Method for estimating number of workpieces, component supply system, and robot system

Abstract

The invention relates to a method for estimating the number of workpieces, a component supply system and a robot system, and provides a technology capable of easily estimating the number of workpieces. The method according to the present disclosure includes: (a) obtaining a component remaining amount index indicating at least one of a volume and a height of a plurality of workpieces by using a depth detection result in a supply source tray obtained by a depth detector; and (b) estimating the number of the plurality of workpieces using the component remaining amount index.

Description

Technical Field

[0001] The present disclosure relates to a method for estimating the number of workpieces, a component supply system, and a robot system. Background Art

[0002] In the workpiece picking operation performed by a robot, a component supply system for supplying workpieces is used. Patent document 1 discloses a component supply system for estimating the remaining amount of components. In this prior art, the number of workpieces accommodated in a recessed portion of a tray is detected, and the remaining amount of workpieces in the tray is estimated based on the detection result.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2013-249140

[0004] However, in the above-mentioned prior art, there is a problem in that the remaining amount of the workpieces cannot be counted unless the number of the workpieces is reduced to the same number as the number of the recessed portions. Summary of the invention

[0005] According to a first aspect of the present disclosure, a method for estimating the number of a plurality of workpieces accommodated in a supply source tray is provided. The method comprises the following steps: (a) using a depth detection result in the supply source tray obtained by a depth detector to obtain a component remaining quantity index representing at least one of the volume and height of the plurality of workpieces; and (b) using the component remaining quantity index to estimate the number of the plurality of workpieces.

[0006] According to a second aspect of the present disclosure, a component supply system is provided. The component supply system comprises: a supply source tray for accommodating a plurality of workpieces; a depth detector for photographing the supply source tray and detecting the depth; and a quantity estimation unit for estimating the number of the plurality of workpieces. The quantity estimation unit is configured to perform the following processing: (a) using the depth detection result in the supply source tray obtained by the depth detector, to obtain a component remaining quantity index representing at least one of the volume and height of the plurality of workpieces; and (b) using the component remaining quantity index, to estimate the number of the plurality of workpieces.

[0007] According to a third aspect of the present disclosure, there is provided a robot system including: the component supply system described above; and a robot configured to perform a picking operation of the workpieces accommodated in the supply source tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is an explanatory diagram showing the configuration of a robot system in the embodiment.

[0009] Figure 2 This is a functional block diagram of an information processing device in an embodiment.

[0010] Figure 3It is an explanatory diagram showing the functions of the object detection unit, the component remaining amount index estimation unit, and the component quantity estimation unit.

[0011] Figure 4 This is a flowchart showing the process procedure of the advance preparation of the picking operation.

[0012] Figure 5 This is a flowchart showing the processing procedure of the picking operation in the first embodiment.

[0013] Figure 6 This is an explanatory diagram showing an example of a window for reporting the remaining amount of parts and the remaining work time.

[0014] Figure 7 It is an explanatory diagram showing examples of various kinds of workpieces used in the second embodiment.

[0015] Figure 8 It is a flowchart showing the processing procedure of the picking operation in the second embodiment.

[0016] Description of Reference Numerals

[0017] 100…robot; 110…base; 120…robot arm; 122…arm end; 150…robot hand; 200…control device; 300…information processing device; 310…processor; 320…memory; 330…interface circuit; 340…input device; 350…display device; 400…depth detector; 410…still image camera; 420…depth sensor; 500…workbench; 510…supply source tray; 520…supply destination tray; 530…hopper; 610…quantity estimation unit; 612…object detection unit; 614…component remaining quantity index estimation unit; 616…component remaining quantity estimation unit; 618…position posture estimation unit; 620…robot control execution unit. DETAILED DESCRIPTION

[0018] A. First Implementation Method:

[0019] Figure 1 1 is an explanatory diagram showing an example of a robot system in one embodiment. The robot system includes a robot 100, a control device 200 for controlling the robot 100, an information processing device 300, a depth detector 400, a supply source tray 510, a supply destination tray 520, and a hopper 530. The information processing device 300 is, for example, a personal computer. The information processing device 300, the depth detector 400, the supply source tray 510, and the hopper 530 function as a component supply system.

[0020] The robot 100 includes a base 110 and a robot arm 120. A robot arm 150 as an end effector is mounted on an arm end 122 as a front end of the robot arm 120. The robot arm 150 can be implemented as a clamp or a suction cup that can hold a workpiece WK. A TCP (Tool Center Point) as a control point of the robot 100 is set at the front end of the robot arm 150. It should be noted that the control point TCP can be set at any position.

