Robot control device, robot system and robot control program
Patent Information
- Application Number
- DE112023004876
- Authority / Receiving Office
- DE · DE
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-01-30
- Publication Date
- 2025-09-11
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
Area
[0001] The present disclosure relates to a robot control device, a robot system and a robot control program. background
[0002] In recent years, a robot system in which a plurality (a predetermined number) of articles are filled (packed) into a container (a box) that is conveyed from an upstream side to a downstream side by a conveying device such as a conveyor has been used in various fields. In this case, an arrival of the container is calculated (detected) with respect to any robot based on, for example, a camera or a photoelectric sensor (a photocell sensor) provided further upstream than the most upstream robot, and a moving speed of the conveyor calculated from a value of an encoder provided in the conveying device.
[0003] Conventionally, various proposals have been made for a robot system in which a plurality of articles are filled into a container which is conveyed from an upstream side to a downstream side by a conveying device. List of citationsPatent literature [PTL 1] Unexamined Japanese Patent Publication (Kokai) No. 2010-280010 [PTL 2] Unexamined Japanese Patent Publication (Kokai) No. 2019-126885 [PTL 3] Unexamined Japanese Patent Publication (Kokai) No. 2016-016915 [PTL 4] Unexamined Japanese Patent Publication (Kokai) No. H06(1994)-210556 SummaryTechnical task
[0004] As described above, in the robot system in which a plurality of articles are filled into a container conveyed from the upstream side to the downstream side by the conveying device, there may be known a problem of decreasing an accuracy in filling the article with respect to the container because the robot provided on the downstream side weakens.
[0005] This is particularly because, for example, due to a long conveyor belt length, an error may accumulate in the encoder value of the robot located downstream of the conveyor, and the position of the container calculated from the encoder value may be offset from the actual position. Furthermore, for example, it is difficult for the robot located downstream of the conveyor to detect the actual position of the container if the container is moved while the robot located upstream of the conveyor is filling the article.
[0006] Therefore, in a robot system in which a plurality of articles are filled by a plurality of robots with respect to a container conveyed by a conveying device, it is required that a position of a container is accurately detected and packing of articles with respect to the container is performed with high accuracy. Technical solution
[0007] According to an example of the present embodiment, a robot control device is provided for controlling any one robot of a robot system in which a container conveyed by a conveying device from an upstream side to a downstream side is filled with a plurality of articles by a plurality of robots, the robot control device including a storage unit and a queue management unit.
[0008] On an upstream side of the arbitrary robot, at least one upstream robot, at least one first position information sensor, and a second position information sensor provided closer to the arbitrary robot than the first position information sensor are provided. The storage unit is configured to store filling information about the articles filled into the container by the upstream robot and first position information based on an output of the first position information sensor output from an upstream robot controller configured to control the nearest upstream robot on the upstream side.The queue management unit is configured to receive the filling information about the articles and the first position information about the article from the storage unit and second information acquired based on an output of the second position information acquisition sensor, and is configured to rewrite the first position information into the second position information and control the arbitrary robot. Short description of the drawings [ Fig. 1] Fig. 1 is a diagram schematically illustrating a main part of an embodiment of a robot system according to the present embodiment. [ Fig. 2] Fig. 2 is a diagram for explaining processing of each robot in the one embodiment of the robot system according to the present embodiment. [ Fig. 3] Fig. Figure 3 is a graphical representation showing a configuration of each robot in the Fig. 2 schematically shows the robot system. [ Fig. 4] Fig. 4 is a block diagram illustrating one embodiment of the robot system according to the present embodiment. [ Fig. 5] Fig. 5 is a functional block diagram for explaining an operation of the Fig. 4 shown robot system. [ Fig. 6] Fig. 6 is a flowchart for explaining an example of processing in an embodiment of a robot control program according to the present embodiment. Description of the embodiments
[0009] Embodiments of a robot control device, a robot system, and a robot control program according to the present invention will be described in detail below with reference to the accompanying drawings. In each drawing, the same or similar components are assigned to the same or similar components. Furthermore, the embodiments described below are not intended to limit the technical scope of the invention described in the claims and the meaning of the term.
[0010] Fig. 1 is a diagram schematically illustrating a main part of an embodiment of a robot system according to the present embodiment. In Fig. 1, reference numeral 3 denotes a container, 5 denotes a conveyor (transport device), 11 to 14 denote robots, 50 denotes an encoder, 71 denotes a first photoelectric sensor (a first sensor for detecting position information), 72 denotes a second photoelectric sensor (a second sensor for detecting position information), and 100 denotes a robot system. In this case, reference numerals A1, A2, A3, and A4 denote areas (work areas) in which a work can be performed by the robots 11, 12, 13, 14, respectively. In the Fig. In the robot system 100 shown in Figure 1, the conveyor (a moving belt of the conveyor) 5 transports the containers 3 from the left (upstream) to the right (downstream) in the drawing.
[0011] The Fig. The robot system 100 shown in Fig. 1 fills a plurality (a predetermined number) of articles (4: not shown) by four (a plurality of) robots 11 to 14 with respect to the container 3 conveyed by the conveyor (container conveying device) 5 from the upstream side to the downstream side. Although Fig. 1 illustrates four robots 11 to 14 and two photoelectric sensors 71 and 72, the number of robots and photoelectric sensors can be changed in various ways according to a work objective, specification, and the like to be applied.
[0012] In other words, as in Fig. 1, the robot system 100 includes, for example, four robots 11 to 14 and two (or more) photoelectric sensors 71 and 72 provided in order from an upstream side to a downstream side of the conveyor 5. For example, the conveyor 5 moves (conveys) a plurality of containers 3 arranged at predetermined intervals at a constant speed. In this case, the first photoelectric sensor 71 is provided upstream of the most upstream robot 11, and the second photoelectric sensor 72 is provided between the robot 12 and the robot 13. In other words, the second photoelectric sensor 72 is provided closer to the robot 13 than the first photoelectric sensor 71.
