Control device, holding system, cargo handling device, processing method, program, and storage medium

Abstract

To provide a control device, a holding system, a cargo handling device, a processing method, a program and a storage medium capable of causing a holding device to hold only a target object.SOLUTION: According to an embodiment, a control device controls a holding device capable of holding an object. The control device calculates a first position at which a first object is held by the holding device. The control device determines whether the holding device may come into contact with another object when the holding device is present at the first position. In a case where the holding device may come into contact with the other object, the control device calculates a second position at which the holding device comes into contact with the first object and does not come into contact with the other object.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a control device, a holding system, a loading device, a processing method, a program, and a storage medium. [Background technology]

[0002] There is a holding device that can hold an object. There is a demand for technology that allows the holding device to hold only the target object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7048934 Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide a control device, a holding system, a loading and unloading device, a processing method, a program, and a storage medium that are capable of causing a holding device to hold only a target object. [Means for solving the problem]

[0005] A control device according to an embodiment controls a holding device capable of holding an object. The control device calculates a first position for holding a first object by the holding device. The control device determines whether the holding device can contact another object when the holding device is in the first position. If the holding device can contact the other object, the control device calculates a second position where the holding device contacts the first object but does not contact the other object. [Brief description of the drawings]

[0006] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a support system according to an embodiment. [Diagram 2]FIG. 2 is a schematic diagram for explaining the operation of the support system according to the embodiment. [Diagram 3] 3(a) to 3(c) are schematic diagrams for explaining a method of calculating the first position. [Figure 4] FIG. 4 is a flowchart showing a method of calculating the first position. [Diagram 5] 5(a) and 5(b) are schematic diagrams for explaining a method of determining contact and a method of calculating the second position. [Figure 6] 6(a) to 6(c) are schematic diagrams for explaining a method of determining contact and a method of calculating the second position. [Figure 7] 7(a) and 7(b) are schematic diagrams for explaining a method of determining contact and a method of calculating the second position. [Figure 8] FIG. 8 is a flowchart showing the operation of the support system according to the embodiment. [Figure 9] FIG. 9 is a schematic side view showing a holding device according to an embodiment. [Figure 10] 10(a) to 10(d) are schematic diagrams for explaining the operation of the support system according to the embodiment. [Figure 11] 11(a) to 11(c) are schematic diagrams for explaining the operation of the support system according to the embodiment. [Figure 12] 12(a) to 12(d) are schematic diagrams for explaining the operation of the support system according to the embodiment. [Figure 13] FIG. 13 is a schematic diagram showing a configuration of a retention system according to a first modified example of the embodiment. [Figure 14] FIG. 14 is a perspective view that illustrates a loading apparatus according to an embodiment. [Figure 15] 15(a) to 15(c) are schematic diagrams showing the operation of the loading and unloading apparatus according to the embodiment. [Figure 16] 16(a) and 16(b) are schematic diagrams showing the operation of the loading and unloading apparatus according to the embodiment. [Figure 17]17(a) and 17(b) are schematic diagrams showing the operation of the loading and unloading apparatus according to the embodiment. [Figure 18] 18(a) to 18(c) are schematic diagrams showing another operation of the cargo handling apparatus according to the embodiment. [Figure 19] 19(a) to 19(c) are schematic diagrams showing another operation of the cargo handling apparatus according to the embodiment. [Figure 20] 20(a) and 20(b) are schematic diagrams illustrating the arrangement of the suction pads 11. FIG. [Figure 21] FIG. 21 is a schematic diagram showing a hardware configuration. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the size ratio between parts, etc. are not necessarily the same as those in reality. Even when the same part is shown, the dimensions and ratios of each part may be different depending on the drawing. In this specification and each drawing, elements similar to those already explained are given the same reference numerals and detailed explanations are omitted as appropriate.

[0008] FIG. 1 is a schematic diagram showing the configuration of a support system according to an embodiment. The holding system 1 according to the embodiment includes a holding device 10, a control device 20, a driving device 30, an exhaust device 40, and a first measuring device 51.

[0009] The holding device 10 is capable of holding an object O. In the illustrated example, the holding device 10 includes a plurality of suction pads 11. The one or more suction pads 11 are attached to a surface of the object O, thereby holding the object O. The holding device 10 is fixed to the arm 10a.