[0021] The robot arm 120 is connected in sequence by six joints J1 to J6. Among these joints J1 to J6, three joints J2, J3, and J5 are bending joints, and the other three joints J1, J4, and J6 are torsion joints. In this embodiment, a six-axis robot is illustrated, but a robot having any robot arm mechanism having multiple joints can also be used. In addition, the robot 100 of this embodiment is a vertical multi-joint robot, but a horizontal multi-joint robot can also be used.

[0022] The robot 100 performs a picking operation of taking out a workpiece WK from a supply source tray 510 and arranging it on a supply destination tray 520. The supply source tray 510 contains a plurality of workpieces WK in a bulk state. The supply destination tray 520 is used as a place for loading the workpieces WK taken out from the supply source tray 510. The workpiece WK is loaded at a predetermined position in the supply destination tray 520 in a predetermined posture. In order to accurately perform the picking operation, the position and posture of the workpiece WK are identified. The workpiece WK is also referred to as a "part" or an "object". In the first embodiment, a picking operation related to a plurality of workpieces WK of the same specification is performed. The hopper 530 is a replenishing device for replenishing the workpiece WK to the supply source tray 510. However, replenishing devices such as the hopper 530 may be omitted, and the workpiece WK may be replenished by the user.

[0023] The depth detector 400 is disposed above the supply source tray 510 to photograph the workpiece WK in the supply source tray 510. In the present embodiment, the depth detector 400 includes a still image camera 410 for photographing a still image and a depth sensor 420 for photographing a depth image. As the depth detector 400, for example, an RGBD camera including an RGB camera and a D camera (Depth Camera) can be used. However, the still image camera 410 can also photograph a monochrome image instead of an RGB image. In addition, the still image camera 410 can also be omitted. The depth detector 400 preferably has at least a function of being able to detect depth.

[0024] exist Figure 1, a world coordinate system Σw, a robot coordinate system Σr, a camera coordinate system Σc, and a sensor coordinate system Σs are shown. The X-axis and the Y-axis of the world coordinate system Σw are axes in the horizontal direction, and the Z-axis is an axis in the vertical direction. With respect to other coordinate systems, the reference numerals for distinguishing the three coordinate axes are omitted. The robot coordinate system Σr is an orthogonal coordinate system with a predetermined position of the robot 100 as the coordinate origin. The camera coordinate system Σc is an orthogonal coordinate system with a predetermined position of the still image camera 410 as the coordinate origin. The sensor coordinate system Σs is an orthogonal coordinate system with a predetermined position of the depth sensor 420 as the coordinate origin. The relative relationship between the sensor coordinate system Σs and the camera coordinate system Σc is known, and the depth within the field of view of the depth sensor 420 is corresponding to the pixel position in the image captured by the still image camera 410. In addition, the still image camera 410 is calibrated in advance, and the positions and postures in each coordinate system Σw, Σr, and Σc can be converted to each other through coordinate conversion.

[0025] Figure 2 3 is a block diagram showing the functions of the information processing device 300. The information processing device 300 includes a processor 310, a memory 320, and an interface circuit 330. An input device 340 and a display device 350 are connected to the interface circuit 330. In addition, the control device 200 and the depth detector 400 are also connected to the interface circuit 330.

[0026] The processor 310 has functions as a quantity estimation unit 610 and a robot control execution unit 620. The quantity estimation unit 610 estimates the number of workpieces WK accommodated in the supply source tray 510 using the depth detection result of the depth detector 400, and also estimates the position of at least one workpiece WK. The quantity estimation unit 610 includes functions of an object detection unit 612, a component remaining quantity index estimation unit 614, a component remaining quantity estimation unit 616, and a position and posture estimation unit 618.

[0027] The object detection unit 612 detects the workpieces WK stored in the supply source tray 510 using the detection result of the depth detector 400. The component remaining amount index estimation unit 614 obtains a component remaining amount index indicating at least one of the volume and height of the plurality of workpieces WK in the supply source tray 510 using the depth detection result of the depth detector 400. The component remaining amount estimation unit 616 estimates the number of workpieces WK in the supply source tray 510 using the component remaining amount index. The functions of the object detection unit 612, the component remaining amount index estimation unit 614, and the component remaining amount estimation unit 616 will be further described later.