[0013] The first photoelectric sensor 71 and the second photoelectric sensor 72 have the same configuration and each include light-receiving regions 71a, 72a and light-projecting regions 71b, 72b. When the container 3 passes between the light-receiving regions 71a, 72a and the light-projecting regions 71b, 72b, the light-receiving regions 71a, 72a cannot receive the light from the light-projecting regions 71b, 72b, and the position information of the container 3 is acquired from the time the container 3 blocks the light. In this case, the first photoelectric sensor 71 and the second photoelectric sensor 72 are not limited to a transmissive photoelectric sensor as shown, and may be a regression reflection type photoelectric sensor or a diffuse reflection type photoelectric sensor.Furthermore, the photoelectric sensors 71 and 72 are not limited to the photoelectric sensor, and when the container 3 conveyed by the conveyor 5 is detected and the position information can be acquired, it is also possible to use other various sensors such as a visual sensor.
[0014] The conveyor (the moving belt of the conveyor) 5 is equipped with, for example, an encoder (a sensor for detecting movement information) 50 for detecting movement information such as a moving speed and a moving distance of the container 3 conveyed by the conveyor 5. The encoder 50 does not need to be provided on the moving belt of the conveyor 5 if the movement information about the container 3 can be detected by the conveyor 5, and may be provided, for example, on the drive motor or the like of the conveyor 5. Further, if the encoder 50 can detect the movement information about the container 3 by the conveyor 5, it is also possible to employ other various means.
[0015] Fig. Fig. 2 is a diagram for explaining processing of each robot in the one embodiment of the robot system according to the present embodiment, and Fig. Figure 3 is a graphical representation showing a configuration of each robot in the Fig. 2 shows a schematic representation of the robot system. In Fig. 2 and Fig. 3, reference numeral 4 denotes an article filled in the container 3, and 6 denotes a conveyor (a conveyor for article transport: article transport device) which transports the article from the upstream side to the downstream side.
[0016] In this case, the article transport conveyor 6 transports a plurality of articles 4 from the same direction as a container transport conveyor 5 (from left (upstream) to right (downstream) in the drawing), which is not limited to this configuration. In other words, in Fig. 2, a plurality of articles 4 filled into the container 3 by a plurality of robots 11, ..., 1m, ... are fed to the respective robots 11, ..., 1m by means of the conveyor 6 for article transport, however, it may be possible to use different means to feed the articles 4.
[0017] Furthermore, Fig. 2, only two robots (the most upstream robot 11 and an arbitrary robot 1m) are shown to simplify the explanations, but the actual robot system 100 may further be equipped with a number of robots 1. In particular, an arbitrary robot 1m in which a photoelectric sensor (a second photoelectric sensor 72) is provided immediately near its upstream side corresponds to a third robot 13 in Fig. 4 and any robot in which the photoelectric sensor is not provided immediately near its upstream side corresponds to a second robot 12 and the third robot 13 in Fig. 4.
[0018] Furthermore, each of the robots 11, ..., 1m in Fig. 2 one in Fig. 3 and corresponds to each of the robot control devices 21, ..., 2m in Fig. 2 one in Fig. 3. In this case, the container 3 is a variety of containers such as a tray or a box made of cardboard, synthetic resin, or metal, and the articles 4 are various articles such as various components, products (finished products), or processed products. In particular, the articles 4 may be various industrial products or various products such as food, medicines, cosmetics, or perishable foods. Therefore, for example, not only the articles 4 that may have the same shape can be filled planarly with respect to a container 3, but also the articles 4 with different shapes can be stacked and filled three-dimensionally according to the work objective and specifications to which the robot system 100 can be applied.
[0019] As in Fig. 2, a working area A1 of the robot 11 includes both areas of the container conveying conveyor 5 and the article conveying conveyor 6. For example, the robot 11 grasps an article 4 conveyed by the article conveying conveyor 6 using a gripping mechanism provided at a tip portion (hand portion) 1b of an arm 1a, and fills the container 3 conveyed by the container conveying conveyor 5. Similarly, a working area Am of a robot 1m includes both areas of the container conveying conveyor 5 and the article conveying conveyor 6. For example, the robot 1m grasps the article 4 conveyed by the article conveying conveyor 6 using a gripping mechanism provided at the tip portion 1b of the arm 1a, and fills it into the container 3 conveyed by the container conveying conveyor 5.
[0020] In the Fig. 2 and Fig. In the examples shown in Figure 3, an encoder 60 is also provided on the article conveying conveyor 6, and movement information such as a movement speed and a movement distance of the article 4 conveyed by the conveyor (the moving belt of the conveyor) 6 is detected. The article conveying conveyor 6 is equipped with a camera (a visual sensor) 61 to confirm the state of the article 4 conveyed by the conveyor 6.
[0021] As in Fig. 2 and Fig. 3, an example of the robot system 100 according to the present embodiment includes an encoder 50 provided on the conveyor 5, a first photoelectric sensor 71 provided upstream of the robot 11, and a second photoelectric sensor 72 provided between the robot 1m and a closest upstream robot (directly upstream of the robot 1m). The encoder 50 detects movement information about the container 3 conveyed by the conveyor 5, and the first photoelectric sensor 71 detects first position information (a timing at which the container 3 passes the position of the first photoelectric sensor 71) about the container 3 conveyed by the conveyor 5.The second photoelectric sensor 72 detects second position information (the time at which the container 3 passes the position of the second photoelectric sensor 72) about the container 3 conveyed by the conveyor 5.
