Robot control system and method for cutting packaging material

Abstract

To fix a packaging material without interfering with a cutter when a blade of a robot goes around and cuts the side surface of the packaging material with a cutter.SOLUTION: A fixing part (300) of the robot control system (1) comes into contact with the bottom surface of packaging material (PM) and fixes at least a part of the part in contact with the bottom surface. A robot (20) is capable of holding a cutter (22). A robot control part (201) controls the robot (20) so that the robot (20) rotates and cuts the side surface of the packaging material (PM) with a blade (220) of the cutter (22).SELECTED DRAWING: Figure 20

Description

[Technical field]

[0001] The present disclosure relates to a robotic control system and a method for cutting packaging material. [Background technology]

[0002] For example, Patent Document 1 describes a robot that moves an end effector along the surface of a workpiece, and when there is an angle change of a predetermined value or more at a corner of the workpiece, the robot reduces the moving speed of the end effector and reduces the pressing force of the end effector on the workpiece when the end effector approaches the corner.

[0003] For example, Patent Document 2 describes a tobacco raw material case opening device that releases tobacco raw material cases filled with tobacco raw materials within a rectangular cylindrical box that forms a rectangular storage space, in which the tobacco raw material case opening device rotates while mounted on a turntable, and the tobacco raw material cases are cut by a rotary saw blade that is arranged near the turntable so as to be movable back and forth toward the rotation axis of the turntable.

[0004] For example, Patent Document 3 describes an automatic dispensing method in which packaging material for packaging contents is placed on a support table, a robot cuts the packaging material to remove the top portion of the packaging material, and then rotates the remaining portion of the packaging material to dispense the contents. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 8-252785 [Patent Document 2] Japanese Patent Application Publication No. 7-265035 [Patent Document 3] JP 2003-081229 A Summary of the Invention [Problem to be solved by the invention]

[0006] One object of the present disclosure is to secure packaging material without interfering with a cutter, for example, when a robot blade cuts the side of the packaging material by going around it. [Means for solving the problem]

[0007] A robot control system according to one aspect of the present disclosure includes a fixing part that contacts a bottom surface of a packaging material and fixes at least a portion of the part in contact with the bottom surface, a robot capable of holding a cutter, and a robot control part that controls the robot so that the robot circles around and cuts the side surface of the packaging material with a blade of the cutter. Effect of the Invention

[0008] According to the present disclosure, for example, when a robot blade uses a cutter to circle around and cut the side of a packaging material, the packaging material can be secured in place without interfering with the cutter. [Brief description of the drawings]

[0009] [Figure 1] FIG. 2 is a diagram illustrating an example of a hardware configuration of a robot control system. [Diagram 2] FIG. 2 is a diagram showing an example of a space in which a robot controller and a robot are arranged in the first embodiment. [Diagram 3] FIG. 1 is a diagram illustrating an example of a shooting position. [Figure 4] FIG. 13 is a diagram showing an example of a cut location. [Diagram 5] FIG. 2 is a diagram illustrating an example of a cutter. [Figure 6] FIG. 13 is a diagram showing an example of a state in which a cut portion is viewed from directly above the packaging material. [Figure 7] 11A to 11C are diagrams illustrating an example of a method for cutting packaging materials. [Figure 8] 11A to 11C are diagrams illustrating an example of a method for cutting packaging materials. [Figure 9]11A to 11C are diagrams illustrating an example of a method for cutting packaging materials. [Figure 10] 11A to 11C are diagrams illustrating an example of a method for cutting packaging materials. [Figure 11] 11A to 11C are diagrams illustrating an example of a method for cutting packaging materials. [Figure 12] FIG. 2 is a diagram illustrating an example of functions realized in the first embodiment. [Figure 13] FIG. 4 is a diagram showing an example of a movement path of a cutter. [Figure 14] FIG. 11 is a diagram illustrating an example of a process performed by a direction control unit. [Figure 15] 15 is a diagram illustrating an example of the process of the orientation control unit from a different perspective than that of FIG. 14. [Figure 16] FIG. 4 is a diagram illustrating an example of processing executed in the first embodiment. [Figure 17] FIG. 11 is a diagram illustrating an example of a hardware configuration of a robot control system according to a second embodiment. [Figure 18] FIG. 11 is a diagram showing an example of a space in which a robot controller, a robot, and a fixing device are arranged in the second embodiment. [Figure 19] 11 is a diagram showing an example of a relationship between a bottom surface of a packaging material and a fixing device; FIG. [Figure 20] FIG. 11 is a diagram illustrating an example of functions realized in the second embodiment. [Figure 21] FIG. 11 is a diagram illustrating an example of processing executed in the second embodiment. [Figure 22] FIG. 11 is a diagram showing an example of functions realized in a modified example of the first embodiment. [Figure 23] FIG. 11 is a diagram illustrating an example of a hardware configuration of a robot control system in a modified example related to the second embodiment. [Figure 24] FIG. 11 is a diagram illustrating an example of functions realized in a modified example of the second embodiment. [Diagram 25] FIG. 2 is a diagram showing an example of a space in which a first robot controller, a first robot, a second robot controller, and a second robot are arranged. [Figure 26] FIG. 13 is a diagram showing an example of how the upper part of the packaging material is removed in modification example 2-3. [Figure 27] FIG. 13 is a diagram showing an example of how the workbench rotates in modification example 2-4. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] [1. First embodiment] A first embodiment, which is an example of an embodiment of a robot control system, a robot control method, and a program according to the present disclosure, will be described.

[0011] [1-1. Hardware configuration of the robot control system] Fig. 1 is a diagram showing an example of a hardware configuration of a robot control system. For example, the robot control system 1 includes a robot controller 10 and a robot 20. The robot controller 10 is connected to the robot 20 by a cable such as a power line or a signal line. The devices included in the robot control system 1 are not limited to the example in Fig. 1. The robot control system 1 may include any device. For example, the robot control system 1 may include a host controller that controls the robot controller 10.

[0012] The robot controller 10 is a device that controls at least one robot 20. For example, the robot controller 10 includes a CPU 11, a storage unit 12, and a communication unit 13. The CPU 11 includes at least one processor. The storage unit 12 includes at least one of a volatile memory and a non-volatile memory. The communication unit 13 includes at least one of a communication interface for wired communication and a communication interface for wireless communication. The robot controller 10 also includes other hardware such as a power supply unit for supplying power to at least one motor included in the robot 20.

[0013] The robot 20 is a device including at least one motor controlled by the robot controller 10. In the first embodiment, the robot 20 is described as a vertical articulated robot, but the robot 20 may be of any type and is not limited to a vertical articulated robot. For example, the robot 20 may be a horizontal articulated robot, a parallel link robot, or an orthogonal robot. The robot 20 may have any number of axes, for example, any of 4 to 7 axes.

[0014] For example, the robot 20 can hold at least one camera 21. The camera 21 may also be called a vision sensor. In the first embodiment, a case where the camera 21 is a 3D camera will be described, but the camera 21 may be of any type and is not limited to a 3D camera. For example, the camera 21 may be a 2D camera (a camera without a depth sensor) or an infrared camera. The camera 21 may continuously capture images at a predetermined frame rate to generate a video, or may generate still images without continuously capturing images.

[0015] The robot 20 can hold at least one cutter 22. In the first embodiment, a case where the cutter 22 is an ultrasonic cutter will be described, but the cutter 22 may be of any type and is not limited to an ultrasonic cutter. For example, the cutter 22 may be a vibration cutter that vibrates at high speed instead of ultrasonic vibration, or a cutter that does not generate vibration. In the first embodiment, a case where the cutter 22 is detachably connected to the robot 20 will be described as an example, but the cutter 22 may not be detachable and may be fixed to the robot 20.

[0016] The program or data stored in the storage unit 12 may be supplied to the robot controller 10 via a network such as an industrial network, the Internet, or a LAN. For example, the robot controller 10 may include at least one of a reading unit (e.g., a memory card slot) that reads a computer-readable information storage medium and an input / output unit (e.g., a USB terminal) for connecting to an external device. The program or data stored in the computer-readable information storage medium may be supplied to the robot controller 10 via the reading unit or the input / output unit.

[0017] In addition, various hardware can be applied to the robot controller 10 and the robot 20. The hardware configuration of the robot controller 10 and the robot 20 is not limited to the above example. For example, the robot controller 10 may include a circuit such as an FPGA or an ASIC. In the first embodiment, a case where the CPU 11 corresponds to a configuration called a circuitry will be described, but other circuits such as an FPGA or an ASIC may correspond to the circuitry. For example, sensors such as a motor encoder, a torque sensor, a position sensor, an acceleration sensor, a gyro sensor, or a contact sensor may be connected to the robot controller 10. These sensors may be included in the robot 20.

[0018] [1-2. Overview of the first embodiment] 2 is a diagram showing an example of a space in which the robot controller 10 and the robot 20 in the first embodiment are arranged. For example, the robot controller 10 and the robot 20 are arranged in a facility such as a factory. For example, a camera 21 and a cutter 22 are attached to the tip of the robot 20. A workbench T is arranged in front of the robot 20. In the first embodiment, the robot controller 10 controls the robot 20 so that the robot 20 uses the cutter 22 to move around and cut the side of the packaging material PM placed on the workbench T.

[0019] Packaging material PM is a material for packaging an object to be packaged. In the first embodiment, a case will be described in which cardboard corresponds to the packaging material PM, but the packaging material PM may be any material and is not limited to cardboard. The packaging material PM may be a paper box other than cardboard, a plastic box, a polyethylene tank, a one-gallon can, an air cap, or other material. Hereinafter, an object packaged with the packaging material PM is referred to as a content.

[0020] In the first embodiment, the top plate of the workbench T is smaller than the bottom surface of the packaging material PM. This can prevent interference between the workbench T and the robot 20 when the robot 20 cuts the packaging material PM with the cutter 22. The workbench T is not limited to the example of the first embodiment. For example, the top plate of the workbench T may be larger than the bottom surface of the packaging material PM as long as the workbench T and the robot 20 do not interfere with each other. For example, the workbench T may be such that the difference between the long side of the top plate of the workbench T and the long side of the packaging material PM is less than a threshold value according to the length of the cutter 22. The workbench T may be such that the difference between the short side of the top plate of the workbench T and the short side of the packaging material PM is less than a threshold value according to the length of the cutter 22. For example, the packaging material PM may be placed so that only the portion of the packaging material PM that the robot 20 cuts with the cutter 22 cannot be seen from above.

[0021] In the first embodiment, a case where a plastic bag corresponds to the contents will be described, but the contents may be any object and are not limited to a plastic bag. For example, the contents may be an aluminum-deposited bag, a vinyl bag, a paper bag, a burlap bag, a flexi-con bag, other bags, a box, an object wrapped in bubble wrap, or other objects. The packaging material PM may contain multiple contents. For example, the contents may contain raw materials or ingredients of a product produced in a factory where the robot 20 is located. The contents may not be an indefinite object whose shape is easily changed, such as a plastic bag, but may be a fixed-shaped object whose shape is not easily changed.

[0022] For example, the robot controller 10 controls the robot 20 so that the robot 20 photographs the packing material PM with the camera 21 in order to identify the relative positional relationship between the robot 20 and the packing material PM and the overall shape of the packing material PM. The photographing by the camera 21 is performed before the robot 20 starts cutting the packing material PM. In the first embodiment, the packing material PM is photographed from each of a plurality of predetermined photographing positions.

[0023] Fig. 3 is a diagram showing an example of a shooting position. For example, the robot controller 10 specifies a position in real space in a coordinate system in which an X1 axis, a Y1 axis, and a Z1 axis are set with an origin O1 corresponding to a base on which the robot 20 is placed as a center. The coordinate system may be any coordinate system used in robot control, and is not limited to the example of Fig. 3. For example, a coordinate system may be set for each axis of the robot 20.

[0024] In the example of Fig. 3, a photographing position FP1 on the upper side of the packaging material PM and a photographing position FP2 on the side of the packaging material PM are determined in advance. A photographing direction FD1 in the negative direction of the Z1 axis is determined for the photographing position FP1. A photographing direction FD2 in the positive direction of the X1 axis is determined for the photographing position FP2. For example, the robot controller 10 controls the robot 20 so that the camera 21 photographs the packaging material PM from the photographing position FP1 in the photographing direction FD1. Then, the robot controller 10 controls the robot 20 so that the camera 21 photographs the packaging material PM from the photographing position FP2 in the photographing direction FD2.

[0025] The combinations of the shooting positions and the shooting directions are not limited to two as shown in FIG. 3. There may be only one combination of the shooting positions and the shooting directions, or there may be three or more combinations. For example, the robot controller 10 may control the robot 20 so that the camera 21 moves around the packaging material PM and captures images of the packaging material PM evenly. The combinations of the shooting positions and the shooting directions do not need to be determined in advance. For example, the robot controller 10 may decide the combinations of the shooting positions and the shooting directions on the spot based on the captured images generated by the camera 21.

[0026] Furthermore, the camera 21 may photograph the packing material PM at any timing. The timing of photographing the packing material PM by the camera 21 is not limited to the example of the first embodiment. For example, when the robot 20 does not rotate around and cut the packing material PM with the cutter 22, but cuts the side surfaces of the packing material PM one by one with the cutter 22, the camera 21 may photograph one side surface of the packing material PM, and the robot 20 may cut that side surface with the cutter 22, and the operation may be repeated.

[0027] For example, the robot controller 10 analyzes the captured image generated by the camera 21 and identifies the position and shape of the packaging material PM. Any method used in the image processing field can be used for these identification methods. For example, the robot controller 10 may identify the shape of the packaging material PM based on a machine learning method such as a neural network, or a pattern of feature points extracted from the captured image. The robot controller 10 determines the cutting points of the packaging material PM based on the position and shape of the packaging material PM.

[0028] FIG. 4 is a diagram showing an example of a cutting location. The dashed line in FIG. 4 indicates the shape of the packaging material PM identified by the robot controller 10. The dashed line can also be said to be the outline of the packaging material PM. In the example of FIG. 4, for the sake of simplicity, the packaging material PM is shown as a rectangular parallelepiped, but the shape of the packaging material PM may not be a perfect rectangular parallelepiped. For example, when the packaging material PM is filled to the brim with contents, the packaging material PM may bulge. Conversely, when a worker drops the packaging material PM, the packaging material PM may dent. Even in such a case, the robot controller 10 can identify the bulge or dent on the surface by image analysis.

[0029] For example, the robot controller 10 identifies the positions of vertices V1 to V8 of the packing material PM based on the captured image generated by the camera 21. The robot controller 10 identifies the surface surrounded by the four vertices V2, V4, V6, and V8 located relatively lower as the bottom surface of the packing material PM. The robot controller 10 determines the line connecting the points where the horizontal plane (XY plane) a predetermined distance d1 (e.g., about 1 to 5 cm) above the bottom surface of the packing material PM intersects with the surface (side surface) of the packing material PM as the cutting point CP where the cutter 22 should cut.

