Robot control device, robot control method, and robot control program

Abstract

Provided is a robot control device capable of accurately and efficiently taking out a workpiece. The robot control device controls a robot to fetch any workpiece from a plurality of workpieces, and includes: a list that processes data from a vision sensor that detects the plurality of workpieces and stores information of the workpieces accessed by the robot; and a workpiece information processing unit that, when the robot passes through the predetermined position, acquires a determination result whether the robot succeeds or fails to fetch any workpiece, and updates the workpiece information stored in the list.

Description

Technical Field

[0001] This disclosure relates to robot control devices, robot control methods, and robot control programs. Background Technology

[0002] In recent years, robots have been used in various industries for tasks such as retrieving and transporting objects (workpieces). One known application of such robots is the so-called "bulk retrieval (bulk picking)" which involves retrieving individual workpieces from a plurality of workpieces that are randomly placed in a container (collection container).

[0003] In bulk material handling applications, for example, the position and orientation of multiple workpieces within a container are detected by a vision sensor, and the end effector (hand) of a robot is used to remove the workpieces. Furthermore, various robots, such as vertical articulated robots and parallel linkage robots, can be used as robots for bulk material handling, and various end effectors such as grippers (pneumatic clamps), suction grippers, and magnetic grippers can be used as end effectors for removing workpieces.

[0004] In the past, various solutions have been proposed for the control technology of robots that can accurately and efficiently remove workpieces.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2008-087074 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] Previously, to control robots used for bulk workpiece removal, data from vision sensors that inspect multiple workpieces was processed, and information about the workpieces accessed by the robot was managed internally as a list. This list was updated, for example, based on whether the workpiece removal was successful.

[0010] However, updating the list is achieved, for example, by the operator (user) of a robotic system performing bulk retrieval, by programming commands to update the workpiece information into the robot's motion (main) program. However, users may fail to retrieve workpieces accurately and efficiently, for example, when creating / changing the motion program, because they forget to program the commands to update the workpiece information into the motion program, or because the information stored in the list is not the latest information updated to match the latest state.

[0011] Therefore, it is desirable to provide a robot control device, robot control method, and robot control program that can accurately and efficiently remove workpieces.

[0012] Methods for solving problems

[0013] According to one embodiment of the present disclosure, a robot control device is provided, which controls a robot to remove an arbitrary workpiece from a plurality of workpieces. The robot control device includes: a list that processes data from a vision sensor that detects the plurality of workpieces and stores information about the workpieces accessed by the robot; and a workpiece information processing unit that, when the robot passes a predetermined position, obtains a determination result as to whether the removal of the arbitrary workpiece by the robot was successful or unsuccessful, and updates the workpiece information stored in the list. Attached Figure Description

[0014] Figure 1 This is a diagram schematically illustrating an example of a robot system using the robot control device of this embodiment.

[0015] Figure 2 This is a functional block diagram illustrating one embodiment of the robot control device of this implementation.

[0016] Figure 3 It means Figure 2 A diagram showing an example of a list (blacklist) in a robot control device.

[0017] Figure 4 This is a diagram schematically illustrating another example of a robot system using the robot control device of this embodiment.

[0018] Figure 5 This is a flowchart illustrating an example of the processing in one embodiment of the robot control program of this implementation. Detailed Implementation

[0019] Hereinafter, embodiments of the robot control device, robot control method, and robot control program according to this embodiment will be described in detail with reference to the accompanying drawings. In the drawings, the same or similar constituent elements are given the same or similar reference numerals. Furthermore, the embodiments described below do not limit the technical scope of the invention as described in the patent protection scope, nor the meaning of the terms used.

[0020] Figure 1 An example of a robot system using the robot control device of this embodiment is illustrated schematically. Figure 1In the attached figures, numeral 1 represents an industrial robot, 2 represents a robot control device, 3 represents a vision sensor (3D sensor, three-dimensional measuring device), 4 represents a container, 100 represents an industrial robot system (robot system), and W represents a workpiece (object). Furthermore, the robot control device 2 of this embodiment can be applied, for example, to an industrial robot system 100 in which an industrial robot 1 retrieves any workpiece W from a plurality of randomly placed (bulk) workpieces, but is not limited to an industrial robot system. That is, the robot control device 2 of this embodiment can be widely applied to industrial robots, collaborative robots, and various robots with various workpiece retrieval functions.