[0022] The robot 11 is controlled by a robot controller 21, which controls filling of the article 4 with respect to the container 3 based on the output of the encoder 50 and the output of the first photoelectric sensor 71. The robot 1m is controlled by a robot controller 2m, which controls filling of the article 4 with respect to the container 3 based on an output of the encoder 50, an output of the robot controller 21, and an output of the second photoelectric sensor 72. As a result, even if the robot 1m is provided far away from a position where the first photoelectric sensor 71 is provided, it is possible to accurately understand the actual position of the container 3 using an output of the second photoelectric sensor 72 provided near the upstream side (near upstream) and perform filling of the article 4 with high accuracy.
[0023] Note that the robot controller 21 controlling the robot 11 outputs filling information about the articles 4, such as the filling state of the article 4 filled into the container 3 by the robot 11 (or, if the robot 11 is not the most upstream robot, a plurality of robots up to the robot 11), to the last downstream robot controller (any robot controller 2m). As a result, the robot controller 2m can determine the filling information about the articles 4 filled into the container 3 by the robot on the upstream side (the robot upstream of the robot controller 2m) by determining which robot is filling any articles 4 in the container 3, and thereby improving the filling accuracy of the article 4 by the robot 1m.
[0024] Fig. 4 is a block diagram illustrating one embodiment of the robot system according to the present embodiment, and Fig. 5 is a functional block diagram for explaining an operation of the Fig. 4. In this case, Fig. 4 the conveyor 6 for article transport and the article 5 are omitted, but they have similar features to those described with reference to Fig. 2 and Fig. 3. In other words, the working areas A1 to A4 of the robots 11 to 14 include both areas of the conveyor 5 for container transport and the conveyor 6 for article transport, and the robots 11 to 14 fill the containers 3 conveyed by the conveyor 5 with a plurality of articles 4 conveyed by the conveyor 6.
[0025] As in Fig. 4, the first to fourth robots 11 to 14 are provided in sequence from the upstream side to the downstream side of the conveyor (container transport device) 5 that transports the container 3, and are controlled by the corresponding first to fourth robot control devices 21 to 24, respectively.
[0026] Further, a first photoelectric sensor 71 is provided upstream of the first robot (the most upstream robot) 11, and the timing at which the container 3 conveyed by the conveyor 5 passes a position (first position) of the first photoelectric sensor 71 is detected, and first position information can be acquired. Further, a second photoelectric sensor 72 is provided between the second robot 12 and the third robot (any robot) 13, and the timing at which the container 3 conveyed by the conveyor 5 passes a position (second position) of the second photoelectric sensor 72 is detected, and second position information can be acquired.
[0027] In this case, although the first photoelectric sensor 71 and the second photoelectric sensor 72 are configured as transmission-type photoelectric sensors having light-projecting parts 71b, 72b and light-receiving parts 71a, 72a, the first photoelectric sensor 71 and the second photoelectric transmitter 72 may be regression-reflection-type or diffuse-reflection-type photoelectric sensors. Furthermore, the photoelectric sensors 71 and 72 are not limited to photoelectric sensors, and if the passage of the container 3 being moved by the conveyor 5 can be detected, other various sensors such as visual sensors may be used.
[0028] As in Fig. 5, the first to fourth robot controllers 21 to 24 include first to fourth queue management units (arithmetic processing devices) 211 to 241 and first to fourth storage units 212 to 242, respectively. An output of the first photoelectric sensor 71 is input to the first queue management unit 211, and the output of the second photoelectric sensor 72 is input to the third queue management unit 231. The output of the encoder 50 is input to all of the first to fourth queue management units 211 to 241.
[0029] The first queue management unit 211 receives an output of the first photoelectric sensor 71, acquires first position information (position information based on the timing at which the container 3 passes the position of the first photoelectric sensor 71) about the container 3 conveyed by the conveyor 5, and stores the acquired position information in the first storage unit 212. Further, the first queue management unit 211 calculates a current position of the container 3 in the first work area A1 based on the first position information about the container 3 stored in the first storage unit 212 and an output of the encoder 50 (movement information about the container 3 conveyed by the conveyor 5).Specifically, the first queue management unit 211 detects that the container 3 conveyed by the conveyor 5 is located at any position of the first work area A1, and controls the first robot 11 to fill predetermined articles 4 into the container 3.
[0030] Further, when the container 3 conveyed by the conveyor 5 exceeds the first work area A1, the first queue management unit 211 outputs a filling state (filling information) of the articles 4 filled into the container 3 by the first robot 11 and position information about the container 3 to the second robot controller 22 near the downstream side. Specifically, the first queue management unit 211 outputs to the second queue management unit 221 filling information about the articles 4, such as a filling state of the articles 4 filled into the container 3 and a position of the container 3 where the articles 4 are filled (placed) therein.Further, the first queue management unit 211 outputs position information (first position information based on the output of the first photoelectric sensor 71) about the container 3 conveyed by the conveyor 5 to the second queue management unit 221.
[0031] Note that, for example, when the articles 4 with different shapes are three-dimensionally stacked and filled into the container 3, information such as a type (shape) of the article 4 and a three-dimensional filling position (e.g., a loading position such as a second step from the bottom) are also output as filling information. The determination of whether the container 3 has exceeded the first work area A1 can be performed, for example, at the time when the downstream end of the container 3 leaves the first work area A1 or at the time when the upstream end of the container 3 leaves the first work area A1.Of course, it is also possible to determine whether the container 3 has exceeded the first working area A1 by providing a predetermined margin or the like based on an object to which the robot system 100 is applied and a specification (for example, a movement speed of the container by the conveyor 5). Note that the determination of whether the container 3 has exceeded the first working area A1 is the same as the determination of whether the container 3 has exceeded the second to fourth working areas A2 to A4.