[0010] The holding device 10 may include a jamming mechanism instead of the suction pad 11. The jamming mechanism includes a flexible bag and powder or granular material provided in the bag. The bag comes into contact with the object O, and the bag and the powder or granular material deform to follow the shape of the object O, and then the inside of the bag is evacuated. When the bag shrinks due to the exhaust, the powder or granular material hardens. With the bag in close contact with the object O, the shape of the powder or granular material is fixed, and the object O is held.

[0011] The control device 20 controls the holding device 10. Specifically, the control device 20 controls the operation of the holding device 10 by operating the driving device 30 and the exhaust device 40. The driving device 30 includes an actuator and moves the arm 10a. The control device 20 operates the driving device 30 to control the position of the holding device 10. The exhaust device 40 is connected to the suction pad 11 of the holding device 10 and exhausts the inside of the suction pad 11. When the pressure inside the suction pad 11 becomes lower than atmospheric pressure, a suction force is generated in the suction pad 11. When the holding device 10 includes a jamming mechanism, the exhaust device 40 exhausts the inside of the bag of the holding device 10. The control device 20 operates the exhaust device 40 to switch between a state in which the holding device 10 holds the object O and a state in which the holding device 10 does not hold the object O.

[0012] The first measuring instrument 51 measures the object O from a first direction and acquires the position and size of the object O on a first plane intersecting the first direction. The first measuring instrument 51 transmits a first measurement result including the position and size of the object O to the control device 20. For example, the first measuring instrument 51 includes a camera that acquires an image and a processing device that processes the image. The processing device measures the position and size of the object O from the acquired two-dimensional image. The control device 20 may function as the processing device. Furthermore, the camera may be capable of acquiring depth information (distance in the first direction) in addition to the two-dimensional image.

[0013] Alternatively, the first measuring instrument 51 may include a distance measurement sensor and a processing device. The distance measurement sensor emits light and receives the reflected light. The processing device measures the position and size of the object O from the received reflected light. When a distance measurement sensor is used, it is preferable that the distance measurement sensor is a laser range finder (LRF) from the viewpoint of accuracy.

[0014] The control device 20 calculates a first position for the holding device 10 to hold the object O, using the first measurement result received from the first measuring device 51. Furthermore, the control device 20 judges whether the holding device 10 may come into contact with another object when the holding device 10 is in the first position. If it is judged that the holding device 10 will not come into contact with another object at the first position, the control device 20 judges whether the first position is within the movable range of the holding device 10. If the first position is within the movable range of the holding device 10, the control device 20 determines the position when the holding device 10 holds the object O as the first position. The control device 20 moves the holding device 10 to the first position, and causes the holding device 10 to hold the object O at the first position.

[0015] When the holding device 10 may come into contact with another object at the first position, the control device 20 calculates a second position for the holding device 10 to hold the object O. The second position is different from the first position. At the second position, the holding device 10 comes into contact only with the object O to be held, and does not come into contact with other objects. Therefore, even if multiple objects are adjacent to each other, the holding device 10 can selectively hold only the object O. When the second position is calculated, the control device 20 judges whether the second position is within the movable range of the holding device 10. If the second position is within the movable range of the holding device 10, the control device 20 determines the position when the holding device 10 holds the object O as the second position. The control device 20 moves the holding device 10 to the second position and causes the holding device 10 to hold the object at the second position.

[0016] FIG. 2 is a schematic diagram for explaining the operation of the support system according to the embodiment. For example, as shown in Fig. 2, a plurality of objects O1-O3 are lined up. The objects O1-O3 are successively held and transported by a holding device 10. In this example, the size of a holding area 12 of the holding device 10 is larger than the size of the holding surfaces of the objects O1-O3. The holding area 12 is an area in which the holding device 10 can hold the objects. In the example shown in Fig. 2, the holding area 12 is made up of suction surfaces of a plurality of suction pads 11.

[0017] First, the first measuring instrument 51 measures the position and size of each of the objects O1 to O3 from the first direction. Here, the direction in which the first measuring instrument 51 measures the object is the Z direction. A direction intersecting the Z direction is the X direction (second direction). A direction intersecting a plane parallel to the X direction and the Z direction is the Y direction (third direction). For example, the Z direction is parallel to the vertical direction. The X direction and the Y direction are parallel to the horizontal plane and are perpendicular to each other. Here, an example in which the Z direction is parallel to the vertical direction will be described. For the sake of description, the direction parallel to the Z direction from the first measuring instrument 51 toward the object is referred to as "down" and the opposite direction is referred to as "up".