[0021] like Figure 1 As shown, an industrial robot system 100, as an example of a robot system, includes an industrial robot 1, a robot control device 2, and a vision sensor 3. The industrial robot 1 is controlled by the robot control device 2, for example, by using a hand (end effector: gripper) 12 provided at the front end of the arm 11 to pick up one by one multiple workpieces W that are randomly placed in a container 4.

[0022] The vision sensor 3, for example, is a stereo camera and is mounted near the hand 12. Images of the shapes of multiple workpieces W inside the container 4, captured by the vision sensor 3, are output to the robot control device 2. That is, the output (image data) of the vision sensor 3 is input to the robot control device 2, thereby detecting (calculating) the position and posture of the workpieces W, for example, setting the removal position for each workpiece W.

[0023] Hand 12, for example, is a pneumatic gripper that holds workpiece W using air pressure. The success of hand 12's gripping (removal) of workpiece W can be determined based on the measurement results from the air pressure sensor 12a installed on hand 12. Furthermore, the determination of whether workpiece W has been successfully removed is not limited to the measurement results from air pressure sensor 12a; it can also be based on the outputs of various known contact sensors or the state of workpiece W in an image captured by a camera.

[0024] Here, the vision sensor 3 is installed near the moving hand 12 of the industrial robot 1; however, it can be, for example, as described later. Figure 4 As shown, a camera stand 40 or ceiling, etc., fixed above the industrial robot 1, captures the external shapes of multiple workpieces W inside the container 4 using a fixed vision sensor 3. Furthermore, the vision sensor 3 is not limited to a stereo camera; any camera capable of measuring the three-dimensional shape of multiple workpieces W can be used, including ToF (Time of Flight) cameras.

[0025] Figure 2This is a functional block diagram illustrating one embodiment of the robot control device 2 of this implementation. The robot control device 2 is based on an action program, for example, controlling an industrial robot 1 to remove individual workpieces W from a plurality of workpieces. Figure 2 As shown, the robot control device 2 includes a data acquisition unit 21, a data processing unit 22, a list (blacklist, retrieval location list) 23, a workpiece information processing unit 24, and a robot control unit 25.

[0026] The data acquisition unit 21, for example, acquires image data of the external shapes of multiple workpieces W bulk-packed in the container 4, captured by the vision sensor 3. The data processing unit 22 receives data from the data acquisition unit 21 and stores the data of the industrial robot 1 accessing the workpieces W in association with each workpiece W in a list 23. Here, the list 23 is a memory (storage unit) that, for example, contains a list of removal positions (positions of workpieces W) for which the industrial robot 1 removes (accesses) and a blacklist of workpieces W that the industrial robot 1 does not access.

[0027] The workpiece information processing unit 24 updates the workpiece information stored in list 23 according to the robot control program of this embodiment, and controls the robot 1 via the robot control unit 25 based on the action (main) program, so that any workpiece W is retrieved by referring to the workpiece information stored in list 23. Here, the robot control program of this embodiment is a program that is executed in parallel with the action program that controls the robot 1 to retrieve the workpiece W (an independent program), for example, it is executed in the background of the action program.

[0028] The robot control program in this embodiment, for example, obtains a determination result indicating whether the removal of any workpiece W by robot 1 at a predetermined position was successful or unsuccessful. When robot 1 passes the predetermined position, it updates the workpiece information stored in list 23 based on the determination result indicating whether the removal of any workpiece W by robot 1 was successful or unsuccessful. Here, as described above, it is possible to determine whether the removal of workpiece W was successful or unsuccessful based on the output of various contact sensors, including the measurement result of pressure sensor 12a, or images captured by a camera.