[0030] For example, the robot controller 10 controls the robot 20 so that the cutter 22 of the robot 20 moves over the cutting point CP of the packaging material PM. The cutter 22 may be of a double-edged type, but in the first embodiment, the cutter 22 is of a single-edged type. Furthermore, the cutter 22 in the first embodiment does not have a blade at the tip, and the tip is rounded, making it difficult for the blade of the cutter 22 to come into contact with the contents.

[0031] Fig. 5 is a diagram showing an example of the cutter 22. In the example of Fig. 5, a coordinate system of X2, Y2, and Z2 axes is shown, which is set around an origin O2 corresponding to the axis of the tip of the robot 20. For example, the cutter 22 includes a main body 221 including a blade 220, and a tip 222. The main body 221 is a part of the cutter 22 that is relatively closer to the robot 20. The tip 222 is a part of the cutter 22 that is relatively farther from the robot 20. The tip 222 does not include the blade 220 and is rounded.

[0032] For example, the blade 220 is disposed at one end E1 of the cutter 22. In the example of Fig. 5, the blade 220 is disposed at one end E1 of two ends in the short direction (Y2 axis direction) of the cutter 22. The one end E1 is an end that is visible when the cutter 22 is viewed from the direction D1 in Fig. 5. Since the blade 220 is disposed at the one end E1, the one end E1 of the main body part 221 is sharper than the other end E2 of the main body part 221.

[0033] For example, the other end E2 is one of the two ends in the short direction (Y2 axis direction) of the cutter 22 that does not have the blade 220. The other end E2 is an end that is visible when the cutter 22 is viewed from the direction D2 in FIG. 5. The other end E2 does not have the blade 220. The other end E2 corresponds to the ridge of the blade 220. The other end E2 is an end opposite to the one end E1. The other end E2 is thicker (thickness in the Z2 axis direction in FIG. 5) than the part of the blade 220 in the one end E1. The other end E2 is not sharper than the part of the blade 220 in the one end E1. If the cutter 22 is double-edged, the other end E2 may have a blade.

[0034] For example, tip portion 222 does not include blade 220. Tip portion 222 can also be said to be a portion of cutter 22 that is further forward than blade 220. One end E1 of body 221 is sharper than tip portion 222. Tip portion 222 is not sharper than the portion of one end E1 that is blade 220. Tip portion 222 is thicker than the portion of one end E1 that is blade 220. Tip portion 222 may be any member that protects blade 220 from hitting the contents, and the shape of tip portion 222 is not limited to the example in FIG. 5. Tip portion 222 serves as a cover for blade 220.

[0035] For example, while the robot 20 is cutting the packaging material PM, the tip portion 222 enters the inside of the packaging material PM. The tip portion 222 enters the inside of the packaging material PM through the slit made in the packaging material PM by the blade 220. The thickness of the tip portion 222 (thickness in the Z2 axis direction in FIG. 5) is thin to a certain extent so that the tip portion 222 can enter the inside through the slit in the packaging material PM. For example, the thickness is less than 5 mm. Hereinafter, an example of control for the cutter 22 in FIG. 5 to cut the cutting point CP in FIG. 4 will be described.

[0036] FIG. 6 is a diagram showing an example of a state in which the cut point CP is seen from directly above the packaging material PM. The dotted line in FIG. 6 indicates the contents CT (a plastic bag in the first embodiment). In the example in FIG. 6, the contents CT are in contact with the inside of the side of the packaging material PM. As shown in FIG. 6, even if the volume of the contents CT is close to the volume of the packaging material PM, there is often a certain amount of space in the interior of the packaging material PM near the corners C1 to C4. The robot controller 10 controls the robot 20 so that the robot 20 makes a cut in one of the corners C1 to C4. Even if the blade 220 enters slightly inside one of the corners C1 to C4, the blade 220 often does not come into contact with the contents CT.

[0037] 7 to 11 are diagrams showing an example of a method for cutting the packaging material PM. In Figs. 7 to 11, the dotted line of the contents CT in Fig. 6 and the coordinate axes in Fig. 6 are omitted. In Figs. 7 to 11, the portion of the packaging material PM at the cutting point CP where the packaging material PM is not cut is shown by a solid line. The portion of the cutting point CP where the packaging material PM is not cut is shown by a dashed line. In the example of Figs. 7 to 11, the cutter 22 is drawn large to make the cutter 22 easier to understand in the drawings.

[0038] For example, as shown in the upper part of FIG. 7, the robot controller 10 controls the robot 20 so that the blade 220 moves in the moving direction MD1 and approaches the corner C1 of the packaging material PM. In the example of FIG. 7, the moving direction MD1 is a direction in which the angle between the side of the packaging material PM on the cutter 22 side (the right side in FIG. 7) and the normal line is 180° or approximately 180° (for example, 160° to 200°). In other words, the moving direction MD1 is a direction from the corner C1 where the cutter 22 cuts first to the corner C2 where the cutter 22 cuts next. When the blade 220 moves in the moving direction MD1, the blade 220 comes into contact with the corner C1 of the packaging material PM as shown in the lower part of FIG. 7. The robot controller 10 controls the robot 20 so that the blade 220 moves in the moving direction MD1 and starts cutting the corner C1 of the packaging material PM.

[0039] For example, a cut is made at a corner C1 of the packaging material PM and its periphery. The robot controller 10 controls the robot 20 so that the tip 222 enters the inside of the packaging material PM through the cut. For example, the robot controller 10 rotates the cutter 22 to insert the tip 222 into the inside of the packaging material PM after the cutter 22 moves a predetermined distance outside the packaging material PM, and moves the cutter 22 a certain distance in the movement direction MD1 so that the tip 222 enters the inside of the packaging material PM.

[0040] For example, as shown in the upper part of FIG. 8, the robot controller 10 controls the robot 20 so that when the tip 222 enters inside the packaging material PM, the cutter 22 rotates in a counterclockwise rotation direction RD1 by a predetermined angle. Thereafter, as shown in the lower part of FIG. 8, the robot controller 10 controls the robot 20 so that the cutter 22 moves in a moving direction MD2 while maintaining its orientation. In the example of FIG. 8, the moving direction MD2 is a direction from the corner C1 that the cutter 22 has most recently cut to the corner C2 that the cutter 22 will next cut. As shown in the upper and lower parts of FIG. 9, when the cutter 22 moves in the moving direction MD2, the tip 222 may come into contact with the contents CT, but the tip 222 does not have a blade 220, so the contents CT are unlikely to be torn. For example, the cutter 22 moves while pushing aside the contents CT, which are plastic bags, with the tip 222, so that the blade 220 is unlikely to come into contact with the contents CT while the cutter 22 is moving.

[0041] For example, the robot controller 10 controls the robot 20 so that when the cutter 22 reaches the corner C2, the cutter 22 rotates in the clockwise rotation direction RD2 by a predetermined angle, as shown in the upper part of FIG. 10. This completes the cutting of the corner C2, as shown in the lower part of FIG. 10. The robot controller 10 may control the robot 20 so that the cutter 22 moves slightly toward the corner C3. Note that the robot controller 10 may control the robot 20 so that after the cutter 22 reaches the corner C2, the cutter 22 moves in the same moving direction MD2 and removes the cutter 22 from the packaging material PM. Thereafter, the robot controller 10 may control the robot 20 so that the angle of the cutter 22 is changed in an area where the robot 20 does not interfere with the packaging material PM, and the cutter 22 starts cutting from the corner C2 toward the corner C3. The cutter 22 may be removed from the packaging material PM in the same manner when cutting the other corners C3 and C4.

[0042] For example, as shown in the upper part of Fig. 11, the robot controller 10 controls the robot 20 so that the cutter 22 rotates by a predetermined angle in a counterclockwise rotation direction RD3. Thereafter, as shown in the lower part of Fig. 11, the robot controller 10 controls the robot 20 so that the cutter 22 moves in a moving direction MD3 while maintaining its orientation. In the example of Fig. 11, the moving direction MD3 is a direction from the corner C2 that the cutter 22 most recently cuts to the corner C3 that the cutter 22 will next cut. If the cutter 22 advances in this direction, even if the cutter 22 hits the contents CT, the tip 222 touches the contents CT, so the contents CT are unlikely to tear.

[0043] Thereafter, in a similar manner, the robot controller 10 controls the robot 20 so that the cutter 22 moves over the cutting position CP and returns to the corner C1 or its vicinity, which is the starting point. As described above, the robot controller 10 controls the robot 20 so that the blade 220 faces toward the outside of the packaging material PM when the robot 20 cuts the surface of the packaging material PM with the blade 220, rather than when the robot 20 cuts the corners C1 to C4 with the blade 220. This makes it less likely that the contents CT will be torn. Hereinafter, the robot control system 1 will be described in detail.

[0044] [1-3. Functions realized in the first embodiment] 12 is a diagram showing an example of functions realized in the first embodiment. For example, the robot controller 10 includes a data storage unit 100 and a robot control unit 101. The data storage unit is realized by the storage unit 12. The robot control unit 101 is realized by the CPU 11.

[0045] [Data storage section] The data storage unit 100 stores data necessary for the robot controller 10 to control the robot 20. For example, the data storage unit 100 stores a program including codes (commands) indicating the control contents of the robot 20. The program can be written in any language, and may be written in, for example, a robot language or a ladder language. The code may be any code adopted in these languages. For example, the program includes at least one of a code for moving the robot 20, a code for changing the posture of the robot 20, and a code for changing the direction of the robot 20.

[0046] For example, the data storage unit 100 stores the following programs. (1) Shape recognition program: a program for recognizing the shape of the packaging material PM based on the captured image generated by the camera 21. (2) Cutting point program: A program for calculating the cutting point CP based on the shape of the packaging material PM. (3) Robot control program: a program for controlling the robot 20 so that the cutter 22 cuts the cutting portion CP.

[0047] For example, the shape recognition program includes code for estimating the shape of the packing material PM based on the captured image generated by the camera 21. In the first embodiment, the shape of the packing material PM is specified by the vertices V1 to V8, but if the surface of the packing material PM is curved, the shape of the curved surface is also specified by the shape recognition program. The shape recognition program may be a program used in known object detection.

[0048] In the first embodiment, since the camera 21 is a 3D camera, the shape recognition program includes code for estimating the shape of the packing material PM based on an image captured by the 3D camera (an image including the depth between the camera 21 and the subject). For example, the shape recognition program identifies the three-dimensional shape of the packing material PM based on a plurality of images captured by the camera 21. In the example of Fig. 4, the shape recognition program identifies the positions of vertices V1 to V8.

[0049] For example, the cutting location program includes code for determining the cutting location CP based on the shape of the packaging material PM. The cutting location program includes code for calculating, as the cutting location CP, a path connecting the locations where a horizontal plane at a predetermined distance d1 upward from the bottom surface of the packaging material PM intersects with the surface of the packaging material PM. The cutting location program may include code for calculating the cutting location CP based on the top surface or side surface of the packaging material PM instead of the bottom surface. The cutting location CP does not have to be a horizontal surface. For example, a path that avoids some kind of obstacle may correspond to the cutting location CP.

[0050] For example, the robot control program includes code for controlling the robot 20 based on the cutting point CP. The robot control program includes code for calculating the movement path of the cutter 22, calculating the orientation of the cutter 22, and controlling the robot based on these calculations. The movement path of the cutter 22 may be the same as the cutting point CP, but in the first embodiment, the robot 20 needs to insert the tip 222 into the inside of the packaging material PM, so the movement path of the cutter 22 and the cutting point CP do not completely match.

[0051] 13 is a diagram showing an example of the movement path of the cutter 22. Any algorithm in robot control may be used as the algorithm for calculating the movement path MP. For example, the robot control program may include code for calculating the movement path based on linear interpolation, circular interpolation, or spline interpolation. In the first embodiment, the robot control program includes code for an operation of the robot 20 to insert the tip 222 into the inside of the packaging material PM, in addition to code representing these algorithms.

[0052] For example, the robot control program includes code for moving the cutter 22 to an initial position P1. The initial position P1 is assumed to be designated in advance by a user of the robot control system 1. The robot control program includes code for moving the cutter 22 to a position a predetermined distance away from the initial position P1 in the direction toward the corner C1 (the movement direction MD1 described in FIG. 7), and then moving the cutter 22 to a position P2 outside the packaging material PM. The robot control program includes code indicating an operation for inserting the tip 222 from position P2 into the packaging material PM. In the example of FIG. 13, the position after this operation is performed is set to P3.

[0053] For example, the robot control program includes code for rotating the cutter 22, which has been moved to position P3, counterclockwise by a predetermined angle. Position P3 is assumed to be a position that is a predetermined distance away from corner C1 toward the next corner C2. The robot control program includes code for moving the cutter 22 from position P3 to position P4, which is a predetermined distance before corner C2. The robot control program includes code for rotating the cutter 22 clockwise at position P4. The robot control program includes code for moving the cutter 22 to position P5, which is a predetermined distance away from corner C2 toward the next corner C3, and rotating the cutter 22 that has been moved to position P5 counterclockwise by the predetermined angle.

[0054] For example, the robot control program includes code for moving the cutter 22 from position P5 to position P6, which is a predetermined distance before corner C3. The robot control program includes code for rotating the cutter 22 clockwise at position P6. The robot control program includes code for moving the cutter 22 to position P7, which is a predetermined distance away from corner C3 toward the next corner C4, and for rotating the cutter 22 moved to position P7 counterclockwise by a predetermined angle.

[0055] For example, the robot control program includes code for moving the cutter 22 from position P7 to position P8, which is a predetermined distance before corner C4. The robot control program includes code for rotating the cutter 22 clockwise at position P8. The robot control program includes code for moving the cutter 22 to position P9, which is a predetermined distance away from corner C4 toward the next corner C1, and rotating the cutter 22 that has moved to position P9 counterclockwise by a predetermined angle. The robot control program includes code for moving the cutter 22 from position P9 to position P10 on an extension of a line to corner C1. The above series of operations are defined in the robot control program.

[0056] The data stored in the data storage unit 100 is not limited to the above example. For example, the data storage unit 100 may store other programs than the shape recognition program, the cutting location program, and the robot control program. Furthermore, the data stored in the data storage unit 100 is not limited to the programs. For example, the data storage unit 100 may store cutting location data indicating the cutting location CP and movement path data indicating the movement path of the robot 20. For example, the data storage unit 100 may store parameters referenced by the above program. The parameters may be any parameters used in robot control, and may be, for example, position parameters indicating the position of a motor in the robot 20, or values ​​detected by various sensors such as a torque sensor.

[0057] [Robot control unit] The robot control unit 101 controls the robot 20 to cut the packaging material PM with the blade 220 of the cutter 22 based on the program and parameters stored in the data storage unit 100. In the first embodiment, since the contents CT are plastic bags, the robot control unit 101 controls the robot 20 to cut the packaging material PM in which the bag-shaped contents CT are packed with the blade 220. The bag-shaped contents CT are not limited to plastic bags, and may be the various bags described above.