[0018] The control device 20 acquires the position of each object on the XY plane, the dimension of each object in the X direction, and the dimension of each object in the Y direction from the first measuring device 51. The control device 20 selects an object to be held based on the position and dimension. The selection criteria are arbitrary. For example, the control device 20 selects an object that is closest to the first measuring device 51 in the Z direction from among multiple objects. That is, the control device 20 selects an object whose upper surface is located at the highest position. If there are multiple objects whose upper surfaces are located at the highest positions, the control device 20 selects any one of the objects. For example, the control device 20 calculates the distance between each object and a reference position on the XY plane. The control device 20 selects the object whose distance is the shortest.

[0019] 2, the positions of the top surfaces of the objects O1 to O3 in the Z direction are the same. The control device 20 selects, from the objects O1 to O3, the object O1 (an example of the first object) that is closest to the holding device 10 in the XY plane, as the object to be held.

[0020] When an object to be held is selected, the control device 20 calculates a first position for holding the object. For example, the control device 20 calculates a position where the center of gravity of the holding device 10 in the XY plane coincides with the center of gravity of the object in the XY plane as the first position. When the position of the center of gravity of the holding device 10 in the XY plane coincides with the position of the center of gravity of the object in the XY plane, the moment applied to the holding device 10 when the holding device 10 holds and lifts the object can be minimized. In other words, the object can be transported more stably. The control device 20 may calculate a position where the largest number of suction pads 11 contact the object O1 as the first position. This can increase the holding force of the holding device 10.

[0021] Figures 3(a) to 3(c) are schematic diagrams for explaining a method of calculating the first position, and Figure 4 is a flowchart showing the method of calculating the first position. Fig. 3(a) shows the holding device 10 when viewed from the Z direction. Dimension X0 indicates the length of the holding area 12 in the X direction. Dimension Y0 indicates the length of the holding area 12 in the Y direction. Fig. 3(b) shows the object O1 when viewed from the Z direction. Dimension X1 indicates the length of the object O1 in the X direction. Dimension Y1 indicates the length of the object O1 in the Y direction.

[0022] 4, first, the control device 20 judges whether the dimension X1 is equal to or larger than the dimension X0 (step S11a). If the dimension X1 is equal to or larger than the dimension X0, the control device 20 sets the center position in the X direction of the object O1 as the center position in the X direction of the holding device 10 (plurality of suction pads 11) (step S11b). This sets the position of the holding device 10 in the X direction.

[0023] When the dimension X1 is shorter than the dimension X0, the control device 20 determines the pitch P of the suction pads 11 in the X direction. X (shown in FIG. 3) and dimension X1. Pitch P Xcorresponds to the distance between the centers of the suction pads 11 in the X direction, and is equal to the sum of the dimension of the suction pad 11 in the X direction and the distance in the X direction between adjacent suction pads 11. The control device 20 counts the maximum number of suction pads 11 that can exist in the X direction within the range of dimension X1 (step S12).

[0024] The control device 20 judges whether the counted number is equal to or greater than a preset first threshold (step S13a). The first threshold is the minimum number of suction pads 11 in the X direction required to hold the object O1. If the counted number is less than the first threshold, the control device 20 judges that the holding device 10 cannot hold the object O1, and ends the process. If the counted number is equal to or greater than the first threshold, the control device 20 identifies the suction pad 11 located at the center in the X direction among the suction pads 11 in contact with the object O1. The control device 20 sets the center position in the X direction of the identified suction pad 11 to the center position in the X direction of the object O1 (step S13b). This sets the position of the holding device 10 in the X direction.

[0025] After the position of the holding device 10 in the X direction is set, the control device 20 judges whether the dimension Y1 is equal to or greater than the dimension Y0 (step S14a). If the dimension Y1 is equal to or greater than the dimension Y0, the control device 20 sets the center position of the object O1 in the Y direction as the center position of the holding device 10 in the Y direction (step S14b). This sets the position of the holding device 10 in the Y direction.

[0026] When the dimension Y1 is shorter than the dimension Y0, the control device 20 determines the pitch P of the suction pads 11 in the Y direction. Y and dimension Y1. Pitch P Y corresponds to the distance between the centers of the suction pads 11 in the Y direction, and is equal to the sum of the dimension of the suction pad 11 in the Y direction and the distance in the Y direction between adjacent suction pads 11. The control device 20 counts the maximum number of suction pads 11 that can exist in the Y direction in the area of ​​dimension Y1 (step S15).