[0029] Furthermore, the motion program, for example, refers to the workpiece information stored in list 23 to set the workpiece W to be retrieved by robot 1 (the retrieval position of workpiece W), and controls robot 1 to retrieve workpiece W via robot control unit 25 based on this setting. Here, the robot control program of this embodiment updates the workpiece information stored in list 23 to reflect the latest status. Therefore, the user of the industrial robot system 100, for example, does not need to program a command to update the workpiece information in the motion program, but can perform workpiece retrieval processing by referring to the workpiece information updated to the latest information by the robot control program of this embodiment.

[0030] Figure 3 express Figure 2 This is an example of a list (blacklist) in a robot control device. Here, the blacklist 23 is updated (generated) by executing the robot control program of this embodiment, and the action program that controls the industrial robot 1 to retrieve the workpiece W uses the blacklist 23. Furthermore, the robot control program of this embodiment is a program that executes in parallel with the action program, for example, in the background of the action program. Also, the robot control program of this embodiment can be executed continuously during the operation of the robot system 100 (robot control device 2).

[0031] like Figure 3 As shown, the blacklist (List 23) is categorized, for example, by items such as "Workpiece ID," "Position and Pose (X, Y, Z, W, P, R)," "Dwell Count," and "Lifetime Count." This blacklist is also used, for example, to perform the following processing: after workpiece W is moved by a workpiece removal action, or after a predetermined number of workpiece removal actions, the stored (written) workpiece is deleted from the blacklist. This enables efficient workpiece removal processing.

[0032] "Workpiece ID" is an identification number associated with each of the multiple workpieces W within the storage container 4. "Position and orientation (X, Y, Z, W, P, R)" refers to the three-dimensional position data (X, Y, Z) and orientation data (W, P, R) set for each workpiece W. Here, the three-dimensional position data (X, Y, Z) represents the distance (e.g., mm) from the reference point (origin: e.g., a corner of the container), and the orientation data (W, P, R) represents the rotation angle (e.g., degrees) of each axis (X-axis, Y-axis, Z-axis).

[0033] The "stay count" is a count value that is stored in blacklist 23 and increments based on the number of stays. Specifically, whenever any workpiece W is stored in blacklist 23, the "stay count" is incremented by "1", and workpiece W is removed from the blacklist when it reaches a predetermined value (e.g., "5"). Furthermore, workpiece W removed from the blacklist can, for example, be returned to a list that stores workpieces W not stored in the blacklist (the retrieval position list).

[0034] The "lifespan count" is a count value that decreases based on the number of accesses, etc., stored in the blacklist 23. Specifically, for any workpiece W stored in the blacklist 23, the "lifespan count" decreases by "1" from a predetermined value (e.g., "10") each time workpiece W is accessed (e.g., when attempting to remove workpiece W), and workpiece W that becomes zero or less is removed from the blacklist 23. Furthermore, workpieces W removed from the blacklist can be returned, for example, to a list containing workpieces W not stored in the blacklist. Thus, the contents of the blacklist 23 change according to the workpiece W removal actions (staggering actions, loosening actions, etc.) performed by the industrial robot (robot) 1. Moreover, the list 23 can also be used as a list of removal positions for items that further prioritize (removal order) each workpiece W. In addition, the list 23 is not limited to the aforementioned blacklist; for example, it can also be a list of removal positions indicating the positions of removable workpieces, and of course, various modifications and changes can be made.

[0035] Figure 4 This schematically illustrates another example of a robot system using the robot control device of this embodiment. Figure 4 In the attached drawing, reference numeral 6 indicates a conveyor, 40 indicates a camera stand for holding sensor 3 above robot 1, 60 indicates the conveying section of conveyor 6, and P indicates the predetermined position (grasping determination position) of robot 1. Figure 4 In the robot system 100 shown, the robot control device 2 controls the industrial robot 1 so that the hand 12 sequentially removes each workpiece W from a plurality of workpieces randomly placed in the container 4, and places the removed workpiece W onto the conveyor section 60 of the conveyor 6. Furthermore, the robot control device 2 in this embodiment is not limited to, for example, [specific type of robot]. Figure 1 as well as Figure 4 The robot control device shown, which controls the industrial robot 1, as described above, can be widely applied to various robots with various workpiece removal functions.

