ROBOT CONTROL DEVICE, ROBOT SYSTEM AND ROBOT CONTROL PROGRAM

Abstract

The present invention provides a robot control device that can effectively utilize a temporary holding unit to evacuate excess articles that have been over-delivered. The robot control device controls a robot to retrieve an article while tracking the article conveyed by an article conveying device and pack the article into a container while tracking the container conveyed by a container conveying device. It includes a container supply amount calculation unit, an article supply amount calculation unit, and a temporary holding unit control information generation unit.The container supply amount calculation unit calculates the supplied amount of a plurality of containers conveyed by the container conveying device, and the article supply amount calculation unit calculates the supplied amount of a plurality of articles conveyed by the article conveying device. The temporary holding unit control information generation unit generates, based on the output of the container supply amount calculation unit and the output of the article supply amount calculation unit, control information for a temporary holding unit having a temporary holding space for temporarily holding at least one article that can be moved by a predetermined amount in a first direction or a second direction opposite to the first direction.

Description

AREA

[0001] The present disclosure relates to a robot controller, a robot system and a robot control program. STATE OF THE ART

[0002] In recent years, for example, a robot system for controlling a large number of robots, for picking an item that is conveyed by an item conveyor while following the item, and for packaging (wrapping) the item into a container (box) that is conveyed by a container conveyor while following the container, has been used in various areas.

[0003] In such a robot system, for example, if there is an oversupply of items to be conveyed, the excess item is temporarily removed to an intermediate storage unit, and when the oversupply of items has been reduced, the item on the intermediate storage unit is packed into the container.

[0004] In the robot system for packaging the item conveyed by the article conveyor into the container conveyed by the container conveyor, there are conventionally various suggestions for temporarily removing the excess item to the intermediate storage unit that acts as a buffer. [CITING LIST][PATENT LITERATURE] [PTL 1] Unexamined Japanese patent publication (Kokai) No. 2022-122313 [PTL 2] Unexamined Japanese patent publication (Kokai) No. 2018-001312 SUMMARY [TECHNICAL PROBLEM]

[0005] As described above, a robot system is known in which the intermediate storage unit acts as a buffer and, for example, in the event of an oversupply of items to be conveyed, the excess item is temporarily removed to the intermediate storage unit.

[0006] However, the conventional robot system with the intermediate storage unit only temporarily removes an excess item onto the intermediate storage unit and cannot effectively utilize the intermediate storage unit.

[0007] Therefore, it is desirable to provide a robot controller, a robot system, and a robot control program that can effectively utilize an intermediate storage unit from which an over-supplied item is removed. [SOLUTION TO THE PROBLEM]

[0008] An embodiment according to the present disclosure provides a robot controller that controls a robot to pick up an item conveyed by an article feeder while following the item, and to pack the item into a container conveyed by a container feeder while following the container, wherein the robot controller comprises a container feed quantity calculation unit, an article feed quantity calculation unit, and an intermediate storage control information generation unit.

[0009] The container feed quantity calculation unit calculates the feed quantity of a multitude of containers conveyed by the container conveying device, and the item feed quantity calculation unit calculates the feed quantity of a multitude of items conveyed by the item conveying device. The intermediate storage unit control information generation unit generates control information about an intermediate storage unit, based on an output from the container feed quantity calculation unit and an output from the item feed quantity calculation unit. This intermediate storage unit comprises a temporary storage space in which at least one of the items is temporarily stored and is movable by a predetermined amount in a first direction or in a second direction opposite to the first. BRIEF DESCRIPTION OF THE DRAWINGS [ Fig. 1] Fig. Figure 1 is a diagram that schematically represents the main units in an example of a robot system according to the present embodiment. [ Fig. 2] Fig. Figure 2 is a diagram describing the processing of the individual robots in an example of the robot system according to the present embodiment. [ Fig. 3] Fig. Figure 3 is a functional block diagram to describe an example of a robot controller according to the present embodiment. [ Fig. 4] Fig. Figure 4 is a flowchart describing an example of processing in an example of a robot control program according to the present embodiment. [ Fig. 5] Fig. Figure 5 is a flowchart (part 1) describing an example of the control processing of the intermediate storage unit in an example of the robot system according to the present embodiment. [ Fig. 6] Fig. Figure 6 is a flowchart (part 2) describing an example of the control processing of the intermediate storage unit in one example of the robot system according to the present embodiment. [ Fig. 7] Fig. 7 is a diagram describing an example of the first temporary shutdown processing in the in Fig. 5 and Fig. 6 flowcharts shown. [ Fig. 8] Fig. Figure 8 is a diagram describing an example of the second temporary shutdown processing in the Fig. 5 and Fig. 6 flowcharts shown. [ Fig. 9] Fig. 9 is a diagram describing an example of the third temporary shutdown processing in the in Fig. 5 and Fig. 6 flowcharts shown. [ Fig. 10] Fig. 10 is a diagram describing an example of the fourth temporary shutdown process in the Fig. 5 and Fig. 6 flowcharts shown. [ Fig. 11] Fig. 11 is a diagram describing an example of the fifth temporary shutdown process in the in Fig. 5 and Fig. 6 flowcharts shown. DESCRIPTION OF THE EXECUTION FORMS

[0010] Examples of a robot controller, a robot system, and a robot control program according to the present embodiment are described in detail below with reference to the accompanying drawings. Identical or similar elements are identified in the drawings by the same or similar reference numerals. Furthermore, an embodiment described below does not limit the technical scope of the invention described in the claims or the meaning of any term.

[0011] Fig. 1 is a diagram that schematically represents the main units in an example of the robot system according to the present embodiment, and Fig. 2 is a diagram describing the processing of each robot in one example of the robot system according to the present embodiment. In the Fig. 1 and Fig. Reference numerals 1, 11 and 12 denote robots, reference numeral 2 a robot controller, reference numeral 3 a container, reference numeral 4 an article, reference numeral 5 a container conveying device and reference numeral 6 an article conveying device.

[0012] Furthermore, reference numeral 8 designates an intermediate storage conveyor (intermediate storage unit), reference numeral 100 a robot system, and reference numerals A1 and A2 each designate a work area in which robots 11 and 12 can perform their work. Fig. For the sake of simplicity, only the two robots 11 and 12 are shown in Figure 1, but it is unnecessary to say that the robot system 100 according to the present embodiment can comprise a larger number of robots 1.