[0027] The control device 20 judges whether the counted number is equal to or greater than a preset second threshold (step S16a). The second threshold is the minimum number of suction pads 11 in the Y direction required to hold the object O1. If the counted number is less than the second threshold, the control device 20 judges that the holding device 10 cannot hold the object O1, and ends the process. If the counted number is equal to or greater than the second threshold, the control device 20 identifies the suction pad 11 located at the center in the Y direction among the suction pads 11 in contact with the object O1. The control device 20 determines the center position in the Y direction of the identified suction pad 11 to be the center position in the Y direction of the object O1 (step S16b). This sets the position of the holding device 10 in the Y direction.

[0028] The first threshold and the second threshold may be set collectively for a plurality of items, or may be set for each item. For example, a database in which the sizes and weights of items are registered may be prepared in advance. The control device 20 accesses the database and refers to the weights of the items stored therein. The control device 20 increases the first threshold and the second threshold as the weight increases.

[0029] 3(a) and 3(b), the dimension X1 is shorter than the dimension X0. Therefore, the control device 20 counts the maximum number of suction pads 11 that can exist in the X direction in the dimension X1. In the illustrated example, the dimension X1 is the pitch P X longer than three times the pitch P X is shorter than four times. Within the range of dimension X0, a maximum of three suction pads 11 can exist in the X direction. Therefore, the number to be counted is "3." If "3" is equal to or greater than the first threshold, the position of the suction pad 11 that is located at the center in the X direction among the suction pads 11 in contact with the object O1 is set to the center position of the object O1 in the X direction.

[0030] Thereafter, the position in the Y direction is set in the same manner as the position in the X direction. As a result, the positions of the suction pads 11 for holding the object O1 are set as shown in Fig. 3(c). Through the above process, a first position including the position of the holding device 10 in the X direction and the position of the holding device 10 in the Y direction is calculated.

[0031] After calculating the first position, the control device 20 judges whether the holding device 10 may come into contact with another object when the holding device 10 is in the first position. Hereinafter, this judgment process is also referred to as "contact judgment." For example, the size of the holding area 12 in the XY plane is registered in advance. The control device 20 judges whether the holding device 10 will come into contact with another object using the measurement result of each object by the first measuring device 51, the calculated first position, and the size of the holding area 12 registered in advance.

[0032] It is preferable that the control device 20 further uses the measurement error to determine whether the holding device 10 may come into contact with another object. The measurement error includes an error in the position of the object, an error in the size of the object, and the like. The measurement error is set in advance taking into account the error caused by the first measuring device 51. For example, the control device 20 adds a measurement error in the X direction and a measurement error in the Y direction to the size of the holding area 12. If the holding area 12 to which the measurement error has been added comes into contact with another object when the center of the holding area 12 is at the first position, the control device 20 determines that the holding device 10 may come into contact with another object.

[0033] FIGS. 5(a), 5(b), 6(a) to 6(c), 7(a), and 7(b) are schematic diagrams for explaining a method of determining contact and a method of calculating the second position. In Fig. 5(a), the measurement error X E indicates the error in the X direction of the measurement by the first measuring instrument 51. E indicates the error in the Y direction of the measurement by the first measuring device 51. The control device 20 multiplies the dimension X0 by the measurement error X E The control device 20 calculates the dimension X2 by adding the measurement error Y EThe dimension Y2 is calculated by adding the above. As a result, the first area R having the dimensions X2 and Y2 is calculated. The first area R is the maximum area in which the holding area 12 may come into contact with the object, taking into account the measurement error.

[0034] The control device 20 executes the process of the flowchart shown in Fig. 4 using the dimension X2 and the dimension Y2. For example, in step S11a, it is determined whether the dimension X1 is equal to or greater than the dimension X2. In step S14a, it is determined whether the dimension Y1 is equal to or greater than the dimension Y2. As a result of the process of the flowchart shown in Fig. 4, the control device 20 calculates a first position of the holding device 10 for holding the object O1, for example, as shown in Fig. 5(b). When the holding device 10 is in the first position, the control device 20 determines whether the first region R having the dimension X2 and the dimension Y2 comes into contact with another object.