[0032] The second queue management unit 221 receives the output of the first queue management unit 211 and stores the output in the second storage unit 222 because the photoelectric sensor is not provided between the second robot 12 and the first robot 11 (near its upstream side). Then, the second queue management unit 221 calculates the current position of the container 3 in a second work area A2 based on the output of the first queue management unit 211 stored in the second storage unit 222 (filling information about the articles 4 by the first robot 11 and position information about the container 3 conveyed by the conveyor 5) and the output of the encoder 50.In other words, the second queue management unit 221 detects a position where the container 3 is moved in the second work area A2 by the conveyor 5, and controls the second robot 12 to fill the predetermined article 4 into the container 3.
[0033] In this case, since the second queue management unit 221 recognizes the filling information about which position of the container 3 the first robot 11 fills with the articles 4 in the first work area A1 through an output of the first queue management unit 211, the second queue management unit 221 can fill the articles 4 with respect to the remaining gaps in the container 3. When the articles 4 with different shapes are three-dimensionally stacked and filled into the container 3, the second queue management unit 221 can acquire information in which the articles 4 with different shapes are three-dimensionally stacked, whereby the filling of the article 4 with respect to the container 3 by the second robot 12 can be performed with high accuracy.Further, for example, even if a visual sensor (a camera) is provided above the second work area A2 in order to achieve higher accuracy, three-dimensional information about the articles 4 in the container 3 can be acquired from the output of the first queue management unit 211, and therefore it is possible to achieve an effect in which an inexpensive two-dimensional visual sensor can be provided instead of an expensive three-dimensional visual sensor.
[0034] When the container 3 exceeds the second work area A2, the second queue management unit 221 further outputs filling information about the articles 4 filled into the container 3 by the first and second robots 11 and 12 and position information about the container 3 to a third robot controller 23 near the downstream side. Specifically, the second queue management unit 221 outputs to a third queue management unit 231 information obtained by adding the filling information about the articles 4 by the first robot 11 in the first work area A1 and the filling information about the articles 4 by the second robot 12 in the second work area A2 and the position information about the container 3.
[0035] Since the second photoelectric sensor 72 is provided between the third robot 13 and the second robot 12 (which is closest to the upstream side of the third robot), the third queue management unit 231 rewrites the position information about the container 3 in the output of the second queue management unit 221 into position information (second position information) based on an output of the second photoelectric sensor 72.In other words, the third queue management unit 231 rewrites the position information about the container 3 in the output of the second queue management unit 221 into the second position information (position information based on the timing at which the container 3 passes the position of the second photoelectric sensor 72) about the container 3 based on the output of the second photoelectric sensor 72, and stores it in the third storage unit 232 with the filling information about the articles 4 by the first and second robots 11 and 12.
[0036] Furthermore, the third queue management unit 231 calculates a current position of the container 3 in the third work area A3 based on the filling information about the articles 4 by the first and second robots 11 and 12 stored in the third storage unit 232, the second position information about the container 3, and the output of the encoder 50. Specifically, the third queue management unit 231 recognizes which position of the third work area A3 is moved by the container 3 moved by the conveyor 5 and controls the third robot 13 to fill the predetermined articles 4 into the container 3.
[0037] When the container 3 exceeds the third work area A3, the third queue management unit 231 further outputs filling information about the articles 4 packed into the container 3 by the first to third robots 11 to 13 and the position information about the container 3 to the fourth robot controller 24 in the immediate vicinity of the downstream side. In other words, the third queue management unit 231 outputs information obtained by adding the filling information about the articles 4 by the first and second robots 11 and 12 based on the output of the second queue management unit 221, the filling information about the articles 4 by the third robot 13 in the third work area A3, and the position information (the second position information) about the container 3 based on an output of the second photoelectric sensor 72 to the fourth queue management unit 241.
[0038] Since the photoelectric sensor is not provided between the fourth robot 14 and the third robot 13 (closest to the upstream side of the fourth robot), the fourth queue management unit 241 performs substantially the same processing as the above-described second queue management unit 221, and its descriptions are omitted. However, in the case where the robot system 100 is composed of four robots 11 to 14, that is, in the case where the fourth robot 14 is the most downstream robot, the position information about the container 3 and the filling information about the articles 4 filled into the container 3 by the first to fourth robots 11 to 14 cannot be output.
[0039] In the above, for example, since no robot is provided upstream of the first robot controller 21 (the first queue management unit 211), the most upstream robot controller 21 (the first queue management unit 211) does not need to receive an output from the most upstream robot controller (the last upstream queue management unit). Furthermore, since the most downstream fourth robot controller 24 (the fourth queue management unit 241) is not equipped with a robot on its downstream side, it is not necessary to output the filling information about the articles by the robot (the first to fourth robots 11 to 14) to the most downstream robot controller (the last downstream queue management unit).However, other robot control devices (queue management areas) may be used as the most upstream robot control device or the most downstream robot control device (queue management unit).
[0040] In other words, when the robot controller 23 according to the present embodiment is applied to, for example, the first robot controller 21 that controls the most upstream first robot 11, an output from the robot controller on the upstream side near the upstream side is not input to the first queue management unit 211, but position information (first information) about the container 3 is acquired based on an output of the first photoelectric sensor 71 to control the most upstream first robot 11.Further, when the robot controller 23 is applied to the fourth robot controller 24 that controls the most downstream fourth robot 14, the fourth queue management unit 241 cannot output position information about the container 3 and filling information about the articles 4 filled in the container 3 because there is no robot downstream of the fourth robot 14.
