-9, similar to the modified example 2-5, it is assumed that the second robot controller 40 receives the cutting location data from the first robot controller 10. As a result, the second robot controller 40 can identify whether the cutter 22 cuts the corner or the face of the packaging material PM.

[0268] For example, the seventh fixed control module 402G controls the suction device 31 of the second robot 50 so that the suction force generated when the first robot 20 cuts the corner C1 of the packaging material PM with the cutter 22 is stronger than the suction force generated when the first robot 20 cuts the surface of the packaging material PM with the cutter 22. The seventh fixed control module 402G can control the second robot 50 so that the pressing force generated when the first robot 20 cuts the corner C1 of the packaging material PM with the cutter 22 is stronger than the pressing force generated when the first robot 20 cuts the surface of the packaging material PM with the cutter 22.

[0269] The robot control system 1 of Modification Example 2-9 controls the second robot 50 so that the force of the second robot 50 for fixing the packaging material PM becomes stronger when the first robot 20 cuts the corner C1 of the packaging material PM with the cutter 22 than when the first robot 20 cuts the face of the packaging material PM with the cutter 22. In the robot control system 1, even if a stronger force is applied to the packaging material PM when the first robot 20 cuts the corner C1 of the packaging material PM with the cutter 22 than when the first robot 20 cuts the face of the packaging material PM with the cutter 22, the packaging material PM is less likely to move.

[0270] [Modify Example 2-10]

[0271] For example, depending on the properties of the packaging material PM, when the packaging material PM is fixed too strongly, the packaging material PM may be damaged. As another example, depending on the properties of the packaging material PM, the packaging material PM may be made of a material that is easy to move. Thus, the second robot controller 40 can control the second robot 50 so that the second robot 50 performs fixation according to the properties of the packaging material PM. The robot control system 1 of the modified example 2-10 includes an attribute identification module 407. The attribute identification module 407 identifies the properties of the packaging material PM. The attribute identification module 407 can be the same as that in the modified example 1-5, except that the attribute identification module 407 is implemented by the second robot controller 40. The attribute identification module 407 of the second robot controller 40 can obtain the result of the attribute identification performed by the attribute identification module 108 of the first robot controller 10 from the first robot controller 10.

[0272] The fixing control module 402 in the modified example 2-10 includes an eighth fixing control module 402H. The eighth fixing control module 402H controls the fixing part 300 based on the properties of the packaging material PM. The relationship between the properties of the packaging material PM and the method of fixing the packaging material PM is pre-stored in the data storage unit 400. The relationship may be defined as a part of the program code, or may be defined as data having another format, such as a table format. The eighth fixing control module 402H controls the second robot 50 so that the second robot 50 fixes the packaging material PM based on the fixing method associated with the properties of the packaging material PM.

[0273] For example, the eighth fixing control module 402H controls the second robot 50 so that when the surface of the packaging material PM is wet, the second robot 50 uses a weaker fixing force to fix the packaging material PM than when the surface of the packaging material PM is not wet. The eighth fixing control module 402H controls the second robot 50 so that when the packaging material PM is large, the second robot 50 uses a stronger fixing force to fix the packaging material PM than when the packaging material PM is small.

[0274] The robot control system 1 of Modification Example 2-10 controls the fixing portion 300 based on the property of the packaging material PM. The robot control system 1 can fix the packaging material PM based on the fixing method associated with the property of the packaging material PM.

[0275] [Other Modification Examples Related to Second Embodiment]

[0276] For example, the second robot controller 40 may send the torque detected when the second robot 50 presses on the packaging material PM to the first robot controller 10. The first robot controller 10 may control the speed of the cutter 22 based on the torque. The second robot controller 40 may detect the torque by using a torque sensor of the second robot 50, or may detect the torque by using a force sensor capable of detecting the force pressing on the packaging material PM. The second robot controller 40 may arrange the packaging material PM removed by the second robot 50 on a conveyor belt. A device for compressing and disposing of the packaging material PM may be arranged at the end of the conveyor belt.

[0277] [3-3. Other modification examples]

[0278] For example, the above-described modification examples may be combined.

[0279] For example, each of the functions described above may be implemented by any device of the robot control system 1. A function described as being included in the robot controller 10 (first robot controller 10) may be implemented by the second robot controller 40 or another device. A function described as being included in the second robot controller 40 may be implemented by the robot controller 10 (first robot controller 10) or another device. A function described as being implemented by one device may be shared among a plurality of devices.