[0035] In the example shown in FIG. 5(b), the size of the first region R is larger than the size of the object O1 in the XY plane. A part of the first region R protrudes from the object O1. As a result, when the holding device 10 is in the first position, the holding device 10 is aligned with the object O2 in the Z direction as shown in FIG. 6(a). In addition, the top surfaces of the first region R and the object O2 are in the same position in the Z direction. Therefore, when the holding device 10 holds the object O1 in the first position, there is a possibility that the object O2 will also be held. The control device 20 determines that the holding device 10 may come into contact with another object other than the object O1 in the first position.

[0036] In this case, the control device 20 specifies a contact area CR1 where the holding device 10 and the object O1 come into contact and a contact area CR2 where the holding device 10 and the object O2 come into contact in order to calculate the second position. The control device 20 changes the position of the holding device 10 from the first position toward the contact area CR1 from the contact area CR2. The control device 20 determines whether the holding device 10 can come into contact with another object other than the object O1 at the changed position. If the holding device 10 can come into contact with another object, the control device 20 further changes the position of the holding device 10. Each time the control device 20 changes the position, it determines whether the holding device 10 can come into contact with another object. The position change and the contact determination are alternately repeated to search for a position for bringing the holding device 10 into contact with only the target object.

[0037] FIG. 6(b) shows a state when the position of the holding device 10 is changed from the state shown in FIG. 6(a). FIG. 6(c) shows a state when the position of the holding device 10 is further changed from the state shown in FIG. 6(b). By changing the position of the holding device 10 from the contact area CR2 toward the contact area CR1, the contact area CR2 becomes smaller. As a result, as shown in FIG. 6(c), a position of the holding device 10 where the contact area CR2 does not exist is obtained. The control device 20 calculates the position shown in FIG. 6(c) as the second position. When the holding device 10 holds the object O1 at the second position, the holding device 10 does not hold the object O2. This allows selectively holding and transporting only the target object O1.

[0038] When the second position is calculated, the control device 20 may determine whether the holding device 10 can hold the target object at the second position. For example, the control device 20 identifies the suction pads 11 that contact the object O1 at the second position shown in FIG. 6(c). The control device 20 compares the maximum number of the suction pads 11 in the X direction among the identified suction pads 11 with a first threshold. The control device 20 compares the maximum number of the suction pads 11 in the Y direction among the identified suction pads 11 with a second threshold. If the maximum number in the X direction is equal to or greater than the first threshold and the maximum number in the Y direction is equal to or greater than the second threshold, the control device 20 determines that the holding device 10 can hold the object O1 at the second position.

[0039] If it is determined that the holding device 10 cannot hold the object O1 at the second position, the control device 20 selects another second object as a target for transport. Thereafter, the first position for holding the second object is calculated as in the above example. If the holding device 10 can come into contact with another object other than the second object at the first position, the second position is calculated.

[0040] In the example shown in FIG. 2 and FIG. 6(a) to FIG. 6(c), a plurality of objects are lined up in one direction (X direction). When a plurality of objects are lined up in two directions, the first position and the second position are calculated in the same manner as the above-mentioned example. For example, as shown in FIG. 7(a), the objects O1 and O2 are lined up in the X direction, and the objects O1 and O3 are lined up in the Y direction. The first region R contacts the objects O2 and O3 in addition to the object O1. Therefore, there exists a contact region CR2 between the first region R and the object O2 and a contact region CR3 between the first region R and the object O3. The control device 20 changes the position of the holding device 10 from the first position in a direction from the contact region CR2 toward the contact region CR1 and in a direction from the contact region CR3 toward the contact region CR1. As a result, as shown in FIG. 7(b), a second position is calculated in which the first region R does not contact the objects O2 and O3.

[0041] FIG. 8 is a flowchart showing the operation of the support system according to the embodiment. First, the control device 20 selects an object to be held (step S0). Next, the control device 20 calculates a first position for holding the target object (step S10). In step S10, the process shown in the flowchart of FIG. 4 is executed. The control device 20 judges whether the size of the first region calculated in step S10 is larger than the size of the target object in the XY plane (step S21). Specifically, if the dimension of the first region in the X direction is longer than the dimension of the target object in the X direction, or if the dimension of the first region in the Y direction is longer than the dimension of the target object in the Y direction, it is judged that the size of the first region is larger than the size of the target object.