[0028] The position and posture estimation unit 618 estimates the position and posture (rotation angle) of the workpiece WK that is the object of the picking operation of the robot 100. The position and posture are also referred to as "position and posture". In the present embodiment, the position and posture estimation unit 618 estimates the position and posture of the workpiece WK using the depth information measured by the depth sensor 420. The position and posture estimation unit 618 can be configured, for example, using a position and posture estimation algorithm that uses deep learning. It should be noted that, depending on the shape of the workpiece WK or the picking method, it is sometimes not necessary to estimate the posture of the workpiece WK. In this case, the position and posture estimation unit 618 only estimates the position of the workpiece WK.

[0029] In the estimation process of position and posture, an algorithm that uses image information obtained by the still image camera 410 in addition to depth information has high estimation accuracy and is therefore preferred. As such a position and posture estimation algorithm, for example, PVN3D (A Deep Point-wise 3D Keypoints Voting Network for 6DoF PoseEstimation, https: / / doi.org / 10.48550 / arXiv.1911.04231) can be used. In this position and posture estimation algorithm, the position of the key point that is an important feature point of the object can be estimated, and the position and posture of the object can be obtained from this.

[0030] The robot control execution unit 620 uses the estimated position and posture of the workpiece WK to perform the picking operation of the workpiece WK. The functions of the quantity estimation unit 610 and the robot control execution unit 620 are respectively implemented by the processor 310 executing a computer program stored in the memory 320. However, part or all of the functions of the quantity estimation unit 610 and the robot control execution unit 620 may also be implemented by a hardware circuit.

[0031] The memory 320 stores CAD data CD indicating the outer shape of the workpiece WK, a template TP used for detecting the object and estimating the position and posture of the workpiece WK, and a robot control program RP. The robot control program RP includes a plurality of commands for operating the robot 100 .

[0032] Figure 3 4 is an explanatory diagram showing the functions of the object detection unit 612, the component remaining amount index estimation unit 614, and the component remaining amount estimation unit 616. The depth detector 400 creates a detection result image IM including a first image M1 and a second image M2. The first image M1 obtained by the still image camera 410 is an image representing the RGB value of each pixel having the pixel coordinates (x, y). The second image M2 obtained by the depth sensor 420 is an image representing the depth information of each pixel having the pixel coordinates (x, y). The second image M2 is also referred to as a "depth image".

[0033] The object detection unit 612 uses the first image M1 obtained by the still image camera 410 to generate a bounding box BB surrounding the detection target object existing in its field of view, and identifies the type of each object. The detection target object is a workpiece WK. The object detection unit 612 can be configured as an object detection algorithm using deep learning such as R-CNN (Region Based Convolutional Neural Networks), SSD (Single Shot multibox Detector), YOLO (You Look Only Ones), etc. The learning of the object detection unit 612 can be performed in the information processing device 300, or it can be performed in advance in other environments. It should be noted that as an object detection process, other processes such as instance segmentation processing can also be used instead of the process using the bounding box BB. The object detection unit 612 can also use the second image M2 obtained by the depth sensor 420 instead of the first image M1 obtained by the still image camera 410 to perform object detection.

[0034] The component remaining amount indicator estimating unit 614 obtains the component remaining amount indicator Vwk by executing the following processing.

[0035] (a1) A two-dimensional region obtained by taking the logical sum of all the plurality of bounding boxes BB detected by the object detection unit 612 is obtained as the component set region Swk. At this time, a process of expanding the region may be performed so that there are no gaps or holes.

[0036] (a2) Based on the depth information of the second image M2 obtained by the depth sensor 420 , the distance Dh(x, y) from the depth sensor 420 is calculated for each pixel.

[0037] (a3) The distance D0(x, y) of each pixel when the supply source tray 510 is photographed in the absence of a workpiece WK or other components is calculated in advance, and the actual height H(x, y) = Dh(x, y) - D0(x, y) is calculated for each pixel by taking the difference between the two distances Dh(x, y) and D0(x, y).

[0038] (a4) The total of the substantial heights H(x, y) of the pixels included in the component group region Swk is calculated as the component remaining amount index Vwk.

[0039] In this example, the component remaining amount index Vwk is an index indicating an estimated amount of the total volume of the plurality of workpieces WK.