[0036] exist Figure 4In the robot system 100 shown, the robot control device 2 that executes the robot control program in this embodiment obtains, for example, the determination result of whether the removal of any workpiece W performed by the robot 1 was successful or unsuccessful. When the robot 1 (e.g., the hand 12 of the robot 1) passes the grasping determination position P, it updates the information of the workpiece stored in the list 23 according to the determination result of whether the removal of any workpiece W performed by the robot 1 was successful or unsuccessful.

[0037] Specifically, when the robot 1's hand 12 removes and grasps the workpiece W[1], if it is determined that the removal of the workpiece W[1] is successful, the grasping determination signal RI[1] is turned on and output to the workpiece information processing unit 24 of the robot control device 2 when the hand 12 holding the workpiece W[1] passes the grasping determination position P. Based on the turn on of the grasping determination signal RI[1], the workpiece information processing unit 24 recognizes that the removal of the workpiece W[1] is successful and that there is no workpiece W[1] in the container 4, and updates (rewrites) the information of the workpieces stored in the list 23. Thus, the information of the workpieces stored in the list 23 is updated to reflect the latest status. Therefore, the robot control device 2, which controls the robot based on the action program, refers to the information of the workpieces stored in the list 23 that reflects the latest status and controls the industrial robot 1 to remove each workpiece W from multiple workpieces. In addition, the robot control program and the action program of this embodiment are executed by the computing processing unit (data processing unit 22 and workpiece information processing unit 24, etc.) in the robot control device 2.

[0038] The following is for reference Figure 5 An example of the robot control program and an example of the action program of this embodiment executed by the computing processing device will be described. Figure 5 This is a flowchart illustrating an example of the processing in one embodiment of the robot control program of this implementation. Figure 5 (a) represents an example of processing in the main program that controls the robot to remove the workpiece. Figure 5 (b) represents an example of processing in one embodiment of the robot control program of this embodiment. Furthermore, one embodiment of the robot control program of this embodiment is executed in parallel with the action program, for example, in the background of the action program.

[0039] First, such as Figure 5 As shown in (a), when the robot 1 starts a process in the action program to control the removal of workpiece W, in step ST11, the shape of multiple workpieces W in container 4 is detected by vision sensor 3, that is, the position and posture (x, y, z, w, p, r) of each workpiece W, and then the process proceeds to step ST12.

[0040] In step ST12, the removal position of each workpiece W is calculated, and the process proceeds to step ST13 to grasp the workpiece W. Then, the process proceeds to step ST14 to remove the workpiece W. Here, in the calculation of the removal position of the workpiece W in step ST12, the information of the workpieces stored in list 23 is referenced to determine which workpiece W to remove (access). Furthermore, by executing the reference... Figure 5 (b) The robot control program of this embodiment updates the information of the workpieces stored in list 23 to reflect the latest status. In addition, during the grasping of any workpiece W to perform the take-out action in steps ST13 and ST14, when the robot 1 passes the grasping determination position (predetermined position) P, the robot control program of this embodiment updates the information of the workpieces stored in the list.

[0041] Then, proceed to step ST15 to determine whether the workpiece removal has been completed. If it is determined that the workpiece removal has not been completed (No), return to step ST11 and repeat the same process. On the other hand, if it is determined in step ST15 that the workpiece removal has been completed (Yes), the action program is terminated (END). Furthermore, the processing of the robot control device 2 based on the action program can be modified and altered in various ways, but the information of the workpieces stored in list 23, which is referenced when determining which workpiece W the robot 1 should access, becomes information reflecting the latest status by executing the robot control program of this embodiment.