[0041] Further, when the robot controller 23 is applied, for example, to the second robot controller 22 that controls the second robot 12 in which the second photoelectric sensor 72 is not provided near the upstream side, the second queue management unit 221 outputs first position information to the third robot controller 23 that controls the third robot 13 near the downstream side without rewriting the first position information into second position information. When the robot controller 23 is used as the first robot controller 21, it is not necessary to receive an output from the queue management unit near the upstream side, so the input signal terminal can be set to be enabled, for example.When the robot controller 23 is used as the fourth robot controller 24, it is not necessary to output the robot controller 23 to the downstream last queue management unit, and therefore the input signal terminal can be grounded, for example.
[0042] Next, a position adjustment unit 8 is Fig. 5. As described above, the third queue management unit 231 rewrites the position information about the container 3 into the second position information based on an output of the second photoelectric sensor 72, and stores the second position information in the third storage unit 232 based on the position information about the container 3 received from the second queue management unit 221 closest to the upstream side and the filling information (filling state) about the articles 4. Specifically, the third queue management unit 231 receives the position information about the container 3 received from the second queue management unit 221 and the second position information about the container 3 based on the output of the second photoelectric sensor 72.Therefore, the third queue management unit 231 calculates a positional deviation of the container 3 received from the second queue management unit 221 with respect to the position of the container 3 based on the output of the second photoelectric sensor 72, and outputs the positional deviation of the container 3 together with the filling information about the articles 4 received from the second queue management unit 221 to the position adjustment unit 8.
[0043] The position adjustment unit 8 receives the position deviation information calculated by the third queue management unit 231 and the filling information about the articles 4 received from the second queue management unit 221, and performs machine learning (supervised learning). Specifically, the position adjustment unit 8 performs supervised learning based on the information output by the second queue management unit 221 about which of the articles 4 are filled by the first and second robots 11 and 12, that is, which robot (in this case, either the first or second robot 11 or 12) is filled, and the position deviation information (the correct label) about the container 3.Further, based on the learning model, which is supervised learning by the position adjustment unit 8, the first queue management unit 211 and the second queue management unit 221 can be instructed to adjust the filling position of each of the articles 4 with respect to the container 3, respectively. Therefore, the first queue management unit 211 and the second queue management unit 221 adjust a filling work of the article 4 with respect to the new container 3 conveyed by the conveyor, based on the adjustment amount of the filling position of each of the articles 4 with respect to the container 3 obtained by supervised learning by the position adjustment unit 8.
[0044] As described above, according to the positional embodiment of the robot system according to the present embodiment, the accuracy of the filling work of the articles 4 into the container 3 by the robot provided on the upstream side can be improved based on the machine learning performed by the position adjustment unit 8. In this case, for example, even with respect to any robot provided on the downstream side of the fourth robot 14, if a photoelectric sensor is provided immediately upstream of the arbitrary robot, the queue management unit of the arbitrary robot performs the same processing as that of the third queue management unit 231.Therefore, the position adjustment unit 8 can perform machine learning based on the information from the queue management unit of the arbitrary robot and outputs the adjustment amount of the filling position of each of the articles 4 with respect to the bin 3 to the queue management unit of the upstream robot of the arbitrary robot. This makes it possible to further improve the accuracy of filling the article 4 with respect to the bin 3 by the upstream robot of the arbitrary robot. Further, for example, the visual sensor in the work area information of the arbitrary robot can be provided to detect the positional deviation of the article 4 in the bin 3, and not only the position of the bin 3 but also the filling position of the article 4 in the bin 3 can also be performed.
[0045] Although the position adjustment unit 8 may be provided as a single operation device, the required amount of calculation may be divided or integrated, for example, by the robot controllers 21 to 24. However, for example, when the amount of calculation (data) for performing machine learning by the information of the filling information (filling state) about the articles 4 output from each robot controller (queue management unit) and the positional deviation of the bin 3 (or the positional deviation of the article 4 in the bin 3) is large, a host computer, a general-purpose computer, or the like provided at a location separate from the robot system 100 may be used.In addition, when a large amount of data is input and learned into a machine learning model, a general-purpose computer and processor can be used, but if a GPGPU (General-Purpose Computing on Graphics Processing Unit), a large PC cluster, and the like are applied, processing can be performed at a higher speed.
[0046] As described above, according to an embodiment of the robot system and the robot control device according to the present embodiment, a position of a container can be accurately recognized even by a robot at an arbitrary position with respect to the transport device, and packing of articles with respect to the container can be performed with high accuracy.
[0047] Fig. 6 is a flowchart for explaining an example of processing in an embodiment of a robot control program according to the present embodiment and for explaining processing in a robot system including four robots and two photoelectric sensors described with reference to Fig. 4 and Fig. 5 have been described.
[0048] As in Fig.6, when an example of processing of the robot control program starts (START), a third queue management unit 231 acquires, in step ST1, position information about a container 3, a filling state of the articles 4, and filling information from a second queue management unit 221. In other words, the third queue management unit 231 receives from the immediately upstream second queue management unit 221 information about which position of the container 3 a first robot 11 has packed, and information about which position of the container 3 a second robot 12 has packed the articles 4, together with the position information about the container 3.
[0049] Next, in step ST2, the third queue management unit 231 acquires position information (second position information) about the container 3 detected by a second photoelectric sensor 72. In other words, the third queue management unit 231 acquires second position information about the container 3 based on an output of the second photoelectric sensor 72 provided near the upstream side (between the second robot 12 and the third robot 13), and proceeds to step ST3.
[0050] Further, in step ST3, the third queue management unit 231 stores the position information of the container 3 detected by the second photoelectric sensor 72 and a packing state (packing information) of the articles 4 received from the second queue management unit 221 in the third storage unit 232.