[0013] In the Fig. In the robot system 100 shown in Figure 1, a conveyor belt of the container conveyor 5 and the article conveyor 6 moves, for example, from left (upstream) to right (downstream). A conveyor belt of the intermediate storage conveyor 8 is located between the container conveyor 5 and the article conveyor 6 and can move in both directions, from left to right and from right to left in the figure. The three conveyors 5, 8, and 6 are arranged parallel to each other over the working area A1 of robot 11 and the working area A2 of robot 12. In other words, a portion of each of the three conveyors 5, 8, and 6 is contained within the working areas A1 and A2 of at least the two robots 11 and 12.

[0014] The container conveying device 5 is equipped with an encoder (first encoder) 50 for calculating the amount of movement (movement speed) at which the container 3 is conveyed, and a photoelectric sensor (position information acquisition sensor) 51 that detects the passage of the container 3. The photoelectric sensor 51 comprises a light receiving unit 51a and a light emission unit 51b. When the container 3 passes between the light receiving unit 51a and the light emission unit 51b, the light receiving unit 51a can no longer receive light from the light emission unit 51b, and the position information about the container 3 is acquired from the moment the container 3 stops transmitting light. It should be noted that the photoelectric sensor 51 is not limited to a photoelectric transmission sensor as shown, but can also be a photoelectric retroreflection or reflection sensor.Furthermore, the photoelectric sensor 51 is not limited to a photoelectric sensor, and other different sensors, such as a visual sensor, can also be used, as long as the sensor can detect the container 3 conveyed by the conveying medium 5 and acquire position information.

[0015] The article conveyor 6 is equipped with an encoder (second encoder) 60 for calculating the movement rate of the article 4 and a camera 61 for detecting the condition of the article 4 being conveyed. The intermediate storage conveyor 8 is also equipped with an encoder (third encoder) 80 for calculating the movement rate and direction of movement of the article 4, which is temporarily stored in a temporary storage area. It should be noted that the encoders 50, 60, and 80 do not necessarily have to be located on the conveyor's moving belt, as long as the movement information can be acquired by each of the conveyors 5, 6, and 8, and they can also be located, for example, on a drive motor or similar component within the conveyor. Furthermore, other devices can be used as encoders, provided they can acquire movement information from the conveyor.

[0016] For example, the first robot 11, in its work area A1, picks up item 4, which is conveyed by the article conveyor 6, while following the item 4, and packs the picked item 4 into the container 3, which is conveyed by the container conveyor 5, while following the container 3. Similarly, the second robot 12, in its work area A2, picks up item 4, which is conveyed by the article conveyor 6, while following the item 4, and packs the picked item 4 into the container 3, which is conveyed by the container conveyor 5, while following the container 3.

[0017] At this point, the quantity of items 4 being fed may be excessively high, for example, due to a slow movement speed of container 3 by the container conveyor 5, a large number of items 4 being conveyed (fed) by the item conveyor 6, or various other factors. For instance, if the number of items 4 fed to the first robot 11 is too large, or if container 3 does not provide enough space for the second robot 12 to pack the items 4, it is advantageous to remove some of the items 4 and temporarily store them in the temporary storage area (intermediate storage conveyor 8).Conversely, for example, if the number of items 4 supplied to the first robot 11 is insufficient, or if the container 3 offers more than enough space for the second robot 12 to pack the items 4, it is advantageous to use the items 4 stored in the temporary storage room and to continue the packaging work.

[0018] In the robot system of the present example, the temporary storage space is formed by the intermediate storage conveyor 8, which can move in both directions. Note that in the Fig. 1 and Fig. 2. The intermediate storage conveyor 8, the container conveyor 5, and the item conveyor 6 are each parallel linear conveyors, and the intermediate storage conveyor 8 is positioned between the container conveyor 5 and the item conveyor 6. However, this configuration is only an example. In other words, for instance, the container conveyor 5 and the item conveyor 6 can be arranged in parallel, and the intermediate storage conveyor 8 can be arranged three-dimensionally such that it crosses the container conveyor 5 and the item conveyor 6 above or below them. It should be noted that the status of the item 4 placed on the intermediate storage conveyor 8 (e.g., the quantity and location of the item 4) can be confirmed in advance by receiving control information from the robot 1 (e.g.,Position information about a gripping section 1b is recorded by the robot control 2), which places the article 4 on the intermediate storage conveyor 8, and so on. Of course, a camera other than the camera 61 provided on the article conveyor 6 can be provided, for example, above the intermediate storage conveyor 8 between the work areas A1 and A2, and so on, and directly detect the state of the article 4 temporarily placed on the intermediate storage conveyor 8.

[0019] In this way, according to the robot system 100 in the present example, the temporary storage area is formed as the intermediate storage conveyor 8, which can move in both directions instead of being in a fixed position, and thus the temporary storage area can be secured with a sufficient area. Furthermore, as described in detail below, the temporary storage area can be used effectively by having the article 4 stored in the temporary storage area (intermediate storage conveyor 8) processed by a number of robots (11, 12) accordingly. For example, by processing in which the article 4 temporarily stored by a particular robot (11) is picked up by another robot (12) and packed into the container 3, the surplus and shortage of articles 4 in the work area (A1, A2) of each robot can be reduced.This also reduces the stagnation of item 4 in the temporary storage room, for example if the item 4 being handled is fruit, fresh vegetables and the like, and therefore stagnation is not desirable.

[0020] Fig. Figure 3 is a functional block diagram describing an example of the robot control according to the present embodiment. The robot control 2 in the present example controls the robot 1 such that the robot 1 picks up the article 4, which is conveyed by the article conveyor 6, while following the article 4, and packs the article 4 into the container 3, which is conveyed by the container conveyor 5, while following the container 3. As shown in Fig. As shown in Figure 3, the robot control 2 comprises an article feed quantity calculation unit 21, an intermediate storage unit control information generation unit 22 and a container feed quantity calculation unit 23.