[0058] For example, the robot control unit 101 estimates the shape of the packaging material PM based on the captured image generated by the camera 21 and a shape recognition program. The robot control unit 101 executes code included in the shape recognition program to extract vertices V1 to V8 from the captured image. The robot control unit 101 records data indicating the vertices V1 to V8 in the data storage unit 100.

[0059] For example, the robot control unit 101 calculates the cutting point CP based on the shape of the packaging material PM and the cutting point program. In the first embodiment, the robot control unit 101 calculates the cutting point CP to be a predetermined distance d1 above the bottom surface of the packaging material PM surrounded by the vertices V2, V4, V6, and V8.

[0060] For example, the robot control unit 101 calculates a movement path MP based on the robot control program, and controls the robot 20 so that the cutter 22 moves on the movement path MP. The control of the robot 20 based on the robot control program is as described above. For example, when the robot control program is written in a robot language, the robot control unit 101 controls the robot 20 so that the cutter 22 moves on the movement path MP of FIG. 13 by executing the code of a MOVE command included in the robot control program.

[0061] [Rotation control] For example, the robot control unit 101 includes a direction control unit 102. The direction control unit 102 controls the direction of the cutter 22. The direction of the cutter 22 can also be referred to as the direction of the blade 220, the direction of the main body 221, or the direction of the tip 222. The direction of the cutter 22 can also be referred to as the attitude of the cutter 22. In the first embodiment, a code indicating a change in the direction of the cutter 22 is defined in the robot control program, and therefore the direction control unit 102 controls the direction of the cutter 22 based on the robot control program. For example, the code is a code for rotating a motor corresponding to the shaft at the tip of the robot 20.

[0062] Fig. 14 is a diagram showing an example of processing by the orientation control unit 102. In Fig. 14, the normal direction of the blade 220 is the orientation BD of the blade 220. Of the four side surfaces of the packaging material PM, the normal direction (normal direction) of the side surface being cut by the blade 220 is indicated by the symbol PD. When the orientation control unit 102 changes the orientation of the cutter 22, the angle θ1 between the orientation BD of the blade 220 and the normal direction PD of the side surface being cut by the blade 220 changes. The angle θ1 is smaller when the blade 220 cuts the area from position P3 to the next corner C2 than when the blade 220 cuts the corner C1.

[0063] For example, the orientation control unit 102 controls the robot 20 so that the blade 220 faces outward from the packing material PM when the robot 20 cuts a surface of the packing material PM with the blade 220 rather than when the robot 20 cuts a corner of the packing material PM with the blade 220. Facing the outward side of the packing material PM means that the blade 220 rotates toward the perpendicular direction of the side surface being cut. In the example of FIG. 14, a decrease in the angle θ1 corresponds to the blade 220 facing outward from the packing material PM.

[0064] For example, when the cutter 22 reaches position P3 on the movement path MP, the orientation control unit 102 rotates the cutter 22 so that the angle θ1 becomes smaller. The orientation control unit 102 controls the robot 20 so that the motor corresponding to the shaft at the tip of the robot 20 rotates a predetermined angle (the difference between θ1 before rotation and θ1 after rotation) in a rotation direction in which the angle θ1 becomes smaller. The target angle θ1 (θ1 after rotation) is assumed to be specified in advance in the robot control program. The amount of rotation (the above-mentioned predetermined angle) may be specified in advance in the robot control program, instead of the target angle θ1.

[0065] FIG. 15 is a diagram showing an example of the processing of the orientation control unit 102 from a different perspective than that of FIG. 14. In FIG. 15, the longitudinal direction of the cutter 22 is indicated by the symbol LD. The direction from the corner C1 to the corner C2 of the packaging material PM is indicated by the symbol SD. SD can also be said to be the movement direction of the cutter 22. When the orientation control unit 102 changes the orientation of the cutter 22, the angle θ2 between the longitudinal direction LD of the cutter 22 and the direction SD from the corner C1 to the corner C2 changes. In the example of FIG. 15, a decrease in the angle θ2 corresponds to the blade 220 facing the outside of the packaging material PM. The angle θ2 is smaller when the blade 220 cuts the area from the position P3 to the next corner C2 than when the blade 220 cuts the corner C1.

[0066] For example, when the cutter 22 reaches position P3 on the movement path MP, the orientation control unit 102 rotates the cutter 22 so that the angle θ2 becomes smaller. The orientation control unit 102 controls the robot 20 so that the motor corresponding to the shaft at the tip of the robot 20 rotates a predetermined angle (the difference between θ2 before rotation and θ2 after rotation) in a rotation direction in which the angle θ2 becomes smaller. The target angle θ2 (θ2 after rotation) is assumed to be specified in advance in the robot control program. The amount of rotation (the above-mentioned predetermined angle) may be specified in advance in the robot control program, instead of the target angle θ2.

[0067] Note that the blade 220 facing outward of the packaging material PM may be defined by an angle other than the angles θ1 and θ2 described in Figures 14 and 15. For example, the blade 220 facing outward of the packaging material PM may correspond to the angle between the longitudinal direction LD of the cutter 22 and the normal direction PD of the side of the packaging material PM becoming smaller. The blade 220 facing outward of the packaging material PM may correspond to the angle between the direction BD of the blade 220 and the direction SD from the corner C1 to the corner C2 becoming smaller.

[0068] In the first embodiment, the cutter 22 cuts the packaging material PM so as to rotate clockwise as viewed from the top of the packaging material PM. In this case, the cutter 22 rotates counterclockwise as viewed from the top of the packaging material PM, which corresponds to the blade 220 facing the outside of the packaging material PM. Conversely, when the cutter 22 cuts the packaging material PM so as to rotate counterclockwise as viewed from the top of the packaging material PM, the cutter 22 rotates clockwise as viewed from the top of the packaging material PM, which corresponds to the blade 220 facing the outside of the packaging material PM. The orientation control unit 102 may control the orientation of the cutter 22 so that the blade 220 hits the outside of the packaging material PM when cutting a corner of the packaging material PM, and the blade 220 hits the inside of the packaging material PM when cutting a surface of the packaging material PM. As described above, the cutter 22 may be removed from the packaging material PM during the revolution.

[0069] In the first embodiment, the orientation control unit 102 includes a first orientation control unit 102A, a second orientation control unit 102B, and a third orientation control unit 102C. For example, the first orientation control unit 102A controls the robot 20 to insert the blade 220 into a corner C1 of the packaging material PM, and to orient the blade 220 toward the outside of the packaging material PM so that the blade 220 cuts the surface of the packaging material PM. For example, the first orientation control unit 102A moves the cutter 22 from the initial position P1 in a movement direction MD1 based on the movement path MP determined as in FIG. 13, thereby causing the blade 220 to enter the corner C1.

[0070] For example, the first orientation control unit 102A moves the cutter 22 from position P2 to position P3 in Fig. 13. The first orientation control unit 102A controls the robot 20 so that the blade 220 faces the outside of the packing material PM at position P3. In the example of Fig. 13, the first orientation control unit 102A rotates the cutter 22 by a predetermined angle counterclockwise when viewed from above the packing material PM at position P3. Thereafter, the first orientation control unit 102A controls the robot 20 to move the cutter 22 toward position P4 so that the blade 220 cuts the surface of the packing material PM.

[0071] For example, the second orientation control unit 102B changes the orientation BD of the blade 220 so that the tip 222 is disposed between the contents CT of the packaging material PM and the main body 221. In the example of FIG. 13, the second orientation control unit 102B moves the cutter 22 from position P2 to position P3, and places the tip 222 inside the packaging material PM. In this state, the second orientation control unit 102B rotates the cutter 22 at position P3 by a predetermined angle counterclockwise as viewed from above the packaging material PM, thereby disposing the tip 222 between the contents CT and the main body 221. The second orientation control unit 102B changes the orientation BD of the blade 220 so that the blade 220 does not touch the contents CT even if the tip 222 touches the contents CT.

[0072] For example, the third direction control unit 102C changes the direction of the blade 220 so that the other end E2 is located between the contents CT and the one end E1. In the example of FIG. 13, the third direction control unit 102C moves the cutter 22 from position P2 to position P3, and places the tip 222 inside the packaging material PM. In this state, the third direction control unit 102C rotates the cutter 22 at position P3 by a predetermined angle counterclockwise as viewed from the top of the packaging material PM, thereby placing the other end E2 between the contents CT and the one end E1. The third direction control unit 102C changes the direction BD of the blade 220 so that the one end E1 where the blade 220 is located does not touch the contents CT.

[0073] [1-4. Processing performed in the first embodiment] Fig. 16 is a diagram showing an example of processing executed in the first embodiment. The processing of Fig. 16 is executed by the CPU 11 executing a program stored in the storage unit 12. The processing of Fig. 16 is executed when the packaging material PM is placed on the workbench T. The fact that the packaging material PM is placed on the workbench T can be detected by any method, and may be detected, for example, by a contact sensor or the like arranged on the workbench T.

[0074] 16, the robot controller 10 controls the robot 20 so that the robot 20 photographs the packing material PM with the camera 21 (S100). The robot controller 10 recognizes the shape of the packing material PM based on the photographed image generated by the camera 21 and a shape recognition program (S101). The robot controller 10 calculates a cutting point CP based on the shape of the packing material PM estimated in S101 and the cutting point program (S102).

[0075] The robot controller 10 calculates a movement path MP of the robot 20 based on the cutting position CP calculated in S102 and the robot control program (S103). In S103, the robot controller 10 also determines a position to rotate the cutter 22. The robot controller 10 controls the robot 20 based on the movement path MP calculated in S103 so that the cutter 22 moves to the initial position P1 (S104).

[0076] The robot controller 10 moves the cutter 22 from the initial position P1 to the corner C1 of the packaging material PM, cuts the corner C1 with the blade 220, and then moves the cutter 22 to a position P2 (S105). The robot controller 10 moves the cutter 22 to a position P3 so that the tip 222 enters the cut edge created by the movement in S105, and rotates the cutter 22 counterclockwise so that the blade 220 faces the outside of the packaging material PM (S106).

[0077] The robot controller 10 moves the cutter 22 to position P4 and rotates the cutter 22 clockwise (S107). The robot controller 10 moves the cutter 22 to position P5 and rotates the cutter 22 counterclockwise (S108). The robot controller 10 moves the cutter 22 to position P6 and rotates the cutter 22 clockwise (S109). The robot controller 10 moves the cutter 22 to position P7 and rotates the cutter 22 counterclockwise (S110).

[0078] The robot controller 10 moves the cutter 22 to position P8 and rotates the cutter 22 clockwise (S111). The robot controller 10 moves the cutter 22 to position P9 and rotates the cutter 22 counterclockwise (S112). The robot controller 10 moves the cutter 22 to position P10 (S113), and the cutting of the packaging material PM is completed.

[0079] [1-5. Summary of the first embodiment] The robot control system 1 of the first embodiment controls the robot 20 so that the blade 220 faces toward the outside of the packing material PM when the robot 20 cuts the surface of the packing material PM with the blade 220 than when the robot 20 cuts the corners C1-C4 of the packing material PM with the blade 220. Because the blade 220 of the cutter 22 faces toward the outside of the packing material PM when the robot 20 cuts the surface of the packing material PM with the blade 220 than when the robot cuts the corners C1-C4 of the packing material PM with the blade 220, it is possible to prevent the blade 220 from hitting the contents CT of the packing material PM.

[0080] Further, the robot control system 1 controls the robot 20 so that the blade 220 enters the corner C1 of the packing material PM, faces the blade 220 to the outside of the packing material PM, and cuts the surface of the packing material PM. The robot is controlled so that the blade 220 of the cutter 22 enters the corner C1 of the packing material PM, faces the blade 220 of the cutter 22 to the outside of the packing material PM, and cuts the surface of the packing material PM, so that the packing material PM can be cut smoothly. For example, the packing material PM can be cut so that the blade 220 of the cutter 22 goes around the side of the packing material PM. This makes it easier to remove the contents CT and to clean up the cut packing material PM.

[0081] Further, the cutter 22 has a main body 221 having a blade 220, and a tip 222. The robot control system 1 changes the orientation of the blade 220 so that the tip 222 is disposed between the contents CT of the packaging material PM and the main body 221. Since the tip 222 is disposed between the contents CT of the packaging material PM and the main body 221 having the blade 220, the blade 220 of the cutter 22 is less likely to come into contact with the contents CT. Even if the tip touches the contents CT, the contents CT are less likely to be damaged because it is not as sharp as the main body.

[0082] Moreover, the blade 220 is disposed at one end E1 of the cutter 22. The one end E1 is sharper than the other end E2 of the cutter 22. The robot control system 1 changes the orientation of the blade 220 so that the other end E2 is disposed between the contents CT and the one end E1. Since the other end E2 is disposed between the contents CT and the one end E1 where the blade 220 is disposed, the probability that the blade 220 of the cutter 22 will hit the contents CT can be further reduced. As a result, the probability that the contents CT will be damaged can be further reduced.

[0083] The robot control system 1 also controls the robot 20 so that the robot 20 cuts the packaging material PM in which the bag-shaped contents CT are packed, with the blade 220. The bag-shaped contents CT may touch the inside of the surface of the packaging material PM, but often does not touch the inside of the corner C1 of the packaging material PM. In the case of the packaging material PM in which such contents CT are packed, there is often space around the corners C1 to C4 inside the packaging material PM. When the robot 20 cuts the corners C1 to C4 of the packaging material PM with the blade 220 of the cutter 22, the blade 220 of the cutter 22 is unlikely to come into contact with the contents CT, but when cutting the surface of the packaging material PM, the blade 220 of the cutter 22 is likely to come into contact with the contents CT. When the robot 20 cuts the surface of the packaging material PM with the blade 220 of the cutter 22, the blade 220 of the cutter 22 faces outward, making it possible to prevent the blade 220 of the cutter 22 from hitting the contents CT of the packaging material PM, compared to when the robot 20 cuts the corners C1 to C4 of the packaging material PM with the blade 220 of the cutter 22.

[0084] [2. Second embodiment] Next, a description will be given of a second embodiment, which is an example of another embodiment of the robot control system 1. In the second embodiment, a description of the same points as in the first embodiment will be omitted.

[0085] 17 is a diagram showing an example of a hardware configuration of the robot control system 1 in the second embodiment. The robot control system 1 in the second embodiment includes a fixing device 30. For example, the fixing device 30 is a device that comes into contact with the bottom surface of the packaging material PM and fixes at least a part of the portion in contact with the bottom surface when the robot 20 having the cutter 22 is controlled so as to rotate and cut the side surface of the packaging material PM with the blade 220 of the cutter 22.