[0040] It should be noted that the above-mentioned process (a1) may be omitted. In this case, the area corresponding to the supply source tray 510 in the screen of the depth sensor 420 can be pre-set as the "supply source area", and in the process (a4), the total of the actual heights H (x, y) of the pixels included in the supply source area is calculated as the component remaining quantity index Vwk.

[0041] The component remaining quantity estimation unit 616 estimates the number Nres of the plurality of workpieces WK accommodated in the supply source tray 510 using the component remaining quantity index Vwk. The number Nres can be calculated by dividing the component remaining quantity index Vwk by the workpiece volume ΔV of each workpiece WK. The workpiece volume ΔV can be calculated, for example, based on the reduction in the component remaining quantity index Vwk caused by one picking operation. Alternatively, the workpiece volume ΔV can be calculated based on the average value of the reduction in the component remaining quantity index Vwk in multiple picking operations. In addition, the workpiece volume ΔV can also be calculated using the CAD data of the workpiece WK.

[0042] It should be noted that, as the component remaining amount index Vwk, any of the following indices may be used instead of an index indicating an estimated amount of the total volume of the plurality of workpieces WK.

[0043] (a) is an index showing the distance from the surface of the supply source tray 510 to the highest point of the plurality of workpieces WK accommodated in the supply source tray 510 .

[0044] (b) An index showing the distance from the depth detector 400 to the highest point of the plurality of workpieces WK stored in the supply source tray 510 .

[0045] In these examples, the remaining component index Vwk is an index indicating the height of the plurality of workpieces WK. When using such remaining component index Vwk, the remaining component estimating unit 616 can estimate the number Nres using a table indicating the relationship between the remaining component index Vwk and the number Nres of the plurality of workpieces WK.

[0046] As the remaining component index Vwk, an index including an index indicating the volume of the plurality of workpieces WK and an index indicating the height of the plurality of workpieces WK may be used. That is, as the remaining component index Vwk, an index indicating at least one of the volume and the height of the plurality of workpieces WK may be used.

[0047] Figure 4Flowchart showing the preparatory processing procedure of the picking operation. In step S11, the depth detector 400 is detected when there are no parts such as workpieces WK in the supply source tray 510. In step S12, the remaining part index estimation unit 614 measures the distance D0 (x, y) from the depth detector 400 for each pixel using the depth information obtained by the depth detector 400. The data indicating the distance D0 (x, y) is stored in the memory 320.

[0048] Figure 5 1 is a flowchart showing the processing procedure of the picking operation in the first embodiment. In step S21, the depth detector 400 performs detection in a state where a plurality of workpieces WK are bulked in the supply source tray 510. In step S22, the object detection unit 612 performs component detection processing using the detection result of the depth detector 400. Figure 3 As described in the embodiment, the object detection unit 612 uses the first image M1 obtained by the still image camera 410 to generate a bounding box BB surrounding each workpiece WK existing in its field of view, and recognizes the type of each workpiece WK. However, in the first embodiment, since only one type of workpiece WK is accommodated in the supply source tray 510, the identification of the type can be omitted.

[0049] In step S23, the component remaining quantity index estimation unit 614 performs component remaining quantity index estimation processing using the detection result of the object detection unit 612. Figure 3 As described in , in this embodiment, the component remaining quantity index estimation unit 614 obtains the logical sum of the plurality of bounding boxes BB as the component group area Swk, and calculates the total of the actual heights H (x, y) of the pixels included in the component group area Swk as the component remaining quantity index Vwk. In step S24, the component remaining quantity estimation unit 616 performs the component remaining quantity estimation process. Figure 3 As described in the previous section, in this embodiment, the remaining component quantity estimating unit 616 calculates the number Nres of workpieces WK by dividing the remaining component quantity indicator Vwk by the workpiece volume ΔV. Figure 5 When performing the routine of steps S21 to S29, it is preferable to use a preset initial value as the workpiece volume ΔV.

[0050] In step S25 , the quantity estimation unit 610 displays the remaining quantity of components and the remaining operation time on the display device 350 and reports them to the user.

[0051] Figure 61 is an explanatory diagram showing an example of a window W1 that reports the remaining quantity of parts and the remaining operation time. The remaining quantity of parts is the number Nres of workpieces WK calculated in step S24. The remaining operation time is the time required to complete the picking operation of the workpieces WK stored in the supply source tray 510. The remaining operation time is calculated by multiplying the number Nres of workpieces WK by the operation time required for one picking operation. Figure 5 When performing the routine of steps S21 to S29, it is preferable to use a preset initial value as the operation time required for one picking operation. It should be noted that step S25 may also be omitted.