[0021] The article feed quantity calculation unit 21 receives an output from the second encoder 60 and the camera 61 provided on the article conveyor 6 and calculates a feed quantity for the plurality of articles 4 that are conveyed by the article conveyor 6. The second encoder 60 is, for example, located upstream in the working area A1 of the [unclear text]. Fig. The first robot 1, as depicted in Figure 1, is equipped with a camera 61 that detects the movement rate (movement speed) of the articles 4 conveyed by the article conveyor 6. Furthermore, the camera 61 is located, for example, on the upstream side of the first robot 1 in its working area A1 and detects the status (quantity, position, etc.) of the articles 4 conveyed by the article conveyor 6. By receiving an output from the second encoder 60 and the camera 61, the article feed quantity calculation unit 21 can calculate the feed quantity of the plurality of articles 4. In addition, the article feed quantity calculation unit 21 can also calculate the current position of each of the articles 4 conveyed by the article conveyor 6.

[0022] The container feed rate calculation unit 23 receives an output from the first encoder 50 and the photoelectric sensor 51, which are provided on the container conveying device 5, and calculates a feed rate for the plurality of containers 3 conveyed by the container conveying device 5. The photoelectric sensor 51 is located on the upstream side in the working area A1 of the first robot 1 and acquires position information about the container 3 from the point in time when the container 3, conveyed by the container conveying device 5, is between the light receiving unit 51a and the light emission unit 51b, and the light receiving unit 51a cannot receive light from the light emission unit 51b. Furthermore, the first encoder 50 is also located on the upstream side in the working area A1 of the first robot 1 and acquires a movement value of the container 3 conveyed by the container conveying device 5.By means of the output from the first encoder 50 and the photoelectric sensor 51, the container feed rate calculation unit 23 can calculate a container feed rate for the plurality of containers 3. In addition, the container feed rate calculation unit 23 can also calculate a current position of the containers 3 conveyed by the container conveying device 5.

[0023] The intermediate storage unit control information generation unit 22 moves, based on an output from the container feed quantity calculation unit 23 and an output from the item feed quantity calculation unit 21, a temporary storage space in which at least one of the items 4 is temporarily placed on the intermediate storage conveyor (intermediate storage unit) 8, including the temporary storage space, by a predetermined amount in a forward direction (first direction) or a reverse direction (second direction). An output from the third encoder 80, which is provided on the intermediate storage conveyor 8, is input into the intermediate storage unit control information generation unit 22, and the direction and speed of movement of the intermediate storage conveyor 8 can be confirmed.It should be noted that, as described above, the status of the item 4 temporarily stored on the intermediate storage conveyor 8 (temporary storage space) (e.g., the number and storage space of the item 4) can be confirmed from control information about a robot that places the item 4 on the intermediate storage conveyor 8, or from a further output from a camera or similar device located above the intermediate storage conveyor 8 (temporary storage space). For example, an output from the intermediate storage unit control information generation unit 22 is input into an intermediate storage unit control device 9, which is provided in a programmable logic controller (PLC) that is a host control device for the plurality of robot controllers 2, which control the plurality of robots 1, and the direction and magnitude of movement of the intermediate storage conveyor 8 are controlled.In other words, the PLC receives an output of the multitude of intermediate storage unit control information generation units 22, which are output by the multitude of robot controllers 2, and performs a processing of the article 4 placed on the intermediate storage conveyor 8, which is suitable for each of the multitude of robots 1.

[0024] Fig. Figure 4 is a flowchart describing an example of processing in an example of the robot control program according to the present embodiment. As shown in Fig. As shown in Figure 4, at the beginning of one processing example (processing control information of the intermediate storage unit-generation unit) in one example of the robot control program according to the present embodiment, an article feed quantity is calculated in step ST1. In other words, the article feed quantity calculation unit 21 calculates a feed quantity of the plurality of articles 4 that are conveyed by the article conveyor 6, based on an output from the first encoder 60 and the camera 61 provided on the article conveyor 6.

[0025] The process then proceeds to step ST2, where a container feed quantity is calculated. In other words, the container feed quantity calculation unit 23 calculates a feed quantity for the plurality of containers 3 conveyed by the container conveyor 5, based on an output from the first encoder 50 and the photoelectric sensor 51 provided on the container conveyor 5. Furthermore, in step ST3, it is determined whether a reservation is made from the intermediate storage unit, i.e., whether the item 4 is removed from the intermediate storage conveyor 8 or whether the item 4 is placed (temporarily stored) on the intermediate storage conveyor 8.

[0026] In step ST3, if it is determined that item 4 is reserved (YES), processing proceeds to step ST4, and the intermediate storage unit control information generation unit 22 transmits control information for the intermediate storage unit to the intermediate storage conveyor 9, and the intermediate storage unit control device 9 moves, for example, the intermediate storage unit (intermediate storage conveyor 8). If in step ST3 it is determined that item 4 is not reserved (NO), processing terminates. A case in step ST3 where item 4 is reserved (YES) could be, for example, a case where the stock quantity of item 4 is large and excessive, a case where the stock quantity of item 4 is small and insufficient, or the like.

[0027] Note that, according to the present embodiment described above, the robot control program is executed, for example, by the robot controller (arithmetic processing device) 2, which controls each of the robots 1. For example, as described above, control information about the intermediate storage unit, generated by the execution of each of the robot controllers 2 and by each of the intermediate storage unit control information generation units 22, is output to the external intermediate storage unit control device 9, such as the PLC, which is the host control device of the plurality of robot controllers 2. Furthermore, as described above, Fig. 5 and Fig. 6 described a case in which the article 4 cannot actually be reserved (removed and temporarily placed) on the intermediate storage unit, and a case in which both robots (11, 12) are supposed to carry out the reservation on the intermediate storage unit, but only one of the robots can carry out the reservation, corresponding to a situation of the intermediate storage conveying device 8 (intermediate storage unit), for example.

[0028] Fig. 5 and Fig. Figure 6 shows flowcharts describing an example of the control processing of the intermediate storage unit in one example of the robot system according to the present embodiment. As shown in the Fig. 5 and Fig. As shown in Figure 6, at the beginning of one example of the control processing of the intermediate parking unit in one example of the robot system according to the present embodiment, it is determined in step ST11 whether only one of the robots 11 and 12 performs the parking on the intermediate parking unit, i.e., whether the other does not make a reservation from the intermediate parking unit.