[0086] For example, the fixing device 30 has a suction device 31 that sucks at least a part of the part that contacts the bottom surface of the packaging material PM. The suction device 31 includes a suction cup (suction cup) that contacts the packaging material PM and a pump for suction. For example, the suction device 31 uses the pump to create a vacuum state between the suction cup and the object that the suction cup touches. Note that the suction device 31 may be of any type and is not limited to a type that uses a suction cup. For example, the suction device 31 may be a mat-like type instead of a suction cup, or a type called a vacuum gripper.

[0087] For example, the robot controller 10 is connected to the fixing device 30 by a cable such as a signal line or a communication line. In the second embodiment, the fixing device 30 controls the on / off of suction by the suction device 31 in response to an instruction from the robot controller 10. The fixing device 30 controls the suction force of the suction device 31 in response to an instruction from the robot controller 10. The fixing device 30 may be connected to a device other than the robot controller 10. In this case, at least one of the on / off of suction by the suction device 31 and the suction force may be controlled by the other device.

[0088] The fixing device 30 may fix at least a part of the part in contact with the bottom surface of the packaging material PM by a method other than suction. That is, the fixing device 30 may not include the suction machine 31. For example, the fixing device 30 may fix the at least part by a suction cup, rubber, claw, or other member that does not have a suction function. The member may have a static friction coefficient higher than that of the top plate of the workbench T, such as a suction cup or rubber, or may have a shape that can support the bottom surface of the packaging material PM, such as a claw. For example, the fixing device 30 may fix the at least part by a magnetic force or an electrostatic force. In another example, the fixing device 30 may be a robot other than the robot 20, as in a modified example described later.

[0089] FIG. 18 is a diagram showing an example of a space in which the robot controller 10, the robot 20, and the fixing device 30 in the second embodiment are arranged. FIG. 18 shows an example of a work table T before a packaging material PM is placed on it. As shown in FIG. 18, a hole is made near the center of the top plate of the work table T. The fixing part 300 is arranged in the hole so that the suction cup of the suction device 31 faces upward. For example, the fixing device 30 is arranged so that the suction cup is at the same height as the top plate of the work table T. A sensor for detecting an object may be arranged on the surface of the suction device 31 on which the suction cup is arranged. When the packaging material PM is placed on the suction cup of the suction device 31, the suction device 31 may automatically start suction.

[0090] Fig. 19 is a diagram showing an example of the relationship between the bottom surface of the packaging material PM and the fixing device 30. Fig. 19 shows a contour L1 of the top plate of the workbench T, a contour L2 of the bottom surface of the packaging material PM, a contour L3 of a hole in the top plate of the workbench T, and a contour L4 of the fixing device 30. For example, since the contour L2 is larger than the contour L1, even if the packaging material PM is placed on the top plate of the workbench T, there is an area on the bottom surface of the packaging material PM that does not touch the top plate of the workbench T.

[0091] For example, since the contour L2 is larger than the contours L3 and L4, there is an area on the bottom surface of the packaging material PM that is not sucked by the suction device 31 even when the packaging material PM is placed on the top plate of the workbench T. The static friction force of the area of ​​the bottom surface of the packaging material PM that is sucked by the suction device 31 is greater in the whole or part of the contour L4 (e.g., the suction cup portion) than in the area that is not sucked by the suction device 31 (e.g., the area between the contours L3 and L1). The whole or part of the contour L4 is an example of at least a part of the portion that contacts the bottom surface of the packaging material PM. In the second embodiment, the static friction force of the area of ​​the bottom surface of the packaging material PM that is sucked by the suction device 31 is greater than that of the other areas of the bottom surface.

[0092] 20 is a diagram showing an example of functions realized in the second embodiment. As in the first embodiment, the robot control unit 101 in the second embodiment controls the robot 20 so that the blade 220 of the cutter 22 goes around and cuts the side surface of the packaging material PM. The functions of the robot control unit 101 are the same as those in the first embodiment, but the robot control unit 101 in the second embodiment may not include some of the functions described in the first embodiment.

[0093] For example, the robot control unit 101 of the second embodiment may not include the orientation control unit 102. In this case, the robot control unit 101 controls the robot 20 so that the blade 220 of the cutter 22 moves around and cuts the side of the packaging material PM, but the orientation of the blade 220 does not need to be changed when the blade 220 cuts the surface of the packaging material PM. In the case of the movement path MP as shown in FIG. 13, the robot control unit 101 does not need to change the orientation of the cutter 22 at the positions P3, P5, P7, and P9. For example, in the second embodiment, the cutter 22 may be a rotary blade cutter 22 instead of the cutter 22 in the first embodiment.

[0094] In the second embodiment, the robot controller 10 includes a suction device control unit 103. For example, the suction device control unit 103 is realized by the CPU 11. The suction device control unit 103 controls the suction force of the suction device 31. For example, the suction device control unit 103 transmits to the suction device 31 at least one of a suction start signal indicating to start suction, a suction stop signal indicating to stop suction, a suction force increase signal for increasing the suction force, and a suction force decrease signal for decreasing the suction force. These signals may be predetermined signals.

[0095] For example, when the suction machine 31 receives a suction start signal, it starts suction by the pump. When the suction machine 31 receives a suction stop signal, it stops suction by the pump. When the suction machine 31 receives a suction force increase signal, it controls the pump to increase suction force. When the suction machine 31 receives a suction force decrease signal, it controls the pump to decrease suction force. The circuit of the suction machine 31 is designed so that the suction machine 31 performs these operations when it receives each signal.

[0096] For example, the suction device control unit 103 controls the suction device 31 so that the suction force of the suction device 31 increases when the robot 20 goes around and cuts the side surface of the packaging material PM with the blade 220. When the robot 20 goes around and cuts the side surface of the packaging material PM with the blade 220 may mean only when the blade 220 is in contact with the packaging material PM, but in the second embodiment, it also includes before the blade 220 comes into contact with the packaging material PM.

[0097] In the example of the movement path MP in Fig. 13, the point after the cutter 22 moves to the initial position P1 may correspond to the time when the robot 20 goes around and cuts the side of the packaging material PM with the blade 220. For example, when the cutter 22 moves to the initial position P1, the suction machine control unit 103 transmits a suction start signal to the suction machine 31. When the suction machine 31 receives the suction start signal, it starts suction. When the cutter 22 moves to position P10 and completes cutting of the packaging material PM, the suction machine control unit 103 transmits a suction stop signal to the suction machine 31. When the suction machine 31 receives the suction stop signal, it stops suction.

[0098] If suction has already started before the cutter 22 moves to the initial position P1, the suction machine control unit 103 may send a suction force increase signal to the suction machine 31 instead of a suction start signal. When the suction machine 31 receives the suction force increase signal, it increases the suction force. Furthermore, when the cutter 22 moves to position P10 and completes cutting of the packaging material PM, the suction machine control unit 103 may send a suction force decrease signal to the suction machine 31 instead of a suction stop signal. When the suction machine 31 receives the suction force decrease signal, it reduces the suction force.

[0099] The fixing device 30 includes a fixing part 300. For example, the fixing part 300 is realized by a suction device 31. The fixing part 300 comes into contact with the bottom surface of the packaging material PM and fixes at least a part of the part in contact with the bottom surface. The part in contact with the bottom surface of the packaging material PM may be the entire surface of the fixing device 30 on the packaging material PM side, or may be a part of that surface. For example, the fixing part 300 fixes the at least a part of the part by suction by the suction device 31.

[0100] The fixing method by the fixing part 300 is not limited to the above example. The fixing part 300 may fix at least a part of the part in contact with the bottom surface of the packaging material PM by a fixing method other than suction. For example, the fixing part 300 may fix the at least a part by a static friction force generated between the at least a part and a suction cup, rubber, or other member. The fixing part 300 may fix the at least a part by a supporting force generated between the at least a part and a claw. The fixing part 300 may fix the at least a part by a magnetic force or an electrostatic force generated between the at least a part and the at least a part.

[0101] FIG. 21 is a diagram showing an example of a process executed in the second embodiment. The process of FIG. 21 is executed by the CPU 11 executing a program stored in the storage unit 12. As shown in FIG. 21, the robot controller 10 judges whether or not the packaging material PM is placed on the workbench T (S200). For example, the robot controller 10 executes the judgment of S200 based on an image captured by the camera 21 or a contact sensor arranged on the workbench T. When it is judged that the packaging material PM is placed on the workbench T (S200: Y), the robot controller 10 causes the suction device 31 to start suction (S201). The subsequent processes of S202 to S215 are the same as the processes of S100 to S113. Note that, in FIG. 21, a case has been described in which suction by the suction device 31 is started when the packaging material PM is placed on the workbench T, but in S206, when the robot 20 moves to the initial position P1, the robot controller 10 may start suction by the suction device 31. The robot controller 10 may stop the suction of the suction device 31 after the process of S215 is executed and the cutting is completed.

[0102] The robot control system 1 of the second embodiment includes a fixing unit 300 that comes into contact with the bottom surface of the packaging material PM and fixes at least a part of the portion in contact with the bottom surface. For example, when a jig supports the side surface of the packaging material PM, the jig may get in the way of the robot 20. However, since the fixing unit 300 fixes at least the part, when the robot 20 goes around and cuts the side surface of the packaging material PM with the cutter 22, the packaging material PM can be fixed without getting in the way of the cutter 22. The packaging material PM can be prevented from moving due to the force from the cutter 22.

[0103] The robot control system 1 also has a suction device 31 that sucks at least a part of the portion of the packaging material PM that comes into contact with the bottom surface of the packaging material PM. The suction device 31 can fix the packaging material PM without interfering with the cutter 22.

[0104] Furthermore, the robot control system 1 controls the suction device 31 so that the suction force of the suction device 31 is increased when the robot 20 goes around and cuts the side surface of the packaging material PM with the blade 220. This makes it easier to fix the packaging material PM in place due to the increased suction force when the robot 20 goes around and cuts the side surface of the packaging material PM with the cutter 22.

[0105] [3. Modifications] The present disclosure is not limited to the first and second embodiments described above, and may be modified as appropriate without departing from the spirit and scope of the present disclosure.

[0106] [3-1. Modifications of the First Embodiment] First, a modified example of the first embodiment will be described. Fig. 22 is a diagram showing an example of functions realized in the modified example of the first embodiment. For example, in the modified example of the first embodiment, the robot control unit 101 includes a shape recognition unit 104, a cutting control unit 105, a dent recognition unit 106, a speed control unit 107, a property identification unit 108, a type identification unit 109, and a thickness detection unit 110. Each of the shape recognition unit 104, the cutting control unit 105, the dent recognition unit 106, the speed control unit 107, the property identification unit 108, the type identification unit 109, and the thickness detection unit 110 is realized by the CPU 11.

[0107] [Variation 1-1] For example, as described in the first embodiment, the surface of the packaging material PM may swell due to the contents CT. The portion where the packaging material PM is swelled may be difficult to cut with the cutter 22 because the surface is curved. Furthermore, the portion where the packaging material PM is swelled has the contents CT just inside the surface, so the cutter 22 may hit the contents CT with a strong force. Therefore, the robot controller 10 may control the robot 20 to cut below the bulge of the packaging material PM. The robot controller 10 may also control the robot 20 to cut the packaging material PM by following the bulge of the packaging material PM.

[0108] The robot control system 1 of the modified example 1-1 includes a shape recognition unit 104 and a cutting control unit 105. The shape recognition unit 104 recognizes the shape of the packing material PM based on the camera 21. The function of the shape recognition unit 104 is as described in the function of the robot control unit 101 in the first embodiment. The shape recognition unit 104 recognizes the shape of the packing material PM based on the captured image generated by the camera 21 and a shape recognition program.

[0109] For example, the packaging material PM of the modified example 1-1 has a bulge on the surface. For example, the packaging material PM bulges at least a part of the side due to the pressure of the contents CT received from the inside. Here, it is assumed that the midpoint between the bottom surface and the top surface of the packaging material PM is the most bulged. The shape recognition unit 104 can also recognize such a bulge based on the image generated by the camera 21.

[0110] The cutting control unit 105 controls the robot 20 so that the robot 20 cuts the packaging material PM with the cutter 22. The processing of the cutting control unit 105 may be similar to the processing described as the processing of the robot control unit 101 in the first embodiment. In modification 1-1, the cutting control unit 105 includes a first cutting control unit 105A. The first cutting control unit 105A controls the robot 20 so that the robot 20 cuts below the bulge on the side of the packaging material PM with the blade 220, based on the shape identified by the shape recognition unit 104. For example, the first cutting control unit 105A identifies the position of greatest bulge based on the recognition result (the outline of the packaging material PM) by the shape recognition unit 104.

[0111] For example, the cutting control unit 105 identifies the midpoint between the bottom surface and the top surface of the packing material PM as the most bulging position. The first cutting control unit 105A determines the position between the most bulging position of the packing material PM and the bottom surface of the packing material PM as the cutting point CP. For example, the first cutting control unit 105A calculates the distance between the most bulging position of the packing material PM and the bottom surface of the packing material PM. The first cutting control unit 105A determines the position a predetermined percentage (e.g., 80%) of the distance below the most bulging position of the packing material PM as the cutting point CP. The processing of the robot control unit 101 after the cutting point CP is determined may be the same as that in the first embodiment.

[0112] The method of determining the cut point CP by the first cutting control unit 105A is not limited to the above example. The first cutting control unit 105A may determine a position below the bulge of the packaging material PM as the cut point CP. For example, the first cutting control unit 105A may calculate the degree of curvature (curvature) of the outline of the packaging material PM and determine a position where the degree of curvature is less than a threshold as the cut point CP. As another example, the first cutting control unit 105A may determine a position from the bottom surface of the packaging material PM that is a predetermined percentage (e.g., 20%) of the distance between the position where the packaging material PM bulges most and the bottom surface of the packaging material PM as the cut point CP.

[0113] The robot control system 1 of the modified example 1-1 recognizes the shape of the packing material PM based on the camera 21. The robot control system 1 controls the robot 20 to cut the packing material PM below the bulge on the side surface with the blade 220 based on the shape of the packing material PM. As a result, the robot control system 1 cuts the packing material PM below the bulge on the side surface with the cutter 22, making it less likely that the blade 220 of the cutter 22 will come into contact with the contents CT.

[0114] [Variation 1-2] For example, as described in the first embodiment, the surface of the packing material PM may have a dent, not a bulge as in the modified example 1-1. In this case, the robot controller 10 may control the robot 20 so that the robot 20 cuts the packing material PM at a position corresponding to the dent with the blade 220. The robot control system 1 of the modified example 1-2 includes a dent recognition unit 106 and a second cutting control unit 105B.

[0115] For example, the packaging material PM of variant example 1-2 has a dent on its surface. For example, the dent occurs when a worker drops the packaging material PM. Here, it is assumed that the dent occurs near the vertex V2 of the packaging material PM. The dent recognition unit 106 recognizes the dent in the packaging material PM based on the camera 21. The dent recognition unit 106 is one function of the shape recognition unit 104. For example, the dent recognition unit 106 recognizes a portion of the outline of the packaging material PM that curves inward (a portion where the curvature of the outline inward direction is equal to or greater than a threshold) as a dent.