[0280] [4. Supplementary Notes on the First Embodiment]

[0281] For example, the robot control system according to the first embodiment may also have the following configuration.

[0282] (1-1)

[0283] A robot control system, comprising:

[0284] a robot configured to hold a cutter; and

[0285] a robot controller configured to control the robot so that the robot cuts the packaging material with a blade of the cutter,

[0286] The robot controller includes an orientation control module configured to control the robot so that when the robot cuts a face of the packaging material with the blade, the blade is more toward an outside of the packaging material than when the robot cuts a corner of the packaging material with the blade.

[0287] (1-2)

[0288] A robot control system according to item (1-1), wherein the orientation control module includes a first orientation control module, which is configured to control the robot so that the blade enters the corner of the packaging material, makes the blade face the outside of the packaging material, and cuts the surface of the packaging material with the blade.

[0289] (1-3)

[0290] The robot control system according to item (1-1) or (1-2),

[0291] wherein the cutter comprises a main body portion including the blade, and a tip, and

[0292] Wherein, the orientation control module comprises a second orientation control module configured to change the orientation of the blade so that the tip is arranged between the content of the packaging material and the main body portion.

[0293] (1-4)

[0294] The robot control system according to any one of items (1-1) to (1-3),

[0295] wherein the blade is arranged at an edge portion of the cutter,

[0296] wherein the one edge portion is sharper than another edge portion of the cutter, and

[0297] Wherein, the orientation control module comprises a third orientation control module, and the third orientation control module is configured to change the orientation of the blade so that the other edge portion is arranged between the content and the one edge portion.

[0298] (1-5)

[0299] The robot control system according to any one of items (1-1) to (1-4),

[0300] wherein the robot is configured to hold a camera,

[0301] The robot control system further comprises a shape recognition module, which is configured to recognize the shape of the packaging material based on the camera, and

[0302] The robot controller includes a first cutting control module configured to control the robot so that the robot cuts below the protrusion on the side of the packaging material with the blade based on the shape.

[0303] (1-6)

[0304] The robot control system according to any one of items (1-1) to (1-5),

[0305] wherein the robot is configured to hold a camera,

[0306] The robot control system further comprises a concave recognition module, which is configured to recognize a concave of the packaging material based on the camera, and

[0307] The robot controller includes a second cutting control module, which is configured to control the robot so that the robot cuts a position corresponding to the recess with the blade.

[0308] (1-7)

[0309] A robot control system according to any one of items (1-1) to (1-6), wherein the robot controller includes a speed control module, which is configured to control the robot so that the speed of the cutter changes between when the robot cuts the surface of the packaging material with the blade and when the robot cuts the corner of the packaging material with the blade.

[0310] (1-8)

[0311] A robot control system according to any one of items (1-1) to (1-7), wherein the robot controller includes a third cutting control module, which is configured to control the robot so that the torque on the blade changes between when the robot cuts the surface of the packaging material with the blade and when the robot cuts the corner of the packaging material with the blade.

[0312] (1-9)

[0313] The robot control system according to any one of items (1-1) to (1-8), further comprising an attribute recognition module configured to recognize an attribute of the packaging material,

[0314] The orientation control module includes a fourth orientation control module configured to control the robot so that the orientation of the blade changes based on the attribute.

[0315] (1-10)

[0316] The robot control system according to any one of items (1-1) to (1-9), further comprising a type recognition module configured to recognize the type of the content of the packaging material,

[0317] The orientation control module includes a fifth orientation control module configured to control the robot so that the orientation of the blade changes based on the type.

[0318] (1-11)

[0319] The robot control system according to any one of items (1-1) to (1-10), further comprising a thickness detection module configured to detect the thickness of the packaging material based on the torque on the blade,

[0320] The orientation control module includes a sixth orientation control module configured to control the robot so that the orientation of the blade changes based on the thickness.

[0321] (1-12)

[0322] A robot control system according to any one of items (1-1) to (1-11), wherein the robot controller includes a robot control module configured to control the robot so that the robot cuts packaging material containing bagged contents with a blade.

[0323] [5. Supplementary Notes on the Second Embodiment]

[0324] For example, the robot control system according to the second embodiment may also have the following configuration.

[0325] (2-1)

[0326] A robot control system, comprising:

[0327] a fixing portion configured to contact a bottom surface of the packaging material and fix at least a portion of the portion in contact with the bottom surface;

[0328] a robot configured to hold a cutter; and

[0329] A robot control module is configured to control the robot so that the robot rotates around the side of the packaging material and cuts the side of the packaging material with a blade of the cutter.