[0051] Further, in step ST4, the third queue management unit 231 calculates a positional deviation of the container 3 from the positional information of the container 3 received from the second queue management unit 221 and the positional information of the container 3 detected by the second photoelectric sensor 72, and proceeds to step ST5. In step ST5, the third queue management unit 231 outputs to a position adjustment unit 8 the information about which robot is being filled, the filling position of each of the articles 4, and the positional deviation of the container 3, and proceeds to step ST6.
[0052] In step ST6, the position adjustment unit 8 calculates an adjustment amount for packing (placing position) of the object 4 into the container 3 by the first and second robots 11 and 12 through machine learning (e.g., supervised learning).
[0053] Subsequently, in step ST7, a placement position adjustment unit 8 outputs placement position adjustment amounts of the first and second robots 11 and 12 to the first and second queue management units 211 and 221, respectively. The first and second queue management units 211 and 221 adjust positions of the articles 4 filled in the container 3 in the first and second work areas A1 and A2 based on the placement position adjustment amount from the placement position adjustment unit 8.
[0054] In this case, an example of a robot control program according to the present embodiment described above can be executed by, for example, the first to fourth robot controllers 21 to 24 (the first to fourth queue management units 211 to 241) and a position adjustment unit 8. Note that, for example, when data to be processed by the position adjustment unit 8 is large, a general-purpose computer or the like provided at a location remote from the robot system 100 may be used, as mentioned above. Therefore, according to an embodiment of the robot control program of the present embodiment, a position of a container can be accurately recognized even by a robot at an arbitrary position with respect to the transport device, and packing of articles with respect to the container can be performed with high accuracy.
[0055] The robot control program according to the present embodiment described above may be recorded and provided in a computer-readable non-transitory recording medium or a non-volatile semiconductor memory device, or may be provided via wired or wireless data transmission. In this case, as the computer-readable non-transitory recording medium, for example, an optical disk such as a CD-ROM (Compact Disc Read Only Memory) or a DVD-ROM, or a hard disk device, and the like can be considered. Further, a PROM (Programmable Read Only Memory), a flash memory (registered trademark), and the like are conceivable as non-volatile semiconductor memory devices.In addition, distribution from the server device can be provided via a wired or wireless WAN (Wide Area Network), LAN (Local Area Network), or via the Internet.
[0056] As described above in detail, according to the robot control device, the robot system and the robot control program of the present embodiments, it is possible to accurately detect the position of the container and fill the articles into the container with high accuracy.
[0057] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. These embodiments include various additions and replacements without departing from the gist of the invention or without departing from the spirit and scope of the invention, which are evident from the content described in the claims and their equivalents, modification, partial deletion, and the like are possible. For example, in the embodiments described above, the order of each operation and the order of each process are exemplified and are not limited to them. The same applies when numerical values or equations are used in the description of the embodiments described above.
[0058] With respect to the above-described embodiments and variants, the following description is further disclosed. Appendix 1
[0059] A robot control device (23, 2m) for controlling any robot (13; 1m) of a robot system (100) in which a container (3) conveyed by a transport device (5) from an upstream side to a downstream side is filled with a plurality of articles (4) by a plurality of robots (1, 11 to 14, 1m, ...), wherein on an upstream side of the arbitrary robot (13; 1m), at least one robot (11, 12) on the upstream side, at least one first sensor (71) for detecting position information and a second sensor (72) for detecting position information are provided, which is provided closer to the arbitrary robot (13; 1m) than the first sensor (71) for detecting position information, and the robot control device comprises: a storage unit (232) configured to store filling information about the articles filled into the container (3) by the robot (11, 12) on the upstream side and first position information based on an output of the first sensor (71) for detecting position information output by a robot control device (21, 22) on the upstream side configured to control the next upstream robot on the upstream side; and a queue management unit (231) configured to receive the filling information about the articles (4) and the first position information about the articles from the storage unit (232) and second information acquired based on an output of the second position information acquisition sensor (72), and configured to rewrite the first position information into the second position information and to control the arbitrary robot (13, 1m). Appendix 2
[0060] The robot control device as defined in Annex 1, where the queue management unit (231) is configured to output the filling information about the articles (4) filled into the container (3) by the robot (11, 12) on the upstream side and to add the filling information about the articles (4) filled into the container (3) by any robot (13, 1m) output by the closest upstream robot control device (21, 22) on the upstream side. Appendix 3
[0061] The robot control device as defined in Annex 2, where the queue management unit (231) is further configured to output position information which is the second position information rewritten from the first position information. Appendix 4
[0062] Robot control device according to any one of Annexes 1 to 3, wherein the queue management unit (231) is configured to calculate a positional deviation of the container (3) with respect to the arbitrary robot (13; 1m) based on the first positional information outputted from the nearest upstream robot control device (21, 22) on the upstream side and the second positional information by the output of the second positional information detecting sensor (72). Appendix 5
[0063] The robot control device as defined in Annex 4, where the filling information about the articles (4) filled into the container (3) by the robot (11, 12) on the upstream side, which is output from the most upstream robot control device (21, 22) on the upstream side, includes a state of filling the articles (4) into the container (3) and information indicating which robot of the robot (11, 12) on the upstream side is filled with the filling information about the articles filled into the container (3). Appendix 6
[0064] The robot control device as defined in Annex 5, where the positional deviation of the container (3) with respect to the arbitrary robot (13; 1m) calculated by the queue management unit (231) is output to an external position adjustment unit (8) together with the filling information about the articles (4) filled into the container (3) by the robot (11, 12) on the upstream side, which is output by the nearest upstream robot control device (21, 22) on the upstream side. Appendix 7