[0116] The second cutting control unit 105B controls the robot 20 so that the robot 20 cuts with the blade 220 at a position corresponding to the depression. The position corresponding to the depression is a position of the packing material PM other than the depressed portion. For example, the second cutting control unit 105B controls the robot 20 so that the robot 20 cuts while avoiding the depressed portion of the packing material PM. The second cutting control unit 105B determines the cutting location CP so that the cutting location CP does not pass over the depression. The processing of the robot control unit 101 after the cutting location CP is determined may be similar to that of the first embodiment.

[0117] The robot control system 1 of the modified example 1-2 recognizes a dent in the packing material PM based on the camera 21. The robot control system 1 controls the robot 20 so that the robot 20 cuts a position according to the dent with the blade 220. In this way, the robot control system 1 can cause the robot 20 to appropriately cut the packing material PM with the blade 220 of the cutter 22 even if the packing material PM is dented.

[0118] [Variation 1-3] For example, in many cases, the blade 220 is less likely to get caught on the surface of the packing material PM if the cutting speed is relatively fast. For this reason, the speed of the cutter 22 may be changed when the robot 20 cuts the corners of the packing material PM and when cutting the surface of the packing material PM. Although the speed in the modification 1-3 refers to the moving speed, in the case of a cutter 22 that generates vibrations such as an ultrasonic cutter, it may refer to the vibration speed. The robot control system 1 of the modification 1-3 includes a speed control unit 107.

[0119] The speed control unit 107 controls the robot 20 so that the speed of the cutter 22 changes between when the robot 20 cuts the surface of the packaging material PM with the blade 220 and when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. For example, the speed control unit 107 controls the robot 20 so that the speed when the robot 20 cuts the surface of the packaging material PM with the blade 220 is faster than the speed when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220.

[0120] The control method by the speed control unit 107 is not limited to the above example. The speed control unit 107 may control the robot 20 so that the speed at which the robot 20 cuts the surface of the packing material PM with the blade 220 is slower than the speed at which the robot 20 cuts the corner C1 of the packing material PM with the blade 220. For example, when the surface of the packing material PM is wet and easily torn, the speed control unit 107 controls the speed in this manner, thereby preventing the wet surface of the packing material PM from tearing.

[0121] The robot control system 1 of the modified example 1-3 controls the robot 20 so that the speed of the cutter 22 changes when the robot 20 cuts the surface of the packaging material PM with the blade 220 and when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. Since the speed of the cutter 22 changes when the blade 220 of the cutter 22 cuts the surface of the packaging material PM and when the blade 220 of the cutter 22 cuts the corner C1 of the packaging material PM, the robot control system 1 can cut the packaging material PM at an appropriate speed. For example, the takt time is increased. The cutter 22 is less likely to stop midway.

[0122] [Variation 1-4] For example, the robot controller 10 may control the robot 20 so as to change the torque related to the blade 220, instead of changing the speed as in the modification 1-3. The torque related to the blade 220 is the torque detected when the blade 220 cuts the packaging material PM. This torque may increase due to a reaction force that the blade 220 receives from the packaging material PM. The robot control system 1 of the modification 1-4 includes a third cutting control unit 105C.

[0123] The third cutting control unit 105C controls the robot 20 so that the torque related to the blade 220 changes between when the robot 20 cuts the surface of the packaging material PM with the blade 220 and when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. For example, the third cutting control unit 105C controls the robot 20 so that the torque when the robot 20 cuts the surface of the packaging material PM with the blade 220 is greater than the torque when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. The third cutting control unit 105C increases the force with which the robot 20 presses the blade 220 against the packaging material PM so that the torque when the robot 20 cuts the surface of the packaging material PM with the blade 220 is greater than the torque when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220.

[0124] The control method by the third cutting control unit 105C is not limited to the above example. The third cutting control unit 105C may control the robot 20 so that the torque generated when the robot 20 cuts the surface of the packaging material PM with the blade 220 is smaller than the torque generated when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. The third cutting control unit 105C weakens the force with which the robot 20 presses the blade 220 against the packaging material PM so that the torque generated when the robot 20 cuts the surface of the packaging material PM with the blade 220 is smaller than the torque generated when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. For example, when the surface of the packaging material PM is wet and easily torn, the third cutting control unit 105C controls the robot 20 in this manner, thereby preventing the wet surface of the packaging material PM from tearing.

[0125] The robot control system 1 of modification 1-4 controls the robot 20 so that the torque associated with the blade 220 changes when the robot 20 cuts the surface of the packaging material PM with the blade 220 and when the robot 20 cuts the corner C1 of the packaging material PM with the blade 220. Because the torque associated with the blade 220 changes when the blade 220 of the cutter 22 cuts the surface of the packaging material PM and when the blade 220 of the cutter 22 cuts the corner C1 of the packaging material PM, the robot control system 1 can cut the packaging material PM with an appropriate pressing force.

[0126] [Variation 1-5] For example, the robot controller 10 may change the orientation of the blade 220 depending on the property of the packaging material PM. The property of the packaging material PM is at least one of the thickness, wetness, hardness, and material of the packaging material PM. The robot control system 1 includes a property specifying unit 108 and a fourth orientation control unit 102D.

[0127] The property identification unit 108 identifies the property of the packaging material PM. In modification 1-5, it is assumed that a user who uses the robot control system 1 inputs the property of the packaging material PM from a handheld terminal connected to the robot controller 10. The property identification unit 108 records property parameters indicating the property of the packaging material PM input by the user in the data storage unit 100. For example, the user inputs at least one of the thickness, wetness, hardness, and material of the packaging material PM from the handheld terminal.

[0128] The property identifying unit 108 may identify the property of the packing material PM by other methods. For example, the property identifying unit 108 may identify the property of the packing material PM based on a captured image generated by the camera 21. It is difficult to identify the thickness of the packing material PM from a captured image, but at least one of the wetness, hardness, and material of the packing material PM can be estimated to some extent from the color tone of the surface of the packing material PM. The property identifying unit 108 may identify at least one of the wetness, hardness, and material of the packing material PM by performing image analysis on the captured image.

[0129] Furthermore, the property identifying unit 108 may identify the property of the packaging material PM based on a detection signal of a sensor included in the robot 20. For example, the property identifying unit 108 may identify the property of the packaging material PM based on a change in torque detected by a torque sensor when the cutter 22 cuts into the corner C1. The property identifying unit 108 may identify the property of the packaging material PM based on a change in a detection signal of a contact sensor when the cutter 22 cuts into the corner C1.

[0130] The fourth orientation control unit 102D controls the robot 20 so that the orientation of the blade 220 changes based on the property of the packing material PM. It is assumed that the relationship between the property of the packing material PM and the orientation of the blade 220 is defined in the robot control program. The fourth orientation control unit 102D controls the robot 20 so that the orientation of the blade 220 is associated with the property of the packing material PM. For example, when the packing material PM has a first property, the fourth orientation control unit 102D controls the orientation of the blade 220 so that the blade 220 faces more toward the outside of the packing material PM than when the packing material PM has a second property.

[0131] For example, when the packing material PM is dry, the fourth orientation control unit 102D controls the orientation of the blade 220 so that the blade 220 faces the outside of the packing material PM because it is easier for the blade 220 to cut even if it faces the outside of the packing material PM than when the packing material PM is wet. The thinner the packing material PM is, the easier it is for the blade 220 to hit the contents CT, so the fourth orientation control unit 102D controls the orientation of the blade 220 so that the blade 220 faces the outside of the packing material PM. The softer the material of the packing material PM is, the easier it is for the blade 220 to cut even if it faces the outside of the packing material PM, so the fourth orientation control unit 102D controls the orientation of the blade 220 so that the blade 220 faces the outside of the packing material PM.

[0132] The robot control system 1 of the modified example 1-5 changes the orientation of the blade 220 based on the properties of the packaging material PM. The robot control system 1 can cut the packaging material PM with the blade 220 in the orientation that corresponds to the properties of the packaging material PM.

[0133] [Variation 1-6] For example, the robot controller 10 may change the orientation of the blade 220 depending on the type of the contents CT. The type of the contents CT is at least one of the material, thickness, wetness, and hardness of the contents CT. The robot control system 1 includes a type identification unit 109 and a fifth orientation control unit 102E.

[0134] The type identification unit 109 identifies the type of the contents CT of the packaging material PM. In Modification Example 1-6, it is assumed that the user inputs the type of the contents CT from a handheld terminal connected to the robot controller 10. The property identification unit 108 records the type parameter indicating the type of the contents CT input by the user in the data storage unit 100. For example, the user inputs at least one of the material, thickness, wetness, and hardness of the contents CT from the handheld terminal.

[0135] The type identification unit 109 may identify the type of the contents CT by other methods. For example, when the top surface of the packaging material PM is open, the type identification unit 109 may identify the type of the contents CT based on a captured image generated by the camera 21. For example, when the camera 21 is disposed at the tip of the cutter 22, the type identification unit 109 may capture an image of the contents CT with the camera 21 when the tip 222 of the cutter 22 is inserted, and identify the type of the contents CT based on the captured image generated by the camera 21.

[0136] The fifth orientation control unit 102E controls the robot 20 so that the orientation of the blade 220 changes based on the type of contents CT. The relationship between the type of contents CT and the orientation of the blade 220 is defined in the robot control program. The fifth orientation control unit 102E controls the robot 20 so that the orientation of the blade 220 is associated with the type of contents CT. For example, when the contents CT are a first type, the fifth orientation control unit 102E controls the orientation of the blade 220 so that the blade 220 faces more toward the outside of the packaging material PM than when the contents CT are a second type.

[0137] For example, the fifth orientation control unit 102E controls the orientation of the blade 220 so that the blade 220 faces the outside of the packing material PM because the softer the material of the packing material PM, the easier it is for the blade 220 to cut even if the blade 220 faces the outside of the packing material PM. The fifth orientation control unit 102E controls the orientation of the blade 220 so that the blade 220 faces the outside of the packing material PM because the thinner the packing material PM, the easier it is for the blade 220 to hit the contents CT. The fifth orientation control unit 102E controls the orientation of the blade 220 so that the blade 220 faces the outside of the packing material PM because the blade 220 is easier to cut when the packing material PM is dry than when the packing material PM is wet, even if the blade 220 faces the outside of the packing material PM.

[0138] The robot control system 1 of the modified example 1-6 identifies the type of contents CT of the packaging material PM. The robot control system 1 controls the robot 20 so that the orientation of the blade 220 changes based on the type of contents CT. The robot control system 1 can cut the packaging material PM with the orientation of the blade 220 according to the type of contents CT.

[0139] [Variation 1-7] For example, the robot controller 10 may detect the thickness of the packing material PM based on the torque of the blade 220 detected by a torque sensor. The torque sensor may be provided to detect the thickness of the packing material PM, but in Modification 1-7, the torque sensor is provided so that the robot controller 10 can detect whether an abnormality has occurred in the robot 20. The robot controller 10 detects the thickness of the packing material PM using the torque sensor provided for this purpose. The robot control system 1 of Modification 1-7 includes a thickness detection unit 110 and a sixth orientation control unit 102F.

[0140] The thickness detection unit 110 detects the thickness of the packing material PM based on the torque related to the blade 220. For example, the thickness detection unit 110 detects the thickness of the packing material PM based on a change in torque after the blade 220 touches the packing material PM. When the blade 220 touches the packing material PM, the blade 220 receives a reaction force, and the increase in torque becomes equal to or exceeds a threshold value. This allows the thickness detection unit 110 to detect that the blade 220 has touched the packing material PM. When the blade 220 reaches the inside of the packing material PM, the reaction force against the blade 220 weakens, and the decrease in torque becomes equal to or exceeds a threshold value. This allows the thickness detection unit 110 to detect that the blade 220 has reached the inside of the packing material PM.

[0141] For example, the thickness detection unit 110 detects the thickness of the packing material PM based on the travel distance of the blade 220 from when the blade 220 touches the packing material PM until the blade 220 reaches the inside of the packing material PM. The thickness detection unit 110 may detect the travel distance as the thickness of the packing material PM as it is, or may detect a value obtained by multiplying the travel distance by a predetermined coefficient as the thickness of the packing material PM.

[0142] The sixth orientation control unit 102F controls the robot 20 so that the orientation of the blade 220 changes based on the thickness of the packing material PM. It is assumed that the relationship between the thickness of the packing material PM and the orientation of the blade 220 is defined in the robot control program. The sixth orientation control unit 102F controls the robot 20 so that the orientation of the blade 220 is associated with the thickness of the packing material PM. For example, the sixth orientation control unit 102F controls the orientation of the blade 220 so that the thinner the packing material PM is, the more the blade 220 faces toward the outside of the packing material PM.

[0143] The robot control system 1 of modification 1-7 detects the thickness of the packing material PM based on the torque related to the blade 220. The robot control system 1 controls the robot 20 so that the orientation of the blade 220 changes based on the thickness of the packing material PM. The robot control system 1 can cut the packing material PM with the orientation of the blade 220 corresponding to the thickness of the packing material PM.

[0144] [Other Modifications of the First Embodiment] For example, the cutter 22 may be provided with a stopper to prevent the cutter 22 from penetrating too far into the packaging material PM. The robot controller 10 may increase the vibration frequency of the cutter 22 when the cutter 22 cuts a corner of the packaging material PM compared to when the cutter 22 cuts a surface of the packaging material PM. The robot controller 10 may decrease the vibration frequency of the cutter 22 when the packaging material PM is wet. The robot controller 10 The cutter 22 may be replaced depending on the packaging material PM.

[0145] [3-2. Modifications of the second embodiment] Next, a modified example of the second embodiment will be described. In the second embodiment, the case where the fixed unit 300 is realized by the suction device 31 arranged on the workbench T has been described, but the fixed unit 300 may be realized by other hardware. In the modified example of the second embodiment, a case where the fixed unit 300 is realized by another robot different from the robot 20 will be described. The robot control system 1 of the modified example of the second embodiment includes another robot different from the robot 20.

[0146] 23 is a diagram showing an example of a hardware configuration of a robot control system 1 in a modified example related to the second embodiment. In the modified example related to the second embodiment, the robot controller 10 and the robot 20 described in the second embodiment are referred to as a first robot controller 10 and a first robot 20, respectively. For example, the robot control system 1 includes a second robot controller 40 and a second robot 50. The first robot 20 is an example of a robot having a cutter 22. The second robot 50 is an example of another robot.

[0147] In the modified example of the second embodiment, the first robot controller 10 and the second robot controller 40 are directly connected by a network such as an industrial network or a LAN, but the first robot controller 10 and the second robot controller 40 may be connected via a higher-level controller. The first robot controller 10 and the second robot controller 40 may execute the processes described below based on instructions from the higher-level controller.