[0029] In step ST11, if it is determined that only one of robots 11 and 12 places the item 4 on the intermediate storage unit (YES), the processing proceeds to step STa, the first storage operation is performed, and the processing continues to step ST13. If in step ST11 it is determined that only one of robots 11 and 12 does not place the item 4 on the intermediate storage unit (NO), the processing proceeds to step ST12, and it is determined whether both robots 11 and 12 perform the storage on the intermediate storage unit.

[0030] In step ST12, if it is determined that both robots 11 and 12 place item 4 on the intermediate storage unit (YES), processing proceeds to step STc, the third storage operation is performed, and processing continues to step ST14. If in step ST12 it is determined that neither robot 11 nor 12 places item 4 on the intermediate storage unit (NO), processing proceeds to step ST17, and it is determined whether only one of the robots 11 and 12 performs a removal from the intermediate storage unit, i.e., whether the other does not make a reservation from the intermediate storage unit.

[0031] In step ST17, if it is determined that only one of robots 11 and 12 is removing item 4 from the intermediate storage unit (YES), processing proceeds to step STb, the second storage operation is performed, and processing continues to step ST19. If in step ST17 it is determined that only one of robots 11 and 12 is not removing item 4 from the intermediate storage unit (NO), processing continues with step ST18, and it is determined whether both robots 11 and 12 are removing the item from the intermediate storage unit.

[0032] In step ST18, if it is determined that both robots 11 and 12 are removing item 4 from the intermediate storage unit (YES), processing proceeds to step STd, the fourth storage operation is executed, and processing continues to step ST20. In step ST18, if it is determined that both robots 11 and 12 are not removing item 4 from the intermediate storage unit (NO), processing proceeds to step STe, the fifth storage operation is executed, and processing continues to step ST22.

[0033] Step ST13 determines whether the item can be placed on the intermediate storage unit. If step ST13 determines that item 4 cannot be placed on the intermediate storage unit (NO), processing continues with step ST16, and processing ends without reserving item 4 on the intermediate storage unit. If step ST13 determines that item 4 can be placed on the intermediate storage unit (YES), processing ends without any changes. Note that the Fig. 5 and Fig. 6 illustrate the control processing of the intermediate storage unit, and if in step ST13 it is determined that the article 4 can be placed on the intermediate storage unit (JA), one of the robots 11 and 12 places the article 4, for example, on the intermediate storage unit (intermediate storage conveyor 8).

[0034] In step ST14, it is determined whether both robots can place the item on the intermediate storage unit. If it is determined that both robots 11 and 12 can place item 4 on the intermediate storage unit (YES), the processing is terminated without any changes. If in step ST14 it is determined that both robots 11 and 12 cannot place item 4 on the intermediate storage unit (NO), the processing continues with step ST16, and the processing ends without item 4 being reserved from the intermediate storage unit.

[0035] In step ST19, it is determined whether the item can be removed from the intermediate storage unit. If it is determined that item 4 can be removed from the intermediate storage unit (YES), processing is terminated without any changes. If in step ST19 it is determined that item 4 cannot be removed from the intermediate storage unit (NO), processing continues with step ST16, and processing terminates without reserving item 4 from the intermediate storage unit.

[0036] In step ST20, it is determined whether both robots can perform the removal from the intermediate storage unit. If it is determined that both robots 11 and 12 can remove item 4 from the intermediate storage unit (YES), the processing is terminated without modification. In step ST20, if it is determined that neither robot 11 nor 12 can remove item 4 from the intermediate storage unit (NO), the processing proceeds to step ST21. A robot with the priority to remove item 4 from the intermediate storage unit is determined, the processing proceeds to step STb, the second storage operation is performed, and the processing continues to step ST19.

[0037] Step ST22 determines whether robot 11 can remove the item from the intermediate storage unit and robot 12 can place it on the intermediate storage unit. If step ST22 determines that robot 11 can remove item 4 from the intermediate storage unit and robot 12 can place item 4 on the intermediate storage unit (YES), processing is terminated without change. If step ST22 determines that robot 11 cannot remove item 4 from the intermediate storage unit and robot 12 cannot place item 4 on the intermediate storage unit (NO), processing continues with step ST23.

[0038] Step ST23 determines whether the removal of item 4 from the intermediate storage unit by robot 11 takes precedence over the temporary storage of item 4 on the intermediate storage unit by robot 12. If step ST23 determines that the removal of item 4 from the intermediate storage unit by robot 11 takes precedence over the temporary storage of item 4 on the intermediate storage unit by robot 12 (YES), processing proceeds to step STb, the second storage operation is executed, and processing continues to step ST19. If step ST23 determines that the removal of item 4 from the intermediate storage unit by robot 11 does not take precedence over the temporary storage of item 4 on the intermediate storage unit by robot 12 (NO), processing proceeds to step STa, the first storage operation is executed, and processing continues to step ST13.

[0039] The following describes the first shutdown process up to the fifth shutdown process, which are in steps STa to STe in the Fig. 5 and Fig. as indicated in the 6 flowcharts shown, with reference to the Fig. Sections 7 to 11 are described in detail. For the sake of simplicity, the following description assumes that temporary parking spaces on the intermediate storage conveyor 8 are arranged in a line with respect to the direction of movement of the intermediate storage conveyor. As described above. Fig. As shown in Figure 1, the movement by the intermediate storage conveyor 8 can be such that, for example, the temporary storage space (intermediate storage conveyor 8) reaches the working area A1 of the robot 11 on the side furthest upstream in the conveying direction of the container conveyor 5 and the article conveyor 6, and the temporary storage space reaches the working area A2 of the robot 12 on the side furthest downstream in the conveying direction. In other words, when article 4 is removed from the intermediate storage conveyor 8 (temporary storage space), the first item 4 to be stored (temporarily stored) can be removed as far as possible.