[0065] Robot control device according to any one of Annexes 1 to 6, wherein the queue management unit (211) does not receive an output from the next upstream robot control device on the upstream side, but acquires the first position information based on an output of the first position information acquisition sensor (71) when the robot control device (23, 2m) is applied to a robot control device (22) configured to control a most upstream robot (11), and the queue management unit (221) outputs the first position information to a robot controller (23) that controls a last downstream robot (13) without rewriting the first position information into the second position information when the robot controller (23, 2m) is applied to the robot controller (22) that controls a robot (12) in which the second sensor (72) for detecting position information is not provided near the upstream side. Appendix 8
[0066] A robot system (100) in which a container (3) conveyed by a transport device (5) from an upstream side to a downstream side is filled with a plurality of articles (4) by a plurality of robots (1, 11 to 14, 1m, ...), comprising: a sensor (50) for detecting movement information, which is designed to detect movement information about the container (3) conveyed by the transport device (5); at least one robot (11, 12) on the upstream side; at least one first sensor (71) for detecting position information; at least one arbitrary robot (13; 1m) provided on the downstream side of the robot (11, 12) on the upstream side; and a second sensor (72) for detecting position information, which is provided closer to the arbitrary robot (13; 1m) than the first sensor (71) for detecting position information, wherein a robot control device (23; 2m) that controls any robot (13; 1m), the robot control device being according to any one of Annexes 1 to 7. Appendix 9
[0067] Robot system as defined in Annex 8, which further comprises a position adjustment unit (8) configured to perform machine learning based on the filling information about the articles (4) filled into the container (3) by the robot (11, 12) on the upstream side, the positional deviation of the container (3) with respect to the arbitrary robot (13; 1m) calculated by the queue management unit (231), and the filling information about the articles (4) filled into the container (3) by the robot (11, 12) on the upstream side, which is output from the nearest upstream robot control device (21, 22) on the upstream side. Appendix 10
[0068] The robot system as defined in Annex 9, where the filling information about the articles (4) filled into the container (3) by the robot (11, 12) on the upstream side, which is output by the closest upstream robot control device (21, 22) on the upstream side, includes a state of filling the articles (4) into the container and information indicating which robot of the robots (11, 12) on the upstream side is filled with the filling information about the articles filled into the container (3), the positional deviation of the container (3) with respect to the arbitrary robot (13; 1m) calculated by the queue management unit (231) is output to the position adjustment unit (8) together with the filling information about the articles (4) filled into the container (3) output by the nearest upstream robot control device (21, 22) on the upstream side, and the position adjustment unit (8) performs supervised learning to output an adjustment amount of a filling position of the article by the robot (11, 12) on the upstream side with respect to the container (3) based on a positional deviation of the container (3) and filling information about the articles filled into the container (3) by the robot (11, 12) on the upstream side. Appendix 11
[0069] The robot system according to any one of Annexes 8 to 10, wherein the transport device (5) is a conveyor device, the sensor (50) for detecting movement information is an encoder provided on the conveyor device, the first sensor (71) for detecting position information and the second sensor (72) for detecting position information are visual sensors or photoelectric sensors which detect a position of the container (3) conveyed by the transport device (5). Appendix 12
[0070] A robot control program for controlling any robot (13; 1m) of a robot system (100) in which a container (3) conveyed by a transport device (5) from an upstream side to a downstream side is filled with a plurality of articles (4) by a plurality of robots (1, 11 to 14, 1m, ...), wherein on an upstream side of any robot (13; 1m) at least one robot (11, 12) on the upstream side, at least one first sensor (71) for detecting position information and a second sensor (72) for detecting position information are provided, which is provided closer than the first sensor (71) for detecting position information to the arbitrary robot (13; 1m), and the robot control program causes an arithmetic processing unit to execute: a process for storing filling information about the articles (4) filled into the container (3) by the robot (11, 12) on the upstream side and first position information based on an output of the first sensor (71) for detecting position information output by a robot control device (21, 22) on the upstream side, which is configured to control the next upstream robot (11, 12) on the upstream side; and a process for receiving the filling information about the articles (4) and the first position information about the articles from the storage unit and second information acquired based on an output of the second position information acquisition sensor (72), and rewriting the first position information into the second position information and controlling the arbitrary robot (13, 1m). Appendix 13
[0071] The robot control program according to Annex 12, which further causes the arithmetic processing unit to execute: a process for outputting the filling information about the articles (4) filled into the container (3) by the robot (11, 12) on the upstream side and for adding the filling information about the articles (4) filled into the container (3) by the arbitrary robot (13, 1m) output by the most upstream robot control device (21, 22) on the upstream side. Appendix 14
[0072] The robot control program according to Annex 13, which further causes the arithmetic processing unit to execute: a process for outputting position information which is the second position information rewritten from the first position information. List of reference symbols 1.11 to 14.1m, ... robot 1a arm 1b End effector (gripping part) 2.21 to 24.2m, ... robot control device 3 containers 4 articles 5 Conveyor device (Conveyor device for container transport: Device for container transport) 6 Conveyor device (conveyor device for article transport: device for article transport) 8 Position adjustment unit 50 Encoder (Conveyor conveyor encoder for container transport: Sensor for recording movement information) 60 encoders (encoders for the conveyor system for article transport) 61 Camera 71 First photoelectric sensor (first sensor for detecting position information) 72 Second photoelectric sensor (second sensor for detecting position information) 71a, 72a Light-receiving unit 71b, 72b Light projecting unit 100 robot system 211 to 241 Queue Management Unit 212 to 242 storage units A1 to A4, Am, ... Robot work area QUOTES CONTAINED IN THE DESCRIPTION
[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature
[0000] JP 2010-280010
[0003] JP 2019-126885
[0003] JP 2016-016915
[0003] JP 210556
[0003]
Claims