[0330] (2-2)

[0331] The robot control system according to item (2-1), wherein the fixing portion includes a suction device configured to suck at least a portion of the portion in contact with the bottom surface.

[0332] (2-3)

[0333] The robot control system according to item (2-2) also includes a suction device control module, which is configured to control the suction device so that the suction force of the suction device increases when the robot rotates around the side of the packaging material and cuts the side of the packaging material with the blade.

[0334] (2-4)

[0335] The robot control system according to any one of items (2-1) to (2-3), further comprising:

[0336] another robot different from the robot; and

[0337] A first fixing control module is configured to control the other robot so that the other robot fixes the packaging material by supporting the packaging material in a direction different from a direction of a force applied to the packaging material by the blade.

[0338] (2-5)

[0339] The robot control system according to any one of items (2-1) to (2-4), further comprising:

[0340] another robot different from the robot; and

[0341] A second fixing control module is configured to control the other robot so that the other robot fixes at least a portion of the top surface of the packaging material or a portion in contact with the bottom surface.

[0342] (2-6)

[0343] The robot control system according to item (2-5) also includes a removal control module, which is configured to control the other robot so that the other robot removes the upper part or the bottom part of the packaging material after the cutting of the packaging material is completed.

[0344] (2-7)

[0345] The robot control system according to item (2-6),

[0346] wherein the second fixing control module is configured to control the other robot so that the other robot fixes the top surface of the packaging material, and

[0347] The removal control module comprises an upper part removal control module, which is configured to control the other robot so that the other robot removes the upper part after the cutting of the packaging material is completed.

[0348] (2-8)

[0349] The robot control system according to any one of items (2-1) to (2-7), further comprising:

[0350] another robot different from the robot; and

[0351] A rotation control module is configured to rotate the packaging material in a state where the packaging material is fixed by the other robot.

[0352] (2-9)

[0353] The robot control system according to any one of items (2-1) to (2-8), further comprising:

[0354] another robot different from the robot;

[0355] a cutting location identification module configured to identify a cutting location of the packaging material; and

[0356] A third fixing control module is configured to control the other robot so that the other robot fixes the packaging material at a position corresponding to the cutting location.

[0357] (2-10)

[0358] The robot control system according to any one of items (2-1) to (2-9), further comprising:

[0359] another robot different from the robot; and

[0360] A fourth fixing control module is configured to control the other robot so that the other robot presses on a corner of the packaging material.

[0361] (2-11)

[0362] The robot control system according to any one of items (2-1) to (2-10), further comprising:

[0363] another robot different from the robot; and

[0364] a fifth fixing control module configured to control the other robot so that the other robot fixes the packaging material by supporting the packaging material in a direction opposite to a direction of a force applied to the packaging material by the blade.

[0365] (2-12)

[0366] The robot control system according to any one of items (2-1) to (2-11), further comprising:

[0367] another robot different from the robot;

[0368] a cutting situation recognition module, the cutting situation recognition module being configured to recognize a cutting situation of the packaging material; and

[0369] A sixth fixing control module is configured to control the other robot so that the other robot fixes the packaging material based on the cutting situation.

[0370] (2-13)

[0371] The robot control system according to any one of items (2-1) to (2-12), further comprising:

[0372] another robot different from the robot; and

[0373] A seventh fixing control module, which is configured to control the other robot so that when the robot cuts the corner of the packaging material with the cutter, the force used by the other robot to fix the packaging material becomes stronger than when the robot cuts the surface of the packaging material with the cutter.

[0374] (2-14)

[0375] The robot control system according to any one of items (2-1) to (2-13), further comprising:

[0376] an attribute recognition module configured to recognize an attribute of the packaging material; and

[0377] An eighth fixed control module is configured to control the fixed portion based on the attribute.

[0378] (2-15)

[0379] A method for fixing a packaging material by using a fixing portion, configured to contact a bottom surface of the packaging material and fix at least a portion of a portion in contact with the bottom surface when a robot including a cutter is controlled so that the robot rotates around a side surface of the packaging material and cuts the side surface of the packaging material with a blade of the cutter.

[0380] (2-16)

[0381] A fixing device is configured to contact a bottom surface of the packaging material and fix at least a part of a portion in contact with the bottom surface when a robot including a cutter is controlled so that the robot rotates around a side surface of the packaging material and cuts the side surface of the packaging material with a blade of the cutter.