[0042] Next, as Figure 5 As shown in (b), when one instance of the processing in one embodiment of the robot control program of this embodiment starts (START), in step ST21, it is determined whether robot 1 (hand 12) has passed the gripping determination position P. In step ST21, if it is determined that robot 1 has not passed the gripping determination position P (No), the processing is repeated until it is determined that robot 1 has passed the gripping determination position P. If it is determined that robot 1 has passed the gripping determination position P (Yes), then step ST22 is entered to determine whether the gripping signal of the workpiece is ON (NO) (gripping determination signal RI[1] = ON).

[0043] In step ST22, when it is determined that the workpiece gripping signal is on (any workpiece W[1] is gripped), step ST23 is entered, and the workpiece gripping success processing is performed, and the workpiece to be retrieved is deleted from the retrieval position list 23. That is, in step ST23, based on the signal indicating successful gripping of any workpiece W[1] (gripping determination signal RI[1] = on), the any workpiece W[1] is retrieved and no longer exists in the container 4, so it is deleted from the retrieval position list 23, and the process ends (END). This is an example of the processing in the robot control program of this embodiment.

[0044] On the other hand, in step ST22, when it is determined that the workpiece gripping signal is OFF (no workpiece W[1] is gripped), step ST24 is entered, workpiece gripping failure processing is performed, the workpiece to be retrieved is added to the blacklist 23, and the surrounding workpieces are also added to the blacklist 23, and the process ends (END) in the robot control program of this embodiment. Here, the information of the workpieces stored in the list 23 such as the retrieval position list and the blacklist (for example, the surrounding workpieces of the workpiece that failed to be retrieved are also added to the blacklist) can of course be appropriately changed according to the type of workpiece W to be retrieved, the robot system 100 used, etc. In addition, the robot control program of this embodiment is a program that is executed in parallel with the action program, for example, it is executed in the background of the action program. Furthermore, the robot control program of this embodiment can also be executed continuously during the operation of the robot control device 2.

[0045] Thus, according to one embodiment of the robot control program of this implementation, the information of the workpieces stored in the list and referenced by the action program is always updated to reflect the latest status, thereby enabling accurate and efficient removal of the workpieces.

[0046] The robot control program of this embodiment described above can be provided by recording on a computer-readable non-transitory recording medium or a non-volatile semiconductor memory, or it can be provided via wired or wireless means. Examples of computer-readable non-transitory recording media include CD-ROMs (Compact Disc Read Only Memory), DVD-ROMs, and hard disk drives. Examples of non-volatile semiconductor memories include PROMs (Programmable Read Only Memory) and flash memory. Furthermore, as a distribution from a server device, it can be provided via a wired or wireless LAN (Local Area Network) or WAN (Internet).

[0047] As described in detail above, the robot control device, robot control method, and robot control program according to this embodiment can accurately and efficiently remove workpieces.

[0048] This disclosure has been described in detail, but it is not limited to the various embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit of this disclosure, or from the spirit of this disclosure derived from the content described in the patent protection scope and its equivalents. Furthermore, these embodiments can also be implemented in combination. For example, in the embodiments described above, the order of each action and the order of each process are shown as an example, and are not limited thereto. The same applies to the use of numerical values ​​or mathematical formulas in the description of the above embodiments.

[0049] The following notes are also disclosed regarding the above-described embodiments and variations.

[0050] [Postscript 1]

[0051] A robot control device (2) controls a robot (1) to remove an arbitrary workpiece (W) from a plurality of workpieces. The robot control device (2) includes: a list (23) that processes data from a vision sensor (3) that detects the plurality of workpieces and stores information about the workpieces accessed by the robot (1); and a workpiece information processing unit (24) that, when the robot (1) passes a predetermined position (P), obtains a determination result of whether the removal of the arbitrary workpiece (W) by the robot (1) is successful or unsuccessful, and updates the information about the workpiece stored in the list (23).

[0052] [Postscript 2]

[0053] According to the robot control device described in Appendix 1, it further includes a robot control unit (25) that controls the robot (1) to take out the arbitrary workpiece (W) based on the information of the workpiece stored in the list (23).