[0052] Preferably, when the remaining amount of the component is below a preset reporting threshold, the report that the remaining amount of the workpiece is reduced is made. In this way, the user can easily recognize that the remaining amount of the workpiece is small. In addition, preferably, when the remaining amount of the component is below a preset replenishment threshold, the component supply system is configured so that a replenishment device such as a hopper 530 automatically replenishes the workpiece WK to the supply source tray 510. In this way, a sufficient number of workpieces WK can be maintained in the supply source tray 510.

[0053] In step S26, the position and posture estimation unit 618 uses the detection result of the depth detector 400 to perform the position and posture estimation processing of the workpiece WK. In this posture estimation processing, the position and posture of at least one workpiece WK among the multiple workpieces WK are estimated. It should be noted that, as mentioned above, it is also possible to estimate only the position without estimating the posture. In step S27, the quantity estimation unit 610 selects a workpiece WK to be picked. This selection is performed, for example, by selecting the workpiece whose position and posture estimated in step S26 are most suitable for the picking operation from the multiple workpieces WK accommodated in the supply source tray 510.

[0054] In step S28, the robot control execution unit 620 performs the picking operation. At this time, the operation time required for one picking operation is recorded. This operation time is recorded for the second and subsequent picking operations. Figure 5 During the routine of steps S21 to S29, it is used for calculation of the remaining working time in step S25.

[0055] In step S29, the quantity estimation unit 610 determines whether the picking operation is completed. Figure 5 On the other hand, if the picking operation is not completed, the process returns to step S21 and the processes after step S21 are executed again.

[0056] In the second execution Figure 5When the routine of steps S21 to S29 is executed, in step S23, the decrease ΔVwk between the previous and current component remaining quantity index Vwk is calculated. This decrease ΔVwk can be used as the workpiece volume ΔV of each workpiece WK in the component remaining quantity estimation process in step S24. Figure 5 In the routine of steps S21 to S29, the average value of the reduction amount ΔVwk of the component remaining amount index Vwk in a plurality of picking operations may be used as the workpiece volume ΔV.

[0057] As described above, in the first embodiment, the component remaining amount index Vwk indicating at least one of the volume and height of the plurality of workpieces WK is obtained using the depth detection result in the supply source tray obtained by the depth detector 400, and the number Nres of the plurality of workpieces WK is estimated using the component remaining amount index Vwk. Therefore, the number Nres of the plurality of workpieces WK in the supply source tray 510 can be easily estimated. In addition, the depth detection result of the depth detector 400 can be used to both estimate the number of workpieces WK and estimate the position of the workpieces WK.

[0058] It should be noted that in the first embodiment, after the remaining quantity index of the component is calculated and the remaining quantity estimation processing is performed in S23 and S24, the position and posture of the workpiece are estimated, the picking operation object is selected, and the picking operation is performed in S26 to S28. However, it is also possible to calculate the remaining quantity index of the component and perform the remaining quantity estimation processing in S23 and S24 after the position and posture of the workpiece are estimated, the picking operation object is selected, and the picking operation is performed in S26 to S28.

[0059] B. Second Implementation Method:

[0060] Figure 7 This is an explanatory diagram showing an example of multiple workpieces used in the second embodiment. In the second embodiment, multiple workpieces WK1, WK2, and WK3 of different sizes are used. These workpieces WK1, WK2, and WK3 are respectively accommodated in separate supply source trays 510_1, 510_2, and 510_3, and are arranged on a supply destination tray 520 through a picking operation. It should be noted that the device configuration of the second embodiment is the same as the device configuration of the first embodiment.

[0061] Figure 8 1 is a flowchart showing the processing procedure of the picking operation in the second embodiment. The second embodiment is different from the first embodiment in that Figure 5 In the processing procedure shown, step S100 is inserted between step S22 and step S23, and step S110 is inserted between step S28 and step S29. The other steps are substantially the same as those in the first embodiment.

[0062] Steps S100 and S110 mean that steps S23 to S28 interposed therebetween are executed for each type of workpiece. The loop of steps S23 to S28 is referred to as a "part type loop."