[0148] For example, the second robot controller 40 includes a CPU 41, a storage unit 42, and a communication unit 43. The hardware configurations of the CPU 41, the storage unit 42, and the communication unit 43 may be similar to those of the CPU 11, the storage unit 12, and the communication unit 13, respectively. The second robot controller 40 is also similar to the first robot controller 10 in that the programs or data stored in the storage unit 42 may be supplied to the second robot controller 40 via a network, and that the hardware configuration of the second robot controller 40 is not limited to the example in FIG. 23.

[0149] The hardware configuration of the second robot 50 may be the same as that of the first robot 20, but the second robot 50 is different from the first robot 20 in what is attached as an end effector. For example, the second robot 50 includes a fixing device 30 as an end effector. In the modified example of the second embodiment, the fixing device 30 includes a suction device 31 as in the second embodiment. Therefore, the second robot 50 has the suction device 31 as an end effector at the tip portion. In the modified example of the second embodiment, a case in which the second robot 50 does not include a camera will be described, but the second robot 50 may include a camera as in the first robot 20. The second robot 50 may include a motor encoder, a torque sensor, a contact sensor, or other sensors.

[0150] 24 is a diagram showing an example of functions realized in a modification of the second embodiment. For example, in the modification of the second embodiment, the second robot controller 40 includes a data storage unit 400 and a second robot control unit 401. The data storage unit 400 is realized by the storage unit 42. The second robot control unit 401 is realized by the CPU 41. The second robot control unit 401 includes a fixing control unit 402, a removal control unit 403, a rotation control unit 404, a cut location specifying unit 405, a cut status specifying unit 406, and a property specifying unit 407.

[0151] For example, the data storage unit 400 stores data necessary for the second robot controller 40 to control the second robot 50. For example, the data storage unit 100 stores a program including a code (command) indicating the control content of the second robot 50. The program can be written in any language, and may be written in, for example, a robot language or a ladder language. The code may be any code adopted in these languages. For example, the program includes at least one of a code for moving the second robot 50, a code for changing the posture of the second robot 50, and a code for controlling the suction machine 31.

[0152] For example, the data storage unit 400 stores a robot control program for moving the suction device 31 to the surface of the packaging material PM, and a suction device control program for controlling the suction device 31. The robot control program is similar to the robot control program described in the first embodiment in that it is a program for realizing movement to a predetermined target position. For example, the robot control program may include an algorithm for calculating a path to the target position. The suction device control program is a program for sending various instructions, such as the suction start instruction described in the second embodiment, to the suction device 31. Based on these programs, the fixing control unit 402 controls the second robot 50 so that the fixing device 30 of the second robot 50 fixes the packaging material PM.

[0153] FIG. 25 is a diagram showing an example of a space in which the first robot controller 10, the first robot 20, the second robot controller 40, and the second robot 50 are arranged. For example, the second robot 50 is arranged on the opposite side of the first robot 20 as viewed from the workbench T and the packaging material PM. Note that the workbench T of the modified example related to the second embodiment does not include the fixing device 30, as in the first embodiment. Also, in FIG. 25, the communication lines between the first robot controller 10 and the second robot controller 40 are omitted. The omission of the communication lines is similar to that in FIG. 26 and FIG. 27 described later.

[0154] As shown in Fig. 25, a fixing device 30 is attached as an end effector to the tip of the second robot 50. In the example of Fig. 25, the suction cup of the suction device 31 of the fixing device 30 faces downward. In the state of Fig. 25, if the second robot controller 40 moves the second robot 50 so that the suction cup of the suction device 31 touches the upper surface of the packaging material PM and controls the fixing device 30 to press down the packaging material PM from above, the fixing device 30 can fix the packaging material PM. Furthermore, if the second robot controller 40 starts suction by the suction device 31, the packaging material PM can be fixed with stronger force.

[0155] In a modification of the second embodiment, the first robot 20 and the second robot 50 are configured not to interfere with each other. For example, the first robot 20 may move so as to cut the packaging material PM halfway around at a time, so as not to come into contact with the second robot 50. For example, the second robot 50 may retreat to another location when the first robot 20 passes nearby, and start fixing the packaging material PM again after the first robot 50 has passed.

[0156] [Variation 2-1] For example, in modification 2-1, before the first robot 20 starts to cut the packing material PM with the cutter 22, the second robot controller 40 operates the second robot 50 so that the second robot 50 fixes the upper surface of the packing material PM with the fixing device 30. For example, the second robot controller 40 receives packing material data indicating the position and shape of the packing material PM from the first robot controller 10. For example, the packing material data indicates the positions of vertices V1 to V8 of the packing material PM in a coordinate system based on the first robot 20.

[0157] For example, the second robot controller 40 converts a coordinate system based on the first robot 20 in the packaging material data into a coordinate system based on the second robot 50. The relative positional relationship between the first robot 20 and the second robot 50 (for example, the direction and distance between the base of the first robot 50 and the base of the second robot 50) is assumed to be designated in advance as a parameter by the user. The second robot controller 40 may convert the coordinate system of the packaging material data based on the relative positional relationship.

[0158] For example, the second robot controller 40 determines a position to which the fixing device 30 of the second robot 50 is moved based on the position and shape of the packaging material PM indicated by the packaging material data after the coordinate system has been converted. The first robot controller 10 starts cutting the packaging material PM after the packaging material PM is fixed by the fixing device 30 of the second robot 50. The method of cutting the packaging material PM may be the same as in the second embodiment.

[0159] The conversion of the coordinate system may be performed by the first robot controller 10. In this case, the first robot controller 10 transmits the packaging material data converted into the coordinate system based on the second robot 50 to the second robot controller 40. In addition, when the second robot 50 has a camera similar to the camera 21, the second robot controller 40 may control the second robot 50 so that the camera of the second robot 50 photographs the packaging material PM. The second robot controller 40 may recognize the position and shape of the packaging material PM based on the photographed image generated by the camera of the second robot 50 in the same manner as the first robot controller 10.

[0160] The robot control system 1 of the modified example 2-1 includes a first fixation control unit 402A. The first fixation control unit 402A controls the second robot 50 so that the second robot 50 fixes the packaging material PM with the fixing device 30. For example, the first fixation control unit 402A controls the second robot 50 so that the suction device 31 of the fixing device 30 touches the upper surface of the packaging material PM. The position of the upper surface of the packaging material PM is identified from the packaging material data. The first fixation control unit 402A controls the second robot 50 so that the second robot 50 fixes the packaging material PM by supporting the packaging material PM in a direction different from the force applied to the packaging material PM by the blade 220.

[0161] The direction of the force applied to the packaging material PM by the blade 220 is the movement direction of the blade 220 or a direction that forms an angle with the movement direction less than a predetermined angle (e.g., less than 20°). Hereinafter, this direction is referred to as the cutting direction. A direction different from the cutting direction is a direction that forms an angle with the cutting direction equal to or greater than a predetermined angle (e.g., 45° or more). Hereinafter, a direction different from the cutting direction is referred to as the supporting direction.

[0162] In the example of FIG. 25, the cutting direction is horizontal. The supporting direction is vertical. The first fixing control unit 402A controls the second robot 50 so that the second robot 50 supports the packing material PM in the vertical direction (i.e., so that the second robot 50 presses down the packing material PM from above). For example, the first fixing control unit 402A determines the target position of the fixing device 30 of the second robot 50 based on the position and shape of the packing material PM indicated by the packing material data. In variant example 2-1, the first fixing control unit 402A determines the center point of the upper surface of the packing material PM as the target position of the fixing device 30 of the second robot 50.

[0163] For example, the first fixed control unit 402A controls the second robot 50 so that the fixing device 30 moves to the center point of the upper surface of the packaging material PM with the suction cup facing downward. The movement path of the second robot 50 can be determined by any algorithm. For example, the first fixed control unit 402A calculates a movement path from an initial position set for the second robot 50 to a target position based on linear interpolation, circular interpolation, or spline interpolation. The first fixed control unit 402A controls the second robot 50 based on the calculated movement path.

[0164] In the modified example 2-1, the workbench T does not include a fixing device other than the fixing device 30 of the second robot 50, but the workbench T may include the other fixing device. That is, the packaging material PM may be fixed by being sandwiched from above and below by the fixing device 30 of the second robot 50 and the other fixing device of the workbench T.

[0165] The robot control system 1 of the modified example 2-1 controls the second robot 50 so that the second robot 50 fixes the packing material PM by supporting the packing material PM in a direction different from the direction of the force applied to the packing material PM by the blade 220. The packing material PM can be fixed by the second robot 50, which is different from the first robot 20 that cuts the packing material PM. For example, the packing material PM can be easily fixed by the frictional force generated on the bottom surface of the packing material PM and the frictional force generated on the top surface of the packing material PM.

[0166] [Variation 2-2] For example, in the modified example 2-1, the second robot 50 fixes the packing material PM from the top surface of the packing material PM. The second robot 50 may fix a surface of the packing material PM other than the top surface. In the modified example 2-2, a case will be described in which the packing material PM is placed on the fixing device 30 of the second robot 50, not on the workbench T, and the second robot 50 fixes the packing material PM from the bottom surface of the packing material PM.

[0167] In the modified example 2-2, the workbench T is not arranged. If the second robot 50 is in the state of FIG. 25 (however, the workbench T does not exist), the second robot controller 40 controls the second robot 50 so that the suction cup of the fixing device 30 of the second robot 50 faces upward. The packaging material PM is placed on the fixing device 30 by an operator or a transport robot. When the packaging material PM is placed on the fixing device 30, the second robot controller 40 starts suction by the suction device 31. The second robot 50 supports the packaging material PM by using the fixing device 30 to support it from below.

[0168] The robot control system 1 of the modified example 2-2 includes a second fixation control unit 402B. The second fixation control unit 402B controls the second robot 50 so that the second robot 50 fixes at least a portion of the packaging material PM that has come into contact with the top surface of the packaging material PM or the bottom surface of the packaging material PM. Since the pattern in which the second robot 50 fixes the top surface of the packaging material PM has been explained in the modified example 2-1, the modified example 2-2 will explain a pattern in which the second robot 50 fixes at least a portion of the packaging material PM that has come into contact with the bottom surface of the packaging material PM.

[0169] It is assumed that a target position of the fixing device 30 is previously determined in the data storage unit 400. The target position is a position where the packaging material PM is placed. For example, the second fixing control unit 402B controls the second robot 50 so that the fixing device 30 moves to the target position with the suction cup facing upward. The second fixing control unit 402B calculates a movement path from an initial position set for the second robot 50 to the target position based on the arbitrary algorithm described above. The second fixing control unit 402B controls the second robot 50 based on the calculated movement path.

[0170] The robot control system 1 of the modified example 2-2 controls the second robot 50 so that the second robot 50 fixes at least a portion of the packaging material PM that has come into contact with the top surface of the packaging material PM or the bottom surface of the packaging material PM. The packaging material PM can be fixed by the second robot 50, which is different from the first robot 20 that cuts the packaging material PM. For example, by the second robot 50 fixing the bottom surface side of the packaging material PM, the second robot 50 serves as a substitute for the work table T, so that the work table T can be eliminated.

[0171] [Variation 2-3] For example, in Modification 2-1, the second robot controller 40 may control the second robot 50 so that the second robot 50 removes the top part of the packaging material PM after the first robot 20 completes cutting the packaging material PM. As another example, in Modification 2-2, the second robot controller 40 may control the second robot 50 so that the second robot 50 removes the bottom part of the packaging material PM after the first robot 20 completes cutting the packaging material PM and the contents CT are removed.

[0172] The robot control system 1 of the modified example 2-3 includes a removal control unit 403. The removal control unit 403 controls the second robot 50 so that the second robot 50 removes the top or bottom part of the packing material PM after the cutting of the packing material PM is completed. For example, when the first robot 20 completes cutting the packing material PM, the first robot controller 10 transmits a cutting completion notification indicating that the cutting of the packing material PM is completed to the second robot controller 40. The second robot controller 40 determines that the cutting of the packing material PM is completed by receiving the cutting completion notification from the first robot controller 10.

[0173] FIG. 26 is a diagram showing an example of a state in which the upper part of the packing material PM is removed in the modified example 2-3. In the modified example 2-3, the second fixed control unit 402B controls the second robot 50 so that the second robot 50 fixes the upper surface of the packing material PM. The processing of the second fixed control unit 402B in this case is similar to the processing of the first fixed control unit 402A described in the modified example 2-1. The second robot 50 presses the packing material PM from the upper surface while cutting the packing material PM, and after cutting of the packing material PM is completed, removes the upper part of the packing material PM in the same flow. The upper part of the packing material PM is the upper part of the packing material PM that is cut off by the cut surface.

[0174] For example, the removal control unit 403 has an upper part removal control unit 403A that controls the second robot 50 so that the second robot 50 removes the upper part after cutting of the packaging material PM is completed. When the second robot controller 40 receives a cutting completion notification from the first robot controller 10, the upper part removal control unit 403A moves the upper part of the packaging material PM to another location while maintaining suction by the suction device 31 of the fixing device 30. The destination position of the upper part of the packaging material PM is determined in advance in the data storage unit 400.

[0175] For example, the upper part removal control unit 403A calculates a movement path from the current position where the fixing device 30 fixes the packaging material PM to the destination position based on any of the above-mentioned algorithms, and controls the second robot 50 based on the calculated movement path. When the fixing device 30 moves to the destination position, the upper part removal control unit 403A turns off suction by the suction device 31. The upper part of the packaging material PM is placed at the destination position. The upper part removal control unit 403A controls the second robot 50 so that the fixing device 30 moves to the initial position.

[0176] Modifications 2-2 and 2-3 may be combined. In this case, the removal control unit 403 may control the second robot 50 to move the bottom part of the packaging material PM to another location while maintaining suction by the suction device 31 of the fixing device 30 after the first robot 20 has completed cutting the packaging material PM and the upper part of the packaging material PM has been removed by the worker to take out the contents CT. The bottom part of the packaging material PM is the lower part of the packaging material PM that is separated by the cut surface.

[0177] The robot control system 1 of the modified example 2-3 controls the second robot 50 so that after cutting of the packaging material PM is completed, the second robot 50 removes the top or bottom part of the packaging material PM. By the second robot 50 fixing the packaging material PM removing the top or bottom part of the packaging material PM, the packaging material PM can be removed efficiently, and the takt time is improved.

[0178] Furthermore, when the robot control system 1 controls the second robot 50 so that the second robot 50 fixes the top surface of the packaging material PM, the robot control system 1 controls the second robot 50 so that the second robot 50 removes the top part after cutting of the packaging material PM is completed. By having the second robot 50 fix the top surface of the packaging material PM and remove the top part of the packaging material PM as it is, the packaging material PM can be removed efficiently, thereby improving the takt time.

[0179] [Variation 2-4] For example, the workbench T may be rotatable. In this case, the workbench T may rotate to cut the packaging material PM instead of the first robot 20 moving around the packaging material PM placed on the workbench T as in the second embodiment. In the modified example 2-4, a case will be taken as an example in which the workbench T rotates while the second robot 50 keeps the upper surface of the packaging material PM fixed as in the modified example 2-1.