[0040] The specific control of the intermediate storage conveyor 8 is described below. First, a known conventional technique (e.g., a technique similar to that designated [PTL 1] in [CITION LIST]) can be used to determine whether robot 1 places article 4 in the temporary storage area (intermediate storage conveyor 8) or retrieves article 4 from the temporary storage area. For example, the time at which robot 11 places article 4 in the temporary storage area is recorded in the robot controller controlling robot 11 and is also communicated to the robot controller of the other robot 12, and the time is recorded. It goes without saying that the specific control of the intermediate storage conveyor 8 is not limited to the processing described below and can be modified or altered as appropriate.

[0041] Fig. 7 is a diagram describing an example of the first temporary shutdown processing in the in Fig. 5 and Fig. The flowcharts shown in Figure 6 illustrate the processing when only one (robot 11) of robots 11 and 12 places the item 4 in the temporary storage room and the other (robot 12) does not remove (reserve) it from the temporary storage room. Fig. Figure 7A shows a movement sequence of the intermediate storage conveyor 8 (temporary storage room), and Fig. 7B shows a flowchart describing an example of the first temporary shutdown (STa) processing. As in Fig. As shown in 7A, it is assumed that a number is provided in such a way that with increasing distance from the center “1” a numerical value increases, i.e. “2”, “3”, ..., “2n” and “2n+1”.

[0042] Furthermore, the intermediate storage conveyor 8 does nothing if, for example, both robots 11 and 12 do not make a reservation from the temporary storage area. If only one of the robots 11 and 12 makes a reservation from the temporary storage area, a position in which the item 4 is reserved is preferably set as far as possible in the middle of the temporary storage area. In other words, in order to avoid, for example, the temporary storage area in front of the other robot 12 as much as possible when robot 11 takes the item 4 from the intermediate storage conveyor 8, the intermediate storage conveyor 8 is preferably moved so that the item 4 taken by robot 11 is the one that is set down first among the items 4 stored in the current temporary storage area. This is also the case for the second storage process, which is carried out with reference to Fig. 8 is described similarly.

[0043] As in Fig. As shown in Figure 7B, at the beginning of the first storage processing example (STa), step ST31 determines whether there is a room where Article 4 is not stored. If it is determined that there is no room where Article 4 is not stored (NO), the processing proceeds to step ST32 and ends with the assumption that storage cannot be carried out in the temporary storage room. If step ST31 determines that there is a room where Article 4 is not stored (YES), the processing proceeds to step ST33 and then to step ST34, assuming that i is the smallest number in which Article 4 is not yet stored.

[0044] In step ST34, it is determined whether i is within a work area. If, for example, it is determined that i is within work area A1 of robot 11 (YES), processing is terminated without any changes. If it is determined that i is not within work area A1 of robot 11 (NO), processing continues with step ST35. The intermediate storage conveyor 8 is moved until i enters work area A1 of robot 11, and then processing is terminated. Note that, as described above, similar to the Fig. 5 and Fig. 6, which in Fig. Figure 7B illustrates the control processing of the intermediate storage unit in the first storage process. If, in step ST34, it is determined that i is within the work area (YES), and if, in step ST35, the intermediate storage conveyor 8 is moved until i enters the work area A1 of robot 11, robot 11 places the item 4 onto the intermediate storage conveyor 8 (temporary storage space) in work area A1 of robot 11. If, in step ST31, it is determined that there is no space in which the item 4 cannot be placed (NO), the process continues to step ST32, and the placement in the temporary storage space cannot be performed. For example, robot 11 recognizes that the item 4 cannot be temporarily placed in the temporary storage space and does not perform a temporary placement of the item 4.

[0045] Fig. Figure 8 is a diagram describing an example of the second temporary shutdown processing in the Fig. 5 and Fig. 6 flowcharts are shown. In Fig. Figure 8A shows a sequence of movements in the temporary storage room, and Fig. Figure 8B shows a flowchart describing one example of the second temporary shutdown processing (STb). As in Fig. As shown in Figure 8A, the temporary storage area (intermediate storage conveyor 8) moves from left to right in the diagram (direction from robot 12 to robot 11).

[0046] As in Fig. As shown in Figure 8B, at the beginning of one example of the second temporary storage process (STb), step ST41 determines whether there is a room where Article 4 is not stored. If it is determined that there is no room where Article 4 is not stored (NO), the processing proceeds to step ST42, and the processing ends with the assumption that storage cannot be carried out in the temporary storage room. If step ST41 determines that there is a room where Article 4 is not stored (YES), the processing proceeds to step ST43, and the processing continues to step ST44, assuming that i = a number in which Article 4 is stored first among the stored Article 4s.

[0047] In step ST44, it is determined whether i is within a work area, and if, for example, it is determined that i is within the work area A1 of robot 11 (YES), the processing is terminated without change, and if it is determined that i is not within the work area A1 of robot 11 (NO), the processing continues with step ST45, the intermediate storage conveyor 8 is moved until i enters the work area A1 of robot 11, and then the processing is terminated.

[0048] Fig. 9 is a diagram describing an example of the third temporary shutdown processing in the in Fig. 5 and Fig. 6 flowcharts shown and is used to describe a case in which the two robots 11 and 12 perform processing simultaneously. Fig. Figure 9A shows a sequence of movements in the temporary storage room, and Fig. Figure 9B shows a flowchart describing one example of the third temporary shutdown (STc) process. Note that Fig. 9A of the above described Fig. 7A is similar.

[0049] As in Fig. As shown in Figure 9B, at the start of one example of the third storage processing (STc), it is assumed that i = 1 in step ST51, and the processing continues to ST52, where it is determined whether the temporary storage space exists in the work area A1 of robot 11 and in the work area A2 of robot 12, while i is located at a midpoint between robots 11 and 12. If step ST52 determines that there is no temporary storage space in work areas A1 and A2, while i is located at the midpoint between robots 11 and 12 (NO), the process continues to step ST55, and the processing ends with the assumption that neither robot 11 nor 12 can store item 4 in the temporary storage space.