[0042] If it is determined in step S21 that the size of the first region is larger than the size of the object (YES), the control device 20 determines whether the first region can come into contact with another object other than the target object (step S22). If it is determined that the first region will come into contact with another object (YES), the control device 20 calculates a second position where the holding device 10 comes into contact with the target object but does not come into contact with the other object (step S23). The control device 20 determines whether the holding device 10 can hold the object at the calculated second position (step S24). If it is determined that the holding device 10 cannot hold the object (NO), the control device 20 executes step S0 to select a holding target again. At this time, an object different from the object selected up to that point is selected.

[0043] If it is determined in step S21 that the size of the first region is smaller than the size of the target object (NO), if it is determined in step S22 that the first region does not come into contact with another object (NO), or if it is determined in step S24 that the holding device 10 can hold the object (YES), the control device 20 determines whether the position of the holding device 10 is within the operating range (step S25). That is, if it is determined "NO" in step S21 or "NO" in step S22, it is determined whether the first position is within the movable range. If it is determined "YES" in step S24, it is determined whether the second position is within the movable range.

[0044] If the position of the holding device 10 is within the movable range, the object to be held and the position to be held are determined (step S26). That is, the object selected in the immediately preceding step S0 is determined as the object to be held. The first position or the second position determined to be within the operating range is determined as the position of the holding device 10 for holding the target object. The control device 20 moves the holding device 10 to the determined position to hold the object (step S27). After the control device 20 has the holding device 10 hold the object, the control device 20 transports the object by moving the holding device 10 (step S28).

[0045] The speed at which the object is transported may be controlled depending on the position at which the object is held. For example, the transport speed when the object is held at the second position is slower than the transport speed when the object is held at the first position. The stability when the object is held at the second position is inferior to the stability when the object is held at the first position. If the object is transported at the second position at the same speed as when the object is held at the first position, the object may fall during transport. By reducing the transport speed when the object is held at the second position, it is possible to prevent the object from falling during transport, and the object can be transported more safely.

[0046] Advantages of the embodiment will be described. It is desirable for the holding device 10 to be able to hold objects of various sizes. The smaller the holding device 10, the smaller the area in which the holding device 10 comes into contact with the object. This makes it easier for the holding device 10 to come into contact only with the target object. However, if the holding device 10 is small, the force with which the holding device 10 holds the object is reduced, and it may not be possible to hold a heavy object. There is also a possibility that a large force will be applied locally to a part of the object, causing the object to be damaged.

[0047] On the other hand, the larger the holding device 10, the greater the holding force of the holding device 10. The holding device 10 can hold heavier objects. In addition, when an object is held, the force applied to the object is dispersed, reducing the possibility of the object being damaged. However, the larger the holding device 10, the more likely it is that the holding device 10 will come into contact with objects other than the target object. For this reason, it is desirable to design an appropriate size for the holding device 10 based on the size of the object that can be held by the holding device 10.

[0048] When the holding device 10, which is designed to hold various objects, holds a small object, as shown in FIG. 6(a), the holding device 10 may come into contact with another object in addition to the object to be held. This may result in the other object being unintentionally held and transported. At this time, the other object may fall or a large force may be applied locally to the other object. As a result, the other object may be damaged.

[0049] Regarding this issue, the control device 20 according to the embodiment determines whether the holding device 10 may come into contact with another object when the holding device 10 is in a first position. When the holding device 10 may come into contact with another object, the control device 20 calculates a second position where the holding device 10 comes into contact with the target object but does not come into contact with the other object. By calculating the second position, it becomes possible for the holding device 10 to hold only the target object. According to the embodiment, only the object to be held can be selectively held by the holding device 10.

[0050] Preferably, the control device 20 uses the measurement error to determine whether the holding device 10 may come into contact with another object. Using the measurement error can further reduce the possibility that the holding device 10 may come into contact with an object other than the intended object.

[0051] In addition, the control device 20 preferably determines whether the holding device 10 can hold the target object at the second position. The more the position of the holding device 10 moves from the first position, the more the force with which the holding device 10 holds the object may decrease. Or, when the object is lifted, the moment applied to the holding device 10 may increase. This may decrease the stability of the holding. If it is determined that the holding device 10 cannot safely hold the target object at the second position, the control device 20 does not allow the holding device 10 to hold the object. If it is determined that the holding device 10 can hold the target object, the control device 20 allows the holding device 10 to hold the object. This reduces the possibility that the target object will fall or be damaged by holding it at the second position.