[1] A robot control device for controlling any one robot of a robot system in which a container, which is conveyed by a conveying device from an upstream side to a downstream side, is filled with a plurality of articles by a plurality of robots, wherein on an upstream side of the arbitrary robot, at least one robot on the upstream side, at least one first sensor for detecting position information and a second sensor for detecting position information are provided, which is provided closer to the arbitrary robot than the first sensor for detecting position information, and the robot control device comprises: a storage unit configured to store filling information about the articles filled into the container by the robot on the upstream side and first position information based on an output of the first position information detection sensor output from a robot control device on the upstream side configured to control the next upstream robot on the upstream side; and a queue management unit configured to receive the filling information about the articles and the first position information about the articles from the storage unit and second information acquired based on an output of the second position information acquisition sensor, and configured to rewrite the first position information into the second position information and control the arbitrary robot. [2] The robot control device according to claim 1, wherein the queue management unit is configured to output the filling information about the articles filled into the container by the robot on the upstream side and add the filling information about the articles filled into the container by the arbitrary robot, which is output from the next upstream robot control device on the upstream side. [3] The robot control device according to claim 2, wherein the queue management unit is configured to output position information which is the second position information rewritten from the first position information. [4] The robot control device according to any one of claims 1 to 3, wherein the queue management unit is configured to calculate a positional deviation of the container with respect to the arbitrary robot based on the first positional information outputted from the next upstream robot control device on the upstream side and the second positional information by the output of the second positional information detecting sensor. [5] The robot control device according to claim 4, wherein the filling information about the articles filled into the container by the robot on the upstream side, which is output from the most upstream robot control device on the upstream side, includes a state of filling the articles into the container and information indicating which robot of the robot on the upstream side is filled with the filling information about the articles filled into the container. [6] The robot control device according to claim 5, wherein the positional deviation of the container with respect to the arbitrary robot calculated by the queue management unit is output to an external position adjusting unit together with the filling information about the articles filled into the container by the robot on the upstream side output from the next upstream robot control device on the upstream side. [7] Robot control device according to any one of claims 1 to 6, wherein the queue management unit does not receive an output from the next upstream robot controller on the upstream side, but acquires the first position information based on an output of the first position information acquisition sensor when the robot controller is applied to a robot controller configured to control a most upstream robot, and the queue management unit outputs the first position information to a robot controller that controls a last downstream robot without rewriting the first position information into the second position information when the robot controller is applied to the robot controller that controls a robot in which the second sensor for detecting position information is not provided near the upstream side. [8] A robot system in which a container, which is conveyed by a conveying device from an upstream side to a downstream side, is filled with a plurality of articles by a plurality of robots, comprising: a sensor for detecting movement information, which is designed to detect movement information about the container conveyed by the transport device; at least one robot on the upstream side; at least one first sensor for detecting position information; at least one robot provided on the downstream side of the robot on the upstream side; and a second sensor for detecting position information, which is provided closer to the arbitrary robot than the first sensor for detecting position information, wherein a robot control device that controls the arbitrary robot, the robot control device being according to any one of claims 1 to 7. [9] The robot system according to claim 8, further comprising a position adjustment unit configured to perform machine learning based on the filling information about the articles filled into the container by the robot on the upstream side, the positional deviation of the container with respect to the arbitrary robot calculated by the queue management unit, and the filling information about the articles filled into the container by the robot on the upstream side outputted from the nearest upstream robot controller on the upstream side. [10] Robot system according to claim 9, wherein the filling information about the articles filled into the container by the robot on the upstream side, which is output from the nearest upstream robot control device on the upstream side, includes a state of filling the articles into the container and information indicating which of the robots on the upstream side is filled with the filling information about the articles filled into the container, the positional deviation of the container with respect to the arbitrary robot calculated by the queue management unit is output to the position adjustment unit together with the filling information about the articles filled in the container output by the nearest upstream robot control device on the upstream side, and the position adjustment unit performs supervised learning to output an adjustment amount of a filling position of the article by the upstream-side robot with respect to the container based on a positional deviation of the container and filling information about the articles filled into the container by the upstream-side robot. [11] Robot system according to any one of claims 8 to 10, wherein the transport device is a conveyor device, the sensor for detecting movement information is an encoder provided on the conveyor system, the first sensor for detecting position information and the second sensor for detecting position information are visual sensors or photoelectric sensors that detect a position of the container conveyed by the transport device. [12] A robot control program for controlling any robot of a robot system in which a container conveyed by a conveying device from an upstream side to a downstream side is filled with a plurality of articles by a plurality of robots, wherein on an upstream side of the arbitrary robot, at least one robot on the upstream side, at least one first sensor for detecting position information and a second sensor for detecting position information are provided, which is provided closer to the arbitrary robot than the first sensor for detecting position information, and the robot control program causes an arithmetic processing unit to execute: a process for storing filling information about the articles filled into the container by the robot on the upstream side and first position information based on an output of the first sensor for detecting position information output by a robot control device on the upstream side configured to control the nearest upstream robot on the upstream side; and a process of receiving the filling information about the articles and the first position information about the articles from the storage unit and second information acquired based on an output of the second position information acquisition sensor, and rewriting the first position information into the second position information, and controlling the arbitrary robot. [13] A robot control program according to claim 12, further causing the arithmetic processing unit to execute: a process for outputting the filling information about the articles filled into the container by the robot on the upstream side and adding the filling information about the articles filled into the container by any robot output from the nearest upstream robot controller on the upstream side. [14] A robot control program according to claim 13, further causing the arithmetic processing unit to execute: a process for outputting position information which is the second position information rewritten from the first position information.
Citation Information
Patent Citations
2016-016915
2019-126885
2010-280010
210556