[0054] [Postscript 3]

[0055] According to the robot control device described in Appendix 2, during the action of the robot (1) being controlled by the robot control unit (25) to take out the arbitrary workpiece (W), when the robot (1) passes the predetermined position (P), the workpiece information processing unit (24) updates the information of the workpiece stored in the list (23) based on the determination result of the arbitrary workpiece (W).

[0056] [Postscript 4]

[0057] The robot control device according to any one of Appendix 1 to Appendix 3, wherein the plurality of workpieces (W) are workpieces in bulk within a container (4), and the vision sensor (3) is a three-dimensional measuring device for measuring the three-dimensional shape of the plurality of workpieces (W) in bulk within the container (4).

[0058] [Postscript 5]

[0059] According to any one of Appendix 1 to Appendix 4, the robot control device wherein the workpiece information processing unit (24) updates the information of the workpieces stored in the list (23) based on a robot control program executed in parallel with the action program, wherein the action program controls the robot (1) to remove each workpiece (W) from the plurality of workpieces.

[0060] [Postscript 6]

[0061] A robot control method for controlling a robot (1) to remove an arbitrary workpiece (W) from a plurality of workpieces, the method comprising: a workpiece information storage step, processing data from a vision sensor (3) that detects the plurality of workpieces and storing information of the workpieces accessed by the robot (1) in a list (23); and a workpiece information update step, when the robot (1) passes a predetermined position (P), obtaining a determination result of whether the removal of the arbitrary workpiece (W) by the robot (1) was successful or unsuccessful, and updating the workpiece information stored in the list (23).

[0062] [Postscript 7]

[0063] According to the robot control method described in Appendix 6, the method further includes a robot control step in which the robot (1) is controlled to take out the arbitrary workpiece (W) based on the information of the workpiece stored in the list (23).

[0064] [Postscript 8]

[0065] A robot control program controls a robot (1) to remove an arbitrary workpiece (W) from a plurality of workpieces. The program causes a computing processing device to perform the following steps: a workpiece information storage step, processing data from a vision sensor (3) that detects the plurality of workpieces, and storing information about the workpieces accessed by the robot (1) in a list (23); and a workpiece information update step, when the robot (1) passes a predetermined position (P), obtaining a determination result of whether the removal of the arbitrary workpiece by the robot (1) was successful or unsuccessful, and updating the workpiece information stored in the list (23).

[0066] [Postscript 9]

[0067] According to the robot control program described in Appendix 8, the program also causes the computing device to perform a robot control step, in which the robot (1) is controlled to take out the arbitrary workpiece (W) based on the information of the workpiece stored in the list (23).

[0068] [Postscript 10]

[0069] According to the robot control program described in Appendix 9, in the workpiece information update step, during the action of controlling the robot (1) to take out the arbitrary workpiece (W) based on the action program, when the robot (1) passes the predetermined position (P), the information of the workpiece stored in the list (23) is updated based on the determination result of the arbitrary workpiece (W).

[0070] [Postscript 11]

[0071] According to any one of the appendices 8 to 10, the robot control program wherein the plurality of workpieces (W) are workpieces in bulk within a container (4), and the vision sensor (3) is a three-dimensional measuring instrument for measuring the three-dimensional shape of the plurality of workpieces (W) in bulk within the container (4).

[0072] [Postscript 12]

[0073] According to any one of Appendix 8 to Appendix 11, the robot control program is executed in parallel with the action program that controls the robot (1) to remove each workpiece (W) from the plurality of workpieces, and the robot control program for performing the workpiece information update step updates the information of the workpieces stored in the list (23).

[0074] [Postscript 13]

[0075] According to Appendix 12, the robot control program is executed in the background of the action program.