[0050] In step ST52, if it is determined that the temporary storage space exists in work areas A1 and A2 while i is in the middle of robots 11 and 12 (YES), step ST54 is continued, and it is determined whether both a position closest to robot 12 in work area A1 of robot 11 and a position closest to robot 11 in work area A2 of robot 12 are free while i is in the middle of robots 11 and 12. In step ST54, if it is determined that both the position closest to robot 12 in the work area A1 of robot 11 and the position closest to robot 11 in the work area A2 of robot 12 are free, while i is located in the middle of robots 11 and 12 (YES), processing continues with step ST56, the intermediate storage conveyor 8 is moved so that the center point of robots 11 and 12 is i, and processing ends.In this way, when both robots 11 and 12 place the article 4 in the temporary storage room, the intermediate storage conveying device 8 is preferably moved such that a space further from the center in the space where the article 4 is placed is as close as possible to the center.

[0051] It should be noted that, similar to the description above, for example, if both robots 11 and 12 cannot place item 4 in the temporary storage area in step ST55, both robots 11 and 12 recognize that item 4 cannot be placed in the temporary storage area and do not place item 4 in the temporary storage area. If the intermediate storage conveyor 8 is moved so that the center point of robots 11 and 12 is i in step ST56, both robots 11 and 12 recognize that item 4 can be placed in the temporary storage area and each place item 4 in the temporary storage area.

[0052] Fig. 10 is a diagram describing an example of the fourth temporary shutdown process in the Fig. 5 and Fig. The six flowcharts shown illustrate this. Fig. 10A a movement sequence of the temporary storage room, and Fig. Figure 10B illustrates a flowchart to describe one example of the fourth temporary shutdown process (STd). As in Fig. As shown in Figure 10A, the temporary parking positions i and j are defined in relation to robots 11 and 12.

[0053] As in Fig. As shown in Figure 10B, at the beginning of one example of the fourth temporary storage process, it is assumed that i = a number in which item 4 is first stored among the placed items 4 in step ST61. The processing continues to step ST62, and it is determined whether there is a number in which item 4 is stored after i. If step ST62 determines that there is no number in which item 4 is placed after i (NO), the processing proceeds to step ST64, and the processing ends with the assumption that the two robots 11 and 12 cannot retrieve item 4 from the temporary storage area. If step ST62 determines that there is a number in which item 4 is stored after i (YES), the processing proceeds to step ST65, and the processing continues to step ST66 by assuming that j = a number in which item 4 is stored after i among the stored items 4.

[0054] In step ST66, it is determined whether i (or j) is located within the work area A1 of robot 11 and j (or i) is located within the work area A2 of robot 12, while the midpoint of i and j is located at the midpoint of robots 11 and 12. If step ST66 determines that i (or j) is located within the work area A1 of robot 11 and j (or i) is located within the work area A2 of robot 12, while the midpoint of i and j is located at the midpoint of robots 11 and 12 (YES), the process proceeds to step ST67, the intermediate storage conveyor 8 is moved so that i and j (or j and i) are each located within the work areas A1 and A2 of robots 11 and 12, and the process ends.If in step ST66 it is determined that i (or j) is not within the work area A1 of robot 11 and j (or i) is not within the work area A2 of robot 12, while the midpoint of i and j is at the midpoint of robots 11 and 12 (NO), the processing proceeds to step ST69, and it is determined if there is a number where the item 4 is placed after j.

[0055] If step ST69 determines that there is a number in which item 4 is placed after j (YES), processing proceeds to step ST68, and the processing returns to step ST66 by assuming that j = is a number in which item 4 is placed after i among the placed items 4. If step ST69 determines that there is no number in which item 4 is placed after j (NO), processing proceeds to step ST70, and it is determined whether there is a number in which item 4 is placed after i. If step ST70 determines that there is a number in which item 4 is placed after i (YES), processing proceeds to step ST63, and the processing returns to step ST62 by assuming that i = is a number in which item 4 is placed after i among the placed items 4.If step ST70 determines that there is no number in which item 4 is placed after i (NO), the processing proceeds to step ST71, and the processing ends with the assumption that the two robots 11 and 12 cannot retrieve item 4 from the temporary storage room.

[0056] In this way, when both robots 11 and 12 remove the articles 4 from the temporary storage room, the intermediate storage conveyor 8 is preferably moved such that one robot 11 removes the first stored article 4 as far as possible and the other robot 12 removes the next stored article 4 as far as possible, while the condition is met that the articles 4 are temporarily located in the working areas A1 and A2 of the two robots 11 and 12.

[0057] Fig. 11 is a diagram describing an example of the fifth temporary shutdown process in the in Fig. 5 and Fig. The flowcharts shown in Figure 6 illustrate a case in which one of the robots 11 and 12 (e.g., robot 11) takes the item 4 from the temporary storage room and the other (e.g., robot 12) places the item 4 in the temporary storage room. Fig. Figure 11A shows a sequence of movements in the temporary storage room, and Fig. Figure 11B shows a flowchart describing an example of the fifth temporary shutdown process (STe). Note that Fig. 11A similar to the one described above Fig. 10A is.

[0058] As in Fig. As shown in Figure 11B, at the beginning of the fifth storage processing step ST81, it is determined whether the temporary storage room where item 4 is stored and the temporary storage room where item 4 is not stored exist. If step ST81 determines that both the temporary storage room where item 4 is stored and the temporary storage room where item 4 is not stored exist (YES), the processing continues with step ST82, and the processing continues with step ST83, assuming that i = a number in which item 4 is stored first among the stored items 4.If in step ST81 it is determined that there is no temporary storage room on which the item 4 is placed and no temporary storage room on which the item 4 is not placed (NO), the processing proceeds to step ST84, and the processing ends with the assumption that one robot 11 cannot retrieve the item 4 from the temporary storage room and the other robot 12 cannot place the item on the temporary storage room.

[0059] In step ST83, it is assumed that j is the smallest number in which article 4 has not yet been set down, and the processing continues to step ST85. In step ST85, it is determined whether i can move into work area A1 of robot 11 and j into work area A2 of robot 12. If step ST85 determines that i can move into work area A1 of robot 11 and j into work area A2 of robot 12 (YES), the processing continues with step ST87, the intermediate storage conveyor 8 is moved so that i and j are each within work areas A1 and A2 of robots 11 and 12, respectively, and the processing is terminated.If in step ST85 it is determined that i cannot be moved into the work area A1 of robot 11 and j cannot be moved into the work area A2 of robot 12 (NO), the processing proceeds to step ST88, and it is determined whether there is a number in which the item 4 after j has not yet been removed.