[0063] The processing of steps S21 and S22 is the same as that of the first embodiment. In the second embodiment, steps S23 to S28 are executed for each type of workpiece. That is, the component remaining quantity index Vwk is calculated for each type of workpiece, and the remaining quantity and remaining operation time of the workpiece are also calculated for each type of workpiece. After that, the position and posture of the workpiece of the type to be processed are estimated, and the picking operation is performed. Figure 7 In the example, in the component type loop between step S100 and step S110, steps S23 to S28 are performed once for the first workpiece WK1 and the second workpiece WK2, respectively, and steps S23 to S28 are performed three times for the third workpiece WK3. At this time, when the picking of a workpiece WK3 is completed, if the processing of eliminating the bounding box BB of the workpiece WK3 is performed, it is not necessary to perform the detection of the depth detector 400 every time the picking is performed, and multiple pickings can be performed continuously.

[0064] Preferably, the remaining amount of parts is reported to the user for each type of workpiece. Also, preferably, the remaining operation time is reported taking into account all remaining operation times of multiple types of workpieces. Also, preferably, the reporting of replenishment opportunities is performed separately for each type of workpiece.

[0065] As described above, in the second embodiment, even in a task in which multiple types of workpieces are selected, it is possible to estimate the number of workpieces and the positions of workpieces using the depth detection result of the depth detector 400 .

[0066] •Other ways:

[0067] The present disclosure is not limited to the above-mentioned embodiments, and can be implemented in various ways without departing from the scope of the present disclosure. For example, the present disclosure can also be implemented in the following aspects. In order to solve part or all of the technical problems of the present disclosure, or to achieve part or all of the effects of the present disclosure, the technical features in the above-mentioned embodiments corresponding to the technical features in each aspect described below can be appropriately replaced or combined. In addition, as long as the technical features are not described as necessary technical features in this specification, they can be appropriately deleted.

[0068] (1) According to a first aspect of the present disclosure, a method for estimating the number of a plurality of workpieces accommodated in a supply source tray is provided. The method comprises the following steps: (a) using a depth detection result in the supply source tray obtained by a depth detector to obtain a component remaining quantity index indicating at least one of a volume and a height of the plurality of workpieces; and (b) using the component remaining quantity index to estimate the number of the plurality of workpieces.

[0069] According to this method, the number of the plurality of workpieces in the supply source tray can be easily estimated.

[0070] (2) The above method may further include the steps of: estimating a position of at least one of the plurality of workpieces using the depth detection result; and performing a picking operation using the estimated position of the workpiece.

[0071] According to this method, the depth detection result obtained by the depth detector can be used for both estimating the number of workpieces and estimating the positions of the workpieces.

[0072] (3) The above method may further include a step of reporting that the remaining number of workpieces is decreasing when the number is equal to or less than a reporting threshold value.

[0073] According to this method, the user can easily recognize that the remaining amount of workpieces is small.

[0074] (4) The above method may further include a step of causing a replenishment device to replenish the supply source tray with the workpieces when the number is equal to or less than a replenishment threshold value.

[0075] According to this method, it is possible to maintain a state in which a sufficient number of workpieces are accommodated in the supply source tray.

[0076] (5) In the above method, the component remaining amount indicator may be an estimated amount of a total volume of the plurality of workpieces.

[0077] According to this method, the number of the plurality of workpieces can be easily estimated based on the estimated amount of the total volume of the plurality of workpieces.

[0078] (6) In the above method, the step (b) may include a step of estimating the number of the plurality of workpieces by dividing the total volume of the plurality of workpieces by a workpiece volume of each workpiece.

[0079] According to this method, the number of a plurality of workpieces can be easily estimated.

[0080] (7) In the above method, the step (b) may include a step of calculating the workpiece volume based on a reduction in the total volume of the plurality of workpieces caused by one picking operation.

[0081] According to this method, the workpiece volume of each workpiece can be accurately estimated.

[0082] (8) In the above method, the step (b) may include a step of calculating the workpiece volume based on an average value of reductions in the total volume of the plurality of workpieces in a plurality of picking operations.

[0083] According to this method, the workpiece volume of each workpiece can be accurately estimated.

[0084] (9) The method may further include calculating a remaining time by multiplying the number of the plurality of workpieces by a picking operation time for each workpiece, and reporting the remaining time.

[0085] According to this method, the time when the picking operation of the workpieces stored in the supply source tray is completed can be notified to the user.

[0086] (10) In the above method, the component remaining amount indicator may be a distance from a surface of the supply source tray to a highest point of the plurality of workpieces.