[0076] Explanation of reference numerals in the attached figures

[0077] 1. Industrial robots (robots)

[0078] 2 Robot Control Device

[0079] 3. Vision sensors (3D sensors, three-dimensional measuring instruments)

[0080] 4 containers

[0081] 6 conveyors

[0082] 11 arms

[0083] 12 hands (end effector: gripper)

[0084] 12A barometric pressure sensor

[0085] 21Data acquisition department

[0086] 22 Data Processing Department

[0087] 23 Lists (Blacklist, Retrieval Location List)

[0088] 24. Workpiece Information Processing Department

[0089] 25 Robot Control Department

[0090] 40 camera stand

[0091] 60 Conveying Department

[0092] 100 Industrial Robot Systems (Robot Systems)

[0093] W is the workpiece (object).

Claims

1. A robot control device for controlling a robot to remove any workpiece from a plurality of workpieces, characterized in that, The robot control device has the following features: The list processes data from vision sensors that detect the plurality of workpieces and stores information about the workpieces accessed by the robot. as well as The workpiece information processing unit, when the robot passes a predetermined position, obtains the determination result of whether the removal of any workpiece by the robot was successful or unsuccessful, and updates the information of the workpiece stored in the list.

2. The robot control device according to claim 1, characterized in that, The robot control device also includes a robot control unit, which controls the robot to remove any workpiece based on the information of the workpiece stored in the list.

3. The robot control device according to claim 2, characterized in that, During the action of the robot being controlled by the robot control unit to remove the arbitrary workpiece, when the robot passes the predetermined position, the workpiece information processing unit updates the information of the workpiece stored in the list according to the determination result of the arbitrary workpiece.

4. The robot control device according to any one of claims 1 to 3, characterized in that, The plurality of workpieces are workpieces in bulk within a container. The vision sensor is a three-dimensional measuring device that measures the three-dimensional shape of the plurality of workpieces in bulk within the container.

5. The robot control device according to any one of claims 1 to 4, characterized in that, The workpiece information processing unit updates the information of the workpieces stored in the list based on a robot control program that executes in parallel with the motion program, wherein the motion program controls the robot to remove each workpiece from the plurality of workpieces.

6. A robot control method for controlling a robot to remove any workpiece from a plurality of workpieces, characterized in that, The robot control method includes: The workpiece information storage step involves processing data from the vision sensors that detect the multiple workpieces and storing the information of the workpieces accessed by the robot in a list. as well as The workpiece information update step involves obtaining a determination result of whether the removal of any workpiece by the robot was successful or unsuccessful when the robot passes a predetermined position, and updating the workpiece information stored in the list.

7. The robot control method according to claim 6, characterized in that, The robot control method further includes a robot control step, in which the robot is controlled to remove any workpiece based on the information of the workpiece stored in the list.

8. A robot control program that controls a robot to remove any workpiece from a plurality of workpieces, characterized in that, The robot control program causes the computing device to perform the following steps: The workpiece information storage step involves processing data from the vision sensors that detect the multiple workpieces and storing the information of the workpieces accessed by the robot in a list. as well as The workpiece information update step involves obtaining a determination result of whether the removal of any workpiece by the robot was successful or unsuccessful when the robot passes a predetermined position, and updating the workpiece information stored in the list.

9. The robot control program according to claim 8, characterized in that, The robot control program also causes the computing device to execute robot control steps, in which the robot is controlled to remove any workpiece based on the information of the workpiece stored in the list.

10. The robot control program according to claim 9, characterized in that, In the workpiece information update step, during the action of the robot taking out the arbitrary workpiece based on the action program, when the robot passes the predetermined position, the information of the workpiece stored in the list is updated according to the determination result of the arbitrary workpiece.

11. The robot control program according to any one of claims 8 to 10, characterized in that, The plurality of workpieces are workpieces in bulk within a container. The vision sensor is a three-dimensional measuring device that measures the three-dimensional shape of the plurality of workpieces in bulk within the container.

12. The robot control program according to any one of claims 8 to 11, characterized in that, A robot control program is executed in parallel with the action program that controls the robot to remove each workpiece from the plurality of workpieces to perform the workpiece information update step, updating the information of the workpieces stored in the list.

13. The robot control program according to claim 12, characterized in that, The robot control program is executed in the background of the action program.

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