[0382] (2-17)

[0383] A method for fixing a packaging material, the method comprising fixing at least a portion of a portion in contact with a bottom surface of the packaging material by using a fixing portion configured to contact with a bottom surface of the packaging material so as to prevent the packaging material from being moved by an external force received from a side surface of the packaging material.

[0384] (2-18)

[0385] A fixing device is configured to come into contact with a bottom surface of a packaging material that receives an external force from a side and fix at least a portion of a portion in contact with the bottom surface.

Claims

1. A robot control system, comprising: a robot configured to hold a cutter; as well as a robot controller configured to control the robot so that the robot cuts the packaging material with a blade of the cutter, The robot controller includes an orientation control module configured to control the robot so that when the robot cuts a face of the packaging material with the blade, the blade is more toward an outside of the packaging material than when the robot cuts a corner of the packaging material with the blade.

2. The robot control system according to claim 1, wherein: The orientation control module includes a first orientation control module configured to control the robot so that the blade enters a corner of the packaging material, faces the blade toward the outside of the packaging material, and cuts a surface of the packaging material with the blade.

3. The robot control system according to claim 1 or 2, in, The cutter includes a main body portion including the blade, and a tip, and Wherein, the orientation control module comprises a second orientation control module configured to change the orientation of the blade so that the tip is arranged between the content of the packaging material and the main body portion.

4. The robot control system according to claim 1 or 2, in, The blade is arranged at an edge portion of the cutter, wherein the one edge portion is sharper than another edge portion of the cutter, and Wherein, the orientation control module comprises a third orientation control module, and the third orientation control module is configured to change the orientation of the blade so that the other edge portion is arranged between the content and the one edge portion.

5. The robot control system according to claim 1 or 2, in, The robot is configured to hold a camera, The robot control system further comprises a shape recognition module, which is configured to recognize the shape of the packaging material based on the camera, and The robot controller includes a first cutting control module configured to control the robot so that the robot cuts below the protrusion on the side of the packaging material with the blade based on the shape.

6. The robot control system according to claim 1 or 2, in, The robot is configured to hold a camera, The robot control system further comprises a concave recognition module, which is configured to recognize a concave of the packaging material based on the camera, and The robot controller includes a second cutting control module, which is configured to control the robot so that the robot cuts a position corresponding to the recess with the blade.

7. The robot control system according to claim 1 or 2, wherein: The robot controller includes a speed control module configured to control the robot so that a speed of the cutter varies between when the robot cuts a face of the packaging material with the blade and when the robot cuts a corner of the packaging material with the blade.

8. The robot control system according to claim 1 or 2, wherein: The robot controller includes a third cutting control module configured to control the robot so that the torque on the blade changes between when the robot cuts a face of the packaging material with the blade and when the robot cuts a corner of the packaging material with the blade.

9. The robot control system according to claim 1 or 2, further comprising an attribute recognition module, wherein the attribute recognition module is configured to recognize the attribute of the packaging material. in, The orientation control module includes a fourth orientation control module configured to control the robot so that the orientation of the blade changes based on the property.

10. The robot control system according to claim 1 or 2, further comprising a type identification module configured to identify the type of content of the packaging material, in, The orientation control module includes a fifth orientation control module configured to control the robot so that the orientation of the blade changes based on the type.

11. The robot control system according to claim 1 or 2, further comprising a thickness detection module configured to detect the thickness of the packaging material based on the torque on the blade, in, The orientation control module includes a sixth orientation control module configured to control the robot so that the orientation of the blade changes based on the thickness.

12. The robot control system according to claim 1 or 2, wherein: The robot controller includes a robot control module configured to control the robot so that the robot cuts a packaging material in which bag-shaped contents are packaged with a blade.

13. A method of controlling a robot, the robot being configured to hold a cutter so that the robot cuts packaging material with a blade of the cutter, The method comprises: The robot is controlled so that the blade is directed more toward the outside of the packaging material when the robot cuts the face of the packaging material with the blade than when the robot cuts the corner of the packaging material with the blade.

14. A computer-readable information storage medium storing a program for causing a robot controller to act as a heading control module, The robot controller is configured to control a robot configured to hold a cutter so that the robot cuts the packaging material with a blade of the cutter, The orientation control module is configured to control the robot so that the blade is more oriented toward an outside of the packaging material when the robot cuts a face of the packaging material with the blade than when the robot cuts a corner of the packaging material with the blade.

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