[0087] According to this method, the number of the plurality of workpieces can be easily estimated using the distance from the surface of the supply source pallet to the highest point of the workpiece.

[0088] (11) In the above method, the component remaining amount indicator may be a distance from the depth detector to the highest point of the plurality of workpieces.

[0089] According to this method, the number of a plurality of workpieces can be easily estimated using the distance from the depth detector to the highest point of the workpiece.

[0090] (12) According to a second aspect of the present disclosure, a component supply system is provided. The component supply system includes: a supply source tray for accommodating a plurality of workpieces; a depth detector for photographing the supply source tray and detecting the depth; and a quantity estimation unit for estimating the number of the plurality of workpieces. The quantity estimation unit is configured to perform the following processing: (a) using the depth detection result in the supply source tray obtained by the depth detector, to obtain a component remaining quantity index representing at least one of the volume and the height of the plurality of workpieces; and (b) using the component remaining quantity index, to estimate the number of the plurality of workpieces.

[0091] (13) According to a third aspect of the present disclosure, there is provided a robot system including: the component supply system described above; and a robot configured to perform a picking operation of the workpieces stored in the supply source tray.

[0092] The present disclosure can be implemented in various forms other than those described above, for example, in the form of a robot system including a robot and a robot control device, a computer program for realizing the functions of the robot control device, and a non-transitory storage medium recording the computer program.

Claims

1. A method for estimating the number of workpieces, characterized in that: The method is used to estimate the number of a plurality of workpieces accommodated in a supply source tray, and comprises the following steps: (a) using a depth detection result in the supply source tray obtained by a depth detector, obtaining a component remaining amount index indicating at least one of a volume and a height of the plurality of workpieces; and (b) estimating the number of the plurality of workpieces using the component remaining quantity indicator.

2. The method for estimating the number of workpieces according to claim 1, characterized in that: The method further comprises the following steps: using the depth detection result, estimating a position of at least one of the plurality of workpieces; as well as Using the information on the estimated positions of the workpieces, the robot is caused to perform a picking operation.

3. The method for estimating the number of workpieces according to claim 1, characterized in that: The method further includes a step of reporting that the remaining amount of the workpiece is decreasing when the amount is equal to or less than a reporting threshold.

4. The method for estimating the number of workpieces according to claim 1, characterized in that: The method further includes a step of replenishing the supply source tray with the workpieces by a replenishing device when the number is equal to or less than a replenishment threshold.

5. The method for estimating the number of workpieces according to claim 1, characterized in that: The component remaining amount indicator is an estimated amount of a total volume of the plurality of workpieces.

6. The method for estimating the number of workpieces according to claim 5, characterized in that: The step (b) includes estimating the number of the plurality of workpieces by dividing the total volume of the plurality of workpieces by a workpiece volume of each workpiece.

7. The method for estimating the number of workpieces according to claim 6, characterized in that: The step (b) includes calculating the workpiece volume based on a reduction in the total volume of the plurality of workpieces caused by one picking operation.

8. The method for estimating the number of workpieces according to claim 6, characterized in that: The step (b) includes calculating the workpiece volume based on an average value of the reduction in the total volume of the plurality of workpieces in a plurality of picking operations.

9. The method for estimating the number of workpieces according to claim 1, characterized in that: The method further includes the steps of calculating a remaining time by multiplying the number of the plurality of workpieces by a picking operation time for each workpiece, and reporting the remaining time.

10. The method for estimating the number of workpieces according to claim 1, characterized in that: The component remaining amount index is a distance from the surface of the supply source tray to the highest point of the plurality of workpieces.

11. The method for estimating the number of workpieces according to claim 1, characterized in that: The component remaining amount indicator is a distance from the depth detector to the highest point of the plurality of workpieces.

12. A component supply system, characterized in that: have: A supply source tray to accommodate multiple workpieces; a depth detector that photographs the supply source tray and detects the depth; and a quantity estimating unit that estimates the quantity of the plurality of workpieces; The quantity estimation unit is configured to execute the following processing: (a) using a depth detection result in the supply source tray obtained by the depth detector, obtaining a component remaining amount index indicating at least one of a volume and a height of the plurality of workpieces; and (b) estimating the number of the plurality of workpieces using the component remaining quantity indicator.

13. A robot system, characterized in that: have: The component supply system of claim 12; and The robot performs a picking operation of the workpieces accommodated in the supply source tray.

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