[0060] In step ST88, if it is determined that there is a number in which article 4 has not yet been placed after j (YES), the processing proceeds to step ST89, and the processing returns to step ST85 by assuming that i = a number in which article 4 has not yet been placed after j. In step ST88, if it is determined that there is no number in which article 4 has not yet been placed after j (NO), the processing proceeds to step ST90, and it is determined whether there is a number in which article 4 has been placed after i. In step ST90, if it is determined that there is a number in which article 4 has been placed after i (YES), the processing proceeds to step ST86, and the processing returns to step ST83 by assuming that i = a number in which article 4 has been placed after i among the placed articles 4.If step ST90 determines that there is no number in which item 4 is placed after i (NO), the processing proceeds to step ST91, and the processing ends with the assumption that one robot 11 cannot retrieve item 4 from the temporary storage room and the other robot 12 cannot place item 4 in the temporary storage room.

[0061] In this way, the intermediate storage conveyor 8 is preferably moved such that the robot 11 removes the first stored article 4 as far as possible, while a free temporary storage space is available in the working area A2 of the robot 12 when one of the two robots 11 and 12 (e.g., robot 11) removes the article 4 from the temporary storage space and the other (e.g., robot 12) places the article 4 into the temporary storage space.

[0062] As with reference to Fig. As described in section 4, the robot control program according to the present embodiment can, for example, be executed by the robot controller (arithmetic processing device) 2, which controls each of the robots 1. As described in section 4, the robot control program can be executed, for example, by the robot controller (arithmetic processing device) 2, which controls each of the robots 1. Fig. As described in sections 5 to 11, the processing of the control program for the intermediate storage unit (control program for the intermediate storage unit) in one example of the robot system according to the present embodiment can, for example, be performed by the host control device (arithmetic processing device) 9, which is provided in the programmable logic controller that is the host control device of the plurality of robot controllers 2, which control the plurality of robots 1. It should be noted that the information relating to the Fig.The control processing of the intermediate storage unit described in sections 5 to 11 is merely an example, and the direction and magnitude of movement of the intermediate storage conveying device 8, which can move in both directions, is controlled on the basis of various conditions for a larger number of robots.

[0063] The robot control program and the control program for the intermediate storage unit can be recorded and provided on a computer-readable, non-transferable recording medium and a non-volatile semiconductor memory, and can be provided via a wired or wireless manner. Examples of suitable computer-readable, non-volatile recording media include optical discs such as Compact Disc Read Only Memory (CD-ROM) and DVD-ROM, hard drives, or similar devices. Suitable non-volatile semiconductor memory includes Programmable Read Only Memory (PROM), flash memory, and similar devices. Distribution from a server can be achieved via a Local Area Network (LAN) using a wired or wireless connection, or via a Wide Area Network (WAN) such as the internet.

[0064] As described in detail above, the robot controller, robot system and robot control program according to the present embodiment can effectively utilize an intermediate storage unit onto which a surplus item is removed.

[0065] Although the present disclosure has been described in detail above, it is not limited to the individual embodiments described above. Various types of additions, substitutions, modifications, partial deletions, and the like may be made to the embodiments without affecting the purpose of the present disclosure or the content described in the claims and the scope of the present disclosure resulting from their equivalents. Furthermore, the embodiments may also be carried out in combination. For example, a sequence of operations and a sequence of parts of the processing are given in the embodiments described above as an example, which is not limited thereto. The same applies if a numerical value or a numerical expression is used in the description of the embodiments described above.

[0066] With regard to the embodiments and variations described above, the following descriptions are further disclosed. [Annex 1]

[0067] Robot control (2) controlling a robot (1) such that the robot (1) picks up an article (4) conveyed by an article conveyor (6) while following the article (4) and packs the article (4) into a container (3) conveyed by a container conveyor (5) while following the container (3), wherein the robot control comprises: a container feed quantity calculation unit (23) that calculates a feed quantity of a plurality of containers (3) that are conveyed by the container conveying device (5); an article feed quantity calculation unit (21) that calculates a feed quantity of a plurality of articles (4) that are conveyed by the article conveying device (6); and an intermediate storage unit control information generation unit (22) which, based on an output of the container supply quantity calculation unit (23) and an output of the item supply quantity calculation unit (21), generates control information about an intermediate storage unit (8) which includes a temporary storage space in which at least one of the items (4) is temporarily stored and is movable by a predetermined amount in a first direction or in a second direction opposite to the first direction [Annex 2]

[0068] The robot control according to Annex 1, wherein the container feed quantity calculation unit (23) furthermore calculates a current position of the container (3) conveyed by the container conveying device (5), and The article feed quantity calculation unit (21) continues to calculate a current position of each of the articles (4) being conveyed by the article conveying device (6). [Annex 3]

[0069] The robot control system according to Annex 1 or 2, wherein the intermediate storage unit (8) is an intermediate storage conveying device in which the movement in the first direction and in the second direction is controllable. [Annex 4]

[0070] The robot control according to Annex 3, wherein the intermediate storage conveyor (8) is arranged over at least two work areas (A1, A2) of at least two robots (11, 12). [Annex 5]

[0071] The robot control system according to Annex 3 or 4, wherein the container conveying device (5) is a container conveying device configured to move the plurality of containers (3) in the first direction, and the article conveying device (6) is an article conveying means configured to move the plurality of articles (4) in the first direction. [Annex 6]

[0072] The robot control according to Annex 5, wherein the intermediate storage conveyor (8), the container conveyor (5) and the article conveyor (6) are each a parallel line conveyor. [Annex 7]

[0073] Robot control according to one of Annexes 1 to 6, wherein the container feed quantity calculation unit (23) receives an output from a position information acquisition sensor (51) which is provided on the container conveying device (5) and acquires position information about the container (4) to be conveyed, and an output from a first encoder (50) which detects a movement amount of the container (4) to be conveyed, and The article feed quantity calculation unit (21) receives an output from a camera (61) provided on the article conveying device (6) which detects a state of the article (4) to be conveyed, and an output from a second encoder (60) which detects a movement amount of the article (4) to be conveyed. [Annex 8]