[0180] 27 is a diagram showing an example of the rotation of the worktable T in Modification 2-4. In Modification 2-4, a case will be described in which the first robot controller 10 rotates the worktable T, but a device other than the first robot controller 10 may rotate the worktable T. The control by the second robot controller 40 to cause the second robot 50 to fix the upper surface of the packaging material PM may be the same as that in Modification 2-1.

[0181] The worktable T of the modified example 2-4 includes at least one motor. The worktable T itself may be a known turntable. The worktable T rotates as the motor of the worktable T rotates. The worktable T may include various sensors such as a motor encoder for detecting the rotational position of the motor. The first robot controller 10 has a power line for rotating the motor of the worktable T. The first robot controller 10 rotates the worktable T by controlling the power to the power line.

[0182] The robot control system 1 includes a rotation control unit 404. The rotation control unit 404 rotates the packing material PM while the second robot 50 is fixing the packing material PM. For example, when the fixing of the packing material PM is completed, the second robot controller 40 transmits a fixing completion notification indicating that the fixing of the packing material PM is completed to the first robot controller 10. When the first robot controller 10 receives the fixing completion notification, it determines that the fixing of the packing material PM is completed.

[0183] For example, when the first robot controller 10 receives a fixing completion notification, the first robot controller 10 controls the first robot 20 so that the cutter 22 hits the corner C1. This control may be the same as that in the second embodiment. After that, the rotation control unit 404 rotates the work table T at a predetermined speed. The first robot controller 10 controls the first robot 20 based on the position and shape of the packaging material PM specified in advance and the rotation speed of the work table T so that the movement path of the cutter 22 is relatively the same as that shown in FIG. 13. In this case, a known cutting method using a turntable can be used as a control method for the first robot 20.

[0184] The second robot controller 40 controls the motor at the tip so that the fixing device 30 rotates in accordance with the rotation of the work table T. For example, when the first robot controller 10 starts rotating the work table T, it transmits a rotation start notification to the second robot controller 40 indicating that the rotation of the work table T is to start. Upon receiving the rotation start notification, the second robot controller 40 starts rotating the fixing device 30. Thereafter, communication is performed between the first robot controller 10 and the second robot controller 40 until cutting of the packaging material PM is completed, and the rotation of the work table T and the rotation of the fixing device 30 are synchronized.

[0185] The robot control system 1 of the modified example 2-4 rotates the packaging material PM with the second robot 50, which is different from the first robot 20, in a state in which the second robot 50 fixes the packaging material PM. The packaging material PM can be rotated in a fixed state. For example, the robot control system 1 can rotate the packaging material PM and cut the side surface with the cutter 22.

[0186] [Variation 2-5] For example, the second robot controller 40 may control the second robot 50 so as to dynamically change the position at which the fixing device 30 fixes the packing material PM while the packing material PM is being cut. In the modified example 2-5, instead of rotating the work table T as in the modified example 2-4, the first robot 20 moves around the packing material PM to cut the packing material PM as in the modified example 2-1. The robot control system 1 of the modified example 2-5 includes a cutting location specifying unit 405. Note that the second robot 50 of the modified example 2-5 may include a robot hand as the fixing device 30 instead of the suction machine 31.

[0187] The cut location identifying unit 405 identifies the cut location of the packaging material PM. The cut location is the position where the blade 220 of the cutter 22 touches the packaging material PM. The first robot controller 10 can identify the cut location of the packaging material PM based on a detection signal from a sensor such as a motor encoder, a position sensor, or a contact sensor. The cut location may be identified based on a photographed image generated by the camera 21. The first robot controller 10 transmits cut location data indicating the cut location of the packaging material PM to the second robot controller 40.

[0188] For example, the second robot controller 40 receives cut location data from the first robot controller 10. The cut location identifying unit 405 identifies the cut location of the packaging material PM based on the cut location data. When the cut location data indicates coordinates of the cut location in a coordinate system based on the first robot 20, the cut location identifying unit 405 converts the coordinates into coordinates in a coordinate system based on the second robot 50. The cut location identifying unit 405 identifies the cut location of the packaging material PM based on the coordinates. Note that the conversion of the coordinate system may be performed by the first robot controller 10.

[0189] The fixed control unit 402 of the modified example 2-5 includes a third fixed control unit 402C. The third fixed control unit 402C controls the second robot 50 so that the second robot 50 fixes the packaging material PM at a position corresponding to the cutting portion. The relationship between the cutting portion and the fixing position of the packaging material PM is stored in advance in the data storage unit 400. This relationship may be defined as a part of the program code, or may be defined by data in another format such as a table format. The third fixed control unit 402C controls the second robot 50 so that the second robot 50 fixes the packaging material PM at a fixing position associated with the cutting portion.

[0190] For example, when the first robot 20 cuts the packaging material PM along a movement path as shown in Fig. 13, if the cutting location is near the corner C1, the third fixed control unit 402C controls the second robot 50 to fix the vicinity of the center point of the upper surface of the packaging material PM as in the modified example 2-1. When the cutting of the packaging material PM progresses and the cutting location reaches the corner C3, the packaging material PM is cut between the corners C1 and C2 and between the corners C2 and C3, so that the third fixed control unit 402C controls the second robot 50 to move the fixing position from near the center point of the upper surface of the packaging material PM toward the vertex V7 so that the uncut portions can be pressed down.

[0191] For example, when the cutting of the packaging material PM progresses further and the cut point reaches corner C4, the only part of the packaging material PM that remains uncut is between corners C4 and C1, so the second robot 50 is controlled to move the fixed position to near the area between vertices V7 and V1 of the packaging material PM so that the uncut part can be pressed down.

[0192] The robot control system 1 of modification 2-5 controls the second robot 50 so that the second robot 50 fixes the packaging material PM at a position corresponding to the cutting location. The robot control system 1 changes the position at which the second robot 50 fixes the packaging material PM based on the cutting location, and can fix the packaging material PM at an optimal position corresponding to the cutting location, making it difficult for the packaging material PM to move.

[0193] [Variation 2-6] For example, in the modification 2-1, the second robot 50 presses down the packing material PM from above, but the second robot controller 40 may control the second robot 50 so that the second robot 50 presses down the corners of the packing material PM. The robot control system 1 of the modification 2-6 includes a fourth fixed control unit 402D. The second robot 50 of the modification 2-6 may include a robot hand as the fixing device 30 instead of the suction machine 31. The second robot 50 of the modification 2-6 presses down the side of the packing material PM.

[0194] In the modified example 2-6, the fixed position of the second robot 50 when the first robot 20 moves along the movement path MP as shown in FIG. 13 to cut the packaging material PM will be described. The fourth fixed control unit 402D controls the second robot 50 so that the second robot 50 holds the corners of the packaging material PM. The second robot controller 40 communicates with the first robot controller 10 and is capable of acquiring the cutting location of the packaging material PM in real time. This point is as described in the modified example 2-5.

[0195] For example, when the first robot 20 cuts between corners C1 and C2, a force acts on the packaging material PM in the direction from corner C1 to corner C2, so the fourth fixed control unit 402D controls the second robot 50 to press the packaging material PM in the opposite direction (from corner C2 to corner C1) so that the vicinity of corner C2 becomes a fixed position. When the first robot 20 cuts between corners C2 and C3, a force acts on the packaging material PM in the direction from corner C2 to corner C3, so the fourth fixed control unit 402D controls the second robot 50 to press the packaging material PM in the opposite direction (from corner C3 to corner C2) so that the vicinity of corner C3 becomes a fixed position.

[0196] For example, when the first robot 20 cuts between corners C3 and C4, a force acts on the packaging material PM in the direction from corner C3 to corner C4, so the fourth fixed control unit 402D controls the second robot 50 to press the packaging material PM in the opposite direction (from corner C4 to corner C3) so that the vicinity of corner C4 becomes a fixed position. When the first robot 20 cuts between corners C4 and C1, a force acts on the packaging material PM in the direction from corner C4 to corner C1, so the fourth fixed control unit 402D controls the second robot 50 to press the packaging material PM in the opposite direction (from corner C1 to corner C4) so ​​that the vicinity of corner C1 becomes a fixed position.

[0197] The robot control system 1 of the modified example 2-6 controls a second robot 50 different from the first robot 20 so that the second robot 50 presses a corner C1 of the packaging material PM. The robot control system 1 controls the second robot 50 so that the second robot 50 presses the corner C1 of the packaging material PM, making it difficult for the packaging material PM to move.

[0198] [Variation 2-7] For example, the second robot controller 40 may cause the second robot 50 to support the packing material PM in a direction opposite to the force applied to the packing material PM by the blade 220. This type of control also includes the control described in the modified example 2-6 as one embodiment. The robot control system 1 in the modified example 2-7 includes a fifth fixed control unit 402E.

[0199] The fifth fixed control unit 402E controls the second robot 50 so that the second robot 50 fixes the packing material PM by supporting the packing material PM in the direction opposite to the force applied to the packing material PM by the blade 220. The fifth fixed control unit 402E may perform control similar to the control of the fourth fixed control unit 402D described in modification example 2-7, or may support the side instead of the corners C1 to C4.

[0200] For example, when the first robot 20 cuts between corners C1 and C2, a force acts on the packing material PM in the direction from corner C1 to corner C2, so the fifth fixed control unit 402E controls the second robot 50 to press down on the side surrounded by vertices V3, V4, V6, and V5. When the first robot 20 cuts between corners C2 and C3, a force acts on the packing material PM in the direction from corner C2 to corner C3, so the fifth fixed control unit 402E controls the second robot 50 to press down on the side surrounded by vertices V5, V6, V8, and V7.

[0201] For example, when the first robot 20 cuts between corners C3 and C4, a force acts on the packing material PM in the direction from corner C3 to corner C4, so the fifth fixed control unit 402E controls the second robot 50 to press down on the side surrounded by vertices V1, V2, V8, and V7. When the first robot 20 cuts between corners C4 and C1, the second robot 50 controls the packing material PM to press down on the side surrounded by vertices V1, V2, V4, and V3.

[0202] The robot control system 1 of modification 2-7 controls the second robot 50 so that the second robot 50 fixes the packing material PM by having the second robot 50, which is different from the first robot 20, support the packing material PM in the direction opposite to the force applied to the packing material PM by the blade 220. The robot control system 1 controls the second robot 50, which is different from the first robot 20 that cuts the packing material PM, to support the packing material PM in the direction opposite to the force applied to the packing material PM by the cutter 22, making it difficult for the packing material PM to move.

[0203] [Variation 2-8] For example, in the modification 2-5, the second robot 50 fixes the packaging material PM at a position corresponding to the cutting location. In the modification 2-8, the second robot controller 40 controls the second robot 50 so that the second robot 50 fixes the packaging material PM according to a cutting situation, for example, the cutting location of the modification 2-5. The robot control system 1 of the modification 2-8 includes a cutting situation identification unit 406.

[0204] The cutting status identifying unit 406 identifies the cutting status of the packaging material PM. The cutting status is not limited to the cut location as in the modified example 2-5, and may be, for example, the moving speed of the cutter 22 or the torque related to the cutter 22. The first robot controller 10 can identify the cutting status of the packaging material PM based on a detection signal from a sensor such as a motor encoder, a position sensor, a contact sensor, a position sensor, an acceleration sensor, or a torque sensor. The first robot controller 10 transmits cutting status data indicating the cutting status of the packaging material PM to the second robot controller 40. For example, the second robot controller 40 receives the cutting status data from the first robot controller 10. The cutting status identifying unit 406 identifies the cutting status of the packaging material PM based on the cutting status data.

[0205] The fixed control unit 402 of the modified example 2-8 includes a sixth fixed control unit 402F. The sixth fixed control unit 402F controls the second robot 50 so that the second robot 50 fixes the packaging material PM based on the cutting situation. The relationship between the cutting situation and the fixing method of the packaging material PM is stored in advance in the data storage unit 400. This relationship may be defined as a part of the program code, or may be defined by data in another format such as a table format. The sixth fixed control unit 402F controls the second robot 50 so that the second robot 50 fixes the packaging material PM using the fixing method associated with the cutting situation.

[0206] For example, the sixth fixing control unit 402F may perform the same control as the fifth fixing control unit 402E. An example of a fixing method other than the fixed position is a fixing force. The fixing force is a suction force or a pressing force. For example, the sixth fixing control unit 402F controls the second robot 50 so that the fixing force becomes stronger as the force applied by the cutter 22 to the packaging material PM becomes stronger.

[0207] The robot control system 1 of modification 2-8 controls the second robot 50 so that the second robot 50 fixes the packaging material PM based on the cutting status of the packaging material PM. The robot control system 1 can realize optimal fixation according to the cutting status by having the second robot 50 fix the packaging material PM based on the cutting status of the packaging material PM.

[0208] [Variation 2-9] For example, since the corners of the packaging material PM have portions where cardboard is glued together, when the cutter 22 cuts the corners of the packaging material PM, a greater force may be applied to the packaging material PM than when the cutter 22 cuts the surfaces of the packaging material PM. Therefore, the second robot controller 40 may control the second robot 50 so that when the cutter 22 cuts the corners of the packaging material PM, the second robot 50 fixes the packaging material PM with a stronger fixing force.

[0209] The fixed control unit 402 of the modified example 2-9 includes a seventh fixed control unit 402G. The seventh fixed control unit 402G controls the second robot 50 so that the force with which the second robot 50 fixes the packing material PM is stronger when the first robot 20 cuts the corner C1 of the packing material PM with the cutter 22 than when the first robot 20 cuts the surface of the packing material PM with the cutter 22. In the modified example 2-9, the second robot controller 40 receives cutting location data from the first robot controller 10, as in the modified example 2-5. This allows the second robot controller 40 to identify whether the cutter 22 is cutting the corner or the surface of the packing material PM.

[0210] For example, the seventh fixed control unit 402G controls the suction device 31 of the second robot 50 so that the suction force when the first robot 20 cuts the corner C1 of the packaging material PM with the cutter 22 is stronger than the suction force when the first robot 20 cuts the surface of the packaging material PM with the cutter 22. The seventh fixed control unit 402G may control the second robot 50 so that the pressing force when the first robot 20 cuts the corner C1 of the packaging material PM with the cutter 22 is stronger than the pressing force when the first robot 20 cuts the surface of the packaging material PM with the cutter 22.

[0211] The robot control system 1 of modification 2-9 controls the second robot 50 so that the force with which the second robot 50 fixes the packing material PM is stronger when the first robot 20 cuts the corners C1 of the packing material PM with the cutter 22 than when the first robot 20 cuts the faces of the packing material PM with the cutter 22. The robot control system 1 makes it difficult for the packing material PM to move even if a stronger force is applied to the packing material PM when the first robot 20 cuts the corners C1 of the packing material PM with the cutter 22 than when the first robot 20 cuts the faces of the packing material PM with the cutter 22.