[0052] FIG. 9 is a schematic side view showing a holding device according to an embodiment. As shown in FIG. 9, the holding device 10 includes a plurality of suction pads 11, a plurality of flow paths 13 (pipes), a plurality of throttle joints 14, and a housing 15. The plurality of suction pads 11 are attached to the housing 15. The housing 15 is fixed to an arm 10a not shown in FIG. 9. The plurality of flow paths 13 are connected to the interiors of the plurality of suction pads 11, respectively. The plurality of suction pads 11 are connected to the internal space of the housing 15 via the plurality of flow paths 13. The internal space of the housing 15 is connected to an exhaust device 40. When the exhaust device 40 operates, the interior of the suction pads 11 is exhausted through the internal space of the housing 15. When the pressure inside the suction pads 11 becomes lower than atmospheric pressure, an adsorption force is generated. The exhaust device 40 can exhaust the interiors of the plurality of suction pads 11 all at once.

[0053] A plurality of throttle joints 14 are provided in each of the plurality of flow paths 13. The throttle joint 14 includes a valve that opens and closes according to the pressure in the flow path 13. As the pressure in the flow path 13 decreases, the valve opens, and the maximum flow rate in the flow path 13 increases. When the flow path 13 is evacuated while the suction pad 11 is in contact with an object, the pressure in the flow path 13 decreases. The valve of the flow path 13 opens, and exhaust of the inside of the suction pad 11 is promoted. When the flow path 13 is evacuated while the suction pad 11 is not in contact with an object, outside air is sucked in through the suction pad 11. For this reason, the pressure in the flow path 13 is unlikely to change. The valve of the throttle joint 14 is closed, and the suction of outside air through the suction pad 11 is suppressed.

[0054] When the holding device 10 holds an object, if air continues to flow in from the suction pad 11 that is not in contact with the object, it is difficult to exhaust air from the inside of the suction pad 11 that is in contact with the object. By providing the throttle joint 14, it is possible to reduce air leakage through the suction pad 11 that is not in contact with the object. This makes it possible to increase the holding force of the holding device 10.

[0055] One method for reducing leakage from suction pads 11 that are not in contact with an object is to individually control the air flow rate in each flow path 13. However, in this case, the structure of the holding device 10 becomes more complicated, and the holding device 10 becomes larger. When the holding device 10 holds an object, the holding device 10 is more likely to interfere with other objects, and the usability of the holding device 10 decreases. By providing a restrictor joint 14 in each flow path 13, it is possible to suppress an increase in size of the holding device 10 while suppressing leakage when holding an object.

[0056] On the other hand, when the leakage is suppressed by providing the throttle joint 14, the flow rate of air in each flow path 13 cannot be controlled individually. As a result, as described above, when the holding device 10 comes into contact with another object other than the target object, the other object may also be held. However, according to this embodiment, even when the throttle joint 14 is used, it is possible for the holding device 10 to hold only the target object. By applying this embodiment of the present invention to the holding device 10 provided with the throttle joint 14, it is possible to selectively hold only the target object in the holding device 10 while suppressing an increase in the size of the holding device 10.

[0057] 10(a) to 10(d), 11(a) to 11(c), and 12(a) to 12(d) are schematic diagrams for explaining the operation of the support system according to the embodiment. When performing contact determination, the control device 20 may refer to the distance in the Z direction between the top surface (first surface) of the target object and the top surface (second surface) of another object. In this case, in order to obtain the position of the top surface of each object, depth information is acquired by the first measuring instrument 51. Alternatively, a separate measuring instrument may be used to measure the height of the top surface of each object.

[0058] In the example shown in FIG. 10(a), the upper surface s2 of the object O2 is located below the upper surface s1 of the object O1. The distance d1 is the distance in the Z direction between the position of the upper surface s1 in the Z direction and the position of the upper surface s2 in the Z direction. It is preferable that the suction pad 11 has flexibility so that the object can be held more stably. For example, the holding device 10 descends toward the object O1, and the suction pad 11 comes into contact with the surface of the object O1. Thereafter, as shown in FIG. 10(b), the holding device 10 is further pushed toward the object O1. The suction pad 11 deforms following the shape of the upper surface s1, and the contact area between the suction pad 11 and the upper surface s1 increases. This can further increase the holding force of the holding device 10 for the object O1.

[0059] If the distance d1 is small, when the holding device 10 is pushed toward the object O1, some of the suction pads 11 come into contact with the object O2, as shown in Fig. 10(b). As a result, the object O2 may also be held unintentionally, as shown in Fig. 10(c).