[0074] The robot control system according to one of Annexes 1 to 7, wherein The intermediate storage unit control information generation unit (22) receives an output from the container supply quantity calculation unit (23) and an output from the item supply quantity calculation unit (21) and also an output from a third encoder (80) that detects a movement amount and direction of movement of the item (4) temporarily stored in the temporary storage room. [Annex 9]

[0075] Robot control according to one of Annexes 1 to 8, wherein The control information about the intermediate storage unit (8), which is generated by the intermediate storage unit control information generation unit (22), is output to an external intermediate storage unit control device (9) that controls the intermediate storage unit (8). [Annex 10]

[0076] Robot control according to Annex 9, wherein the intermediate storage unit control device (9) is provided in a programmable logic controller which controls a plurality of robots (1) via a plurality of robot controllers (2) and is a host control device of the plurality of robot controllers (2). [Annex 11]

[0077] A robot system with: the multitude of robots (1); the article conveyor device (6); the container conveying device (5); the intermediate storage unit (8); and the plurality of robot controllers (2) according to any one of Annexes 1 to 10, each controlling the plurality of robots (1). [Annex 12]

[0078] Robot control program that controls a robot (1) such that the robot (1) picks up an article (4) which is conveyed by an article conveyor (6) while following the article (4) and packs the article (4) into a container (3) which is conveyed by a container conveyor (5) while following the container (3), wherein the robot control program causes an arithmetic processing device (2) to perform processing of: Calculating the feed quantity of a plurality of containers (3) that are conveyed by the container conveying device (5); Calculating the feed quantity of a plurality of articles (4) that are conveyed by the article conveying device (6); and Generating control information about an intermediate storage unit that includes a temporary storage space where at least one of the articles (4) is temporarily stored and is movable by a predetermined amount in a first direction or in a second direction opposite to the first direction, based on a calculated container supply quantity (3) and a calculated article supply quantity (4). REFERENCE MARK LIST 1, 11, 12 robots 1a Arm 1b End effector (gripper part) 2 Robot control 3 containers 4 items 5 Container conveying equipment (container conveying device) 6 Item handling equipment (item handling device) 8 Interim storage conveyors (temporary storage units) 9 Intermediate stop unit control device 21 Item input quantity calculation unit 22 Intermediate shut-off unit - control information - generation unit 23 Container feed quantity calculation unit 50 Encoders (Encoders for container conveying equipment: First encoder) 51 photoelectric sensor (position information acquisition sensor) 51a Light receiving unit 51b Light Emission Unit 60 Encoders (Encoder for article conveyors: Second encoder) 61 Camera 80 encoders (encoder for interim storage funds: third encoder) 100 robot systems A1, A2 Robot working area QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2022-122313

[0004] JP 2018-001312

[0004]

Claims

A robot controller that controls a robot so that the robot removes an article conveyed by an article conveying device while following the article, and packs the article into a container conveyed by a container conveying device while following the container, the robot controller comprising:a container supply amount calculation unit that calculates a supply amount of a plurality of the containers conveyed by the container conveying device;an article supply amount calculation unit that calculates a supply amount of a plurality of the articles conveyed by the article conveying device;andan intermediate storage unit control information generation unit that generates control information about an intermediate storage unit including a temporary storage space in which at least one of the articles is temporarily stored and is movable by a predetermined amount in a first direction or a second direction opposite to the first direction, based on an output of the container supply amount calculation unit and an output of the article supply amount calculation unit.; The robot controller according to claim 1, wherein the container supply amount calculation unit further calculates a current position of the container conveyed by the container conveying device, and the article supply amount calculation unit further calculates a current position of each of the articles conveyed by the article conveying device. Robot controller according to claim 1 or 2, wherein the intermediate storage unit is an intermediate storage conveyor in which a movement in the first direction and in the second direction is controllable. Robot controller according to claim 3, wherein the intermediate storage conveyor is arranged over at least two work areas of at least two robots. The robot controller according to claim 3 or 4, wherein the container conveying device is a container conveying means configured to move the plurality of containers in the first direction, and the article conveying device is an article conveying means configured to move the plurality of articles in the first direction. Robot controller according to claim 5, wherein the intermediate storage conveyor, the container conveyor and the article conveyor are each a parallel arranged line conveyor. The robot controller according to any one of claims 1 to 6, wherein the container supply amount calculation unit receives an output of a position information detection sensor provided on the container conveying device and detects position information about the container to be conveyed, and receives an output of a first encoder that detects a movement amount of the container to be conveyed, and the article supply amount calculation unit receives an output of a camera provided on the article conveying device and detects a state of the article to be conveyed, and receives an output of a second encoder that detects a movement amount of the article to be conveyed. The robot controller according to any one of claims 1 to 7, wherein the temporary storage unit control information generation unit receives an output of the container supply amount calculation unit and an output of the article supply amount calculation unit, as well as an output of a third encoder that detects a movement amount and a movement direction of the article temporarily stored in the temporary storage space. The robot controller according to any one of claims 1 to 8, wherein the control information about the intermediate storage unit generated by the intermediate storage unit control information generation unit is output to an external intermediate storage unit control device that controls the intermediate storage unit. The robot controller according to claim 9, wherein the intermediate storage unit control device is provided in a programmable logic controller that controls a plurality of robots via a plurality of robot controllers and is a host control device of the plurality of robot controllers. A robot system comprising: the plurality of robots; the article conveying device; the container conveying device; the intermediate storage unit; and the plurality of robot controllers according to any one of claims 1 to 10, each controlling the plurality of robots. A robot control program that controls a robot so that the robot takes out an article conveyed by an article conveying device while following the article, and packs the article into a container conveyed by a container conveying device while following the container, the robot control program causing an arithmetic processing device to execute processing comprising:calculating a supply amount of a plurality of the containers conveyed by the container conveying device;calculating a supply amount of a plurality of the articles conveyed by the article conveying device;andgenerating control information about an intermediate storage unit comprising a temporary storage space in which at least one of the articles is temporarily stored and is movable by a predetermined amount in a first direction or a second direction opposite to the first direction, based on a calculated supply amount of the container and a calculated supply amount of the article.;

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