[0212] [Variation 2-10] For example, depending on the nature of the packaging material PM, fixing the packaging material PM too tightly may damage the packaging material PM. For example, depending on the nature of the packaging material PM, some packaging materials PM are made of materials that are easy to move. Therefore, the second robot controller 40 may control the second robot 50 so that the second robot 50 fixes the packaging material PM according to the nature of the packaging material PM. The robot control system 1 of the modification 2-10 includes a property identification unit 407. The property identification unit 407 identifies the property of the packaging material PM. The property identification unit 407 may be the same as that of the modification 1-5, except that it is realized by the second robot controller 40. The property identification unit 407 of the second robot controller 40 may acquire the result of the property identification by the property identification unit 108 of the first robot controller 10 from the first robot controller 10.

[0213] The fixing control unit 402 of the modified example 2-10 includes an eighth fixing control unit 402H. The eighth fixing control unit 402H controls the fixing unit 300 based on the properties of the packaging material PM. The relationship between the properties of the packaging material PM and the fixing method of the packaging material PM is assumed to be stored in advance in the data storage unit 400. This relationship may be defined as part of the program code, or may be defined by data in another format such as a table format. The eighth fixing control unit 402H controls the second robot 50 so that the second robot 50 fixes the packaging material PM using the fixing method associated with the properties of the packaging material PM.

[0214] For example, when the surface of the packing material PM is wet, the eighth fixing control unit 402H controls the second robot 50 so that the second robot 50 fixes the packing material PM with a weaker fixing force than when the surface of the packing material PM is not wet. When the packing material PM is large, the eighth fixing control unit 402H controls the second robot 50 so that the second robot 50 fixes the packing material PM with a stronger fixing force than when the packing material PM is small.

[0215] The robot control system 1 of the modification 2-11 controls the fixing unit 300 based on the properties of the packaging material PM. The robot control system 1 can fix the packaging material PM using a fixing method according to the properties of the packaging material PM.

[0216] [Other Modifications of the Second Embodiment] For example, the second robot controller 40 may transmit the torque detected when the second robot 50 is pressing down the packaging material PM to the first robot controller 10. The first robot controller 10 may control the speed of the cutter 22 based on the torque. The second robot controller 40 may detect the torque with a torque sensor of the second robot 50, or may detect the torque with a force sensor capable of detecting the pressing force of the packaging material PM. The second robot controller 40 may place the packaging material PM removed by the second robot 50 on a conveyor. A device for compressing and disposing of the packaging material PM may be placed at the end of the conveyor.

[0217] [3-3. Other variations] For example, the above modifications may be combined.

[0218] For example, each function described above may be realized by any device in the robot control system 1. A function described as being included in the robot controller 10 (first robot controller 10) may be realized by the second robot controller 40 or another device. A function described as being included in the second robot controller 40 may be realized by the robot controller 10 (first robot controller 10) or another device. A function described as being realized by one device may be shared by multiple devices.

[0219] [4. Notes on the First Embodiment] For example, the robot control system according to the first embodiment can be configured as follows. (1-1) A robot capable of holding a cutter; a robot controller that controls the robot so that the robot cuts the packaging material with the cutter blade; having the robot controller has an orientation control unit that controls the robot so that the blade faces an outer side of the packaging material when the robot cuts a surface of the packaging material with the blade rather than when the robot cuts a corner of the packaging material with the blade. Robot control system. (1-2) The orientation control unit has a first orientation control unit that controls the robot to insert the blade into a corner of the packaging material, to point the blade toward the outside of the packaging material, and to cut the surface of the packaging material. The robot control system according to (1-1). (1-3) The cutter has a body portion having the blade and a tip portion, The orientation control unit has a second orientation control unit that changes the orientation of the blade so that the tip portion is disposed between the content of the packaging material and the main body portion. A robot control system according to (1-1) or (1-2). (1-4) The blade is disposed at one end of the cutter; the one end being sharper than the other end of the cutter; The orientation control unit has a third orientation control unit that changes the orientation of the blade so that the other end is disposed between the contents and the one end. A robot control system according to any one of (1-1) to (1-3). (1-5) the robot is capable of holding a camera; The robot control system has a shape recognition unit that recognizes a shape of the packaging material based on the camera, The robot controller has a first cutting control unit that controls the robot so that the robot cuts the packaging material with the blade below a bulge on a side surface of the packaging material based on the shape. A robot control system according to any one of (1-1) to (1-4). (1-6) the robot is capable of holding a camera; the robot control system has a dent recognition unit that recognizes a dent in the packaging material based on the camera, The robot controller has a second cutting control unit that controls the robot so that the robot cuts with the blade at a position corresponding to the recess. A robot control system according to any one of (1-1) to (1-5). (1-7) The robot controller has a speed control unit that controls the robot so that a speed of the cutter changes when the robot cuts a surface of the packaging material with the blade and when the robot cuts a corner of the packaging material with the blade. A robot control system according to any one of (1-1) to (1-6). (1-8) The robot controller has a third cutting control unit that controls the robot so that a torque related to the blade changes when the robot cuts a surface of the packaging material with the blade and when the robot cuts a corner of the packaging material with the blade. A robot control system according to any one of (1-1) to (1-7). (1-9) The robot control system includes a property identification unit that identifies a property of the packaging material, The orientation control unit has a fourth orientation control unit that controls the robot so that the orientation of the blade changes based on the property. A robot control system according to any one of (1-1) to (1-8). (1-10) The robot control system has a type identification unit that identifies a type of content of the packaging material, The orientation control unit has a fifth orientation control unit that controls the robot so that the orientation of the blade changes based on the type. A robot control system according to any one of (1-1) to (1-9). (1-11) The robot control system further includes a thickness detection unit that detects a thickness of the packaging material based on a torque related to the blade, The orientation control unit has a sixth orientation control unit that controls the robot so that the orientation of the blade changes based on the thickness. A robot control system according to any one of (1-1) to (1-10). (1-12) The robot controller has a robot control unit that controls the robot so that the robot cuts the packaging material that packages the bag-shaped contents with the blade. A robot control system according to any one of (1-1) to (1-11).

[0220] [5. Notes on the Second Embodiment] For example, the robot control system according to the second embodiment may be configured as follows. (2-1) a fixing portion that contacts a bottom surface of the packaging material and fixes at least a part of the portion that contacts the bottom surface; A robot capable of holding a cutter; a robot control unit that controls the robot so that the robot cuts the side surface of the packaging material by rotating the cutter blade; A robot control system having the following: (2-2) The fixing unit has a suction device that sucks at least the part. The robot control system according to (2-1). (2-3) The robot control system has a suction device control unit that controls the suction device so that a suction force of the suction device is increased when the robot moves around and cuts the side surface of the packaging material with the blade. The robot control system according to (2-2). (2-4) The robot control system includes: Another robot different from the robot; a first fixation control unit that controls the other robot so that the other robot fixes the packaging material by supporting the packaging material in a direction different from a force applied to the packaging material by the blade; The robot control system according to any one of (2-1) to (2-3) above, (2-5) The robot control system includes: Another robot different from the robot; a second fixing control unit that controls the other robot so that the other robot fixes the upper surface or at least the portion of the packaging material; The robot control system according to any one of (2-1) to (2-4) above, (2-6) The robot control system includes a removal control unit that controls the other robot to remove the top or bottom portion of the packaging material after cutting of the packaging material is completed. A robot control system as described in (2-5). (2-7) The second fixation control unit controls the other robot so that the other robot fixes the top surface of the packaging material, The removal control unit has an upper part removal control unit that controls the other robot so that the other robot removes the upper part after cutting of the packaging material is completed. A robot control system as described in (2-6). (2-8) The robot control system includes: Another robot different from the robot; a rotation control unit that rotates the packaging material while the other robot fixes the packaging material; The robot control system according to any one of (2-1) to (2-7) above, (2-9) The robot control system includes: Another robot different from the robot; A cut portion specifying unit that specifies a cut portion of the packaging material; a third fixing control unit that controls the other robot so that the other robot fixes the packaging material at a position corresponding to the cutting portion; The robot control system according to any one of (2-1) to (2-8) above, (2-10) The robot control system includes: Another robot different from the robot; a fourth fixed control unit that controls the other robot so that the other robot presses a corner of the packaging material; The robot control system according to any one of (2-1) to (2-9) above, (2-11) The robot control system includes: Another robot different from the robot; a fifth fixing control unit that controls the other robot so that the other robot fixes the packaging material by supporting the packaging material in a direction opposite to a force applied to the packaging material by the blade; The robot control system according to any one of (2-1) to (2-10) above. (2-12) The robot control system includes: Another robot different from the robot; A cutting status identification unit that identifies a cutting status of the packaging material; a sixth fixing control unit that controls the other robot so that the other robot fixes the packaging material based on the cutting status; The robot control system according to any one of (2-1) to (2-11) above. (2-13) The robot control system includes: Another robot different from the robot; a seventh fixing control unit that controls the other robot so that a force with which the other robot fixes the packaging material is stronger when the robot cuts a corner of the packaging material with the cutter than when the robot cuts a surface of the packaging material with the cutter; The robot control system according to any one of (2-1) to (2-12) above. (2-14) The robot control system includes: A property identification unit that identifies the property of the packaging material; an eighth fixed control unit that controls the fixed unit based on the property; The robot control system according to any one of (2-1) to (2-14) above. (2-15) A method for fixing packaging material using a fixing part that contacts the bottom surface of the packaging material and fixes at least a part of the part in contact with the bottom surface when a robot having a cutter is controlled so as to circle around and cut the side surface of the packaging material with the blade of the cutter. (2-16) A fixing device that contacts the bottom surface of a packaging material and fixes at least a portion of the part in contact with the bottom surface when a robot having a cutter is controlled to cut the side of the packaging material by circularly moving the cutter blade. (2-17) A method for fixing packaging material, in which at least a part of the part in contact with the bottom surface of the packaging material is fixed by a fixing part that contacts the bottom surface of the packaging material so that the packaging material does not move due to an external force applied from the side of the packaging material. (2-18) A fixing device that comes into contact with the bottom surface of packaging material that is subjected to external force from the side and fixes at least a portion of the part that comes into contact with the bottom surface. [Explanation of symbols]

[0221] 1 robot control system, 10 robot controller, 11,41 CPU, 12,42 memory unit, 13,43 communication unit, 20 robot, T work table, 21 camera, 22 cutter, 220 blade, 221 main body, 222 tip, 30 fixing device, 31 suction machine, C1, C2, C3, C4 corner, CP cutting point, CT contents, E1 one end, E2 other end, D1, D2 direction, LD longitudinal direction, MP moving path, O1, O2 origin, P1 initial position, P2, P3, P4, P5, P6, P7, P8, P9, P10 position, PD normal direction, PM packaging material, SD direction, V1, V2, V3, V4, V5, V6, V7, V8 vertex, d1 specified distance, FD1, FD2 Shooting direction, FP1, FP2 shooting position, MD1, MD2, MD3 moving direction, RD1, RD2, RD3 rotation direction, 100 data storage unit, 101 robot control unit, 102 orientation control unit, 102A first orientation control unit, 102B second orientation control unit, 102C third orientation control unit, 102D fourth orientation control unit, 102E fifth orientation control unit, 102F sixth orientation control unit, 103 suction machine control unit, 104 shape recognition unit, 105 cutting control unit, 106 dent recognition unit, 107 speed control unit, 108 property identification unit, 109 type identification unit, 110 thickness detection unit, 300 fixing unit, 400 data storage unit, 401 second robot control unit, 402 fixing control unit, 403 removal control unit, 403A upper removal control unit, 404 rotation control unit, 405 cutting location identification unit, 406 Cutting condition identification section, 407 nature identification section.

Claims

1. a fixing portion that contacts a bottom surface of the packaging material and fixes at least a part of the portion that contacts the bottom surface; A robot capable of holding a cutter; a robot control unit that controls the robot so that the robot cuts the side surface of the packaging material by rotating the cutter blade; A robot control system having the following:

2. The fixing unit has a suction device that sucks at least the part. The robot control system of claim 1 .

3. The robot control system has a suction device control unit that controls the suction device so that a suction force of the suction device is increased when the robot moves around and cuts the side surface of the packaging material with the blade. The robot control system of claim 2 .

4. The robot control system includes: Another robot different from the robot; a first fixation control unit that controls the other robot so that the other robot fixes the packaging material by supporting the packaging material in a direction different from a force applied to the packaging material by the blade; 4. The robot control system according to claim 1, further comprising:

5. The robot control system includes: Another robot different from the robot; a second fixation control unit that controls the other robot so that the other robot fixes the top surface or at least the portion of the packaging material; 4. The robot control system according to claim 1, further comprising:

6. The robot control system includes a removal control unit that controls the other robot to remove the top or bottom portion of the packaging material after cutting of the packaging material is completed. The robot control system of claim 5.

7. The second fixation control unit controls the other robot so that the other robot fixes the top surface of the packaging material, The removal control unit has an upper part removal control unit that controls the other robot so that the other robot removes the upper part after cutting of the packaging material is completed. The robot control system of claim 6.

8. The robot control system includes: Another robot different from the robot; a rotation control unit that rotates the packaging material while the other robot fixes the packaging material; 4. The robot control system according to claim 1, further comprising:

9. The robot control system includes: Another robot different from the robot; A cut portion specifying unit that specifies a cut portion of the packaging material; a third fixing control unit that controls the other robot so that the other robot fixes the packaging material at a position corresponding to the cutting portion; 4. The robot control system according to claim 1, further comprising:

10. The robot control system includes: Another robot different from the robot; a fourth fixed control unit that controls the other robot so that the other robot presses a corner of the packaging material; 4. The robot control system according to claim 1, further comprising:

11. The robot control system includes: Another robot different from the robot; a fifth fixing control unit that controls the other robot so that the other robot fixes the packaging material by supporting the packaging material in a direction opposite to a force applied to the packaging material by the blade; 4. The robot control system according to claim 1, further comprising:

12. The robot control system includes: Another robot different from the robot; A cutting status identification unit that identifies a cutting status of the packaging material; a sixth fixing control unit that controls the other robot so that the other robot fixes the packaging material based on the cutting status; 4. The robot control system according to claim 1, further comprising:

13. The robot control system includes: Another robot different from the robot; a seventh fixing control unit that controls the other robot so that a force with which the other robot fixes the packaging material is stronger when the robot cuts a corner of the packaging material with the cutter than when the robot cuts a surface of the packaging material with the cutter; 4. The robot control system according to claim 1, further comprising:

14. The robot control system includes: A property identification unit that identifies the property of the packaging material; an eighth fixed control unit that controls the fixed unit based on the property; 4. The robot control system according to claim 1, further comprising:

15. Fixing at least a part of the portion in contact with the bottom surface by a fixing portion in contact with the bottom surface of the packaging material; Controlling a robot capable of holding a cutter so that the robot cuts a side surface of the packaging material with a blade of the cutter in a circular movement; A method for cutting packaging material comprising the steps of:

Images