[0060] The control device 20 calculates the distance d1 in the contact determination to prevent objects of different heights from being unintentionally held. The control device 20 compares the distance d1 with a predetermined threshold. If the distance d1 is smaller than the threshold, there is a possibility that the target object O1 and the adjacent object O2 are held. The control device 20 determines that the holding device 10 may come into contact with the object O2 in addition to the object O1. Therefore, the control device 20 searches for a second position where the holding device 10 does not come into contact with the object O2 and holds only the object O1.

[0061] As an example, it is determined that the second position where the object O1 can be held is not obtained as a result of searching for the second position. As a result, the object O2 is determined as the object to be held. As shown in FIG. 10(d), the object O2 is held by the holding device 10.

[0062] 11(a), when the distance d1 is equal to or greater than the threshold, the top surface s1 of the object O1 and the top surface s2 of the object O2 are sufficiently separated in the Z direction. In the contact determination, the control device 20 determines that the holding device 10 will not come into contact with the object O2. As shown in FIG. 10(b) and FIG. 10(c), the control device 20 causes the holding device 10 to hold the object O1.

[0063] For example, the minimum dimension of the dimensions in the Z direction of each object that can be held by the holding system 1 is used as a threshold value to be compared with the distance d1. When the position of the top surface s1 of the object O1 and the position of the top surface s2 of the object O2 are different, both of the following arrangements are possible: the object O1 and the object O2 are arranged side by side in the X direction as shown in FIG. 12(a), and the object O1 is placed on the object O2 as shown in FIG. 12(b). It is difficult to distinguish between these arrangements from the measurement results of the first measuring instrument 51. When the object O1 is placed on the object O2, if the object O2 is held and transported, the object O1 is also transported. Since the object O1 is not held, there is a possibility that it may fall during transportation.

[0064] The distance d1 being less than the threshold (minimum dimension) indicates that the arrangement of the object O1 and the object O2 is not the state of FIG. 12(b) but the state of FIG. 12(a). When the position for holding the object O1 cannot be calculated, the control device 20 causes the holding device 10 to hold the object O2, for example, as shown in FIG. 12(c). This allows only the object O2 to be stably held. The distance d1 being equal to or greater than the threshold indicates that the arrangement of the objects O1 and O2 can be either the state of FIG. 12(a) or the state of FIG. 12(b). In this case, the control device 20 holds the object O1 with its upper surface at the highest position, as shown in FIG. 12(d). Since the distance d1 is equal to or greater than the threshold, when the object O1 is held, the object O2 is not held. Regardless of whether the arrangement of the objects O1 and O2 is in either the state shown in FIG. 12(a) or FIG. 12(b), only the object O1 can be stably held.

[0065] (First Modification) FIG. 13 is a schematic diagram showing a configuration of a retention system according to a first modified example of the embodiment. The retention system 1a according to the first modification further includes a second measuring device 52, as compared with the retention system 1. Except for the second measuring device 52, the configuration of the retention device 10, the drive device 30, the exhaust device 40, and the functions of the first measuring device 51, etc. are similar to those of the retention system 1.

[0066] The second measuring instrument 52 measures the object O from a direction intersecting with the Z direction. The direction in which the second measuring instrument 52 measures may be parallel to the X direction or the Y direction, or may be inclined with respect to the X direction and the Y direction. For example, the direction of measurement by the first measuring instrument 51 is parallel to the vertical direction, and the direction of measurement by the second measuring instrument 52 is parallel to the horizontal plane. The second measuring instrument 52 acquires the position of the object on the XY plane and the size of the object on a second plane intersecting with the measurement direction. The second measuring instrument 52 transmits a second measurement result including the position and size of the object to the control device 20.

[0067] For example, the second measuring instrument 52 includes a distance measuring sensor and a processing device that processes the detection result by the distance measuring sensor. The processing device generates a distance image from the acquired distance information and calculates the position and size of the object. The control device 20 may function as the processing device. The second measuring instrument 52 may include a camera and a processing device. In this case, the position and size of the object are calculated from the image including the depth information.

[0068] Preferably, the second measuring instrument 52 includes an LRF. Measurement results using an LRF are more accurate than those using a camera. By using an LRF, the position of an object on the XY plane, the size (height) of the object in the Z direction, the position of the top surface of each object, etc. can be obtained with higher accuracy.

[0069] By using the second measuring instrument 52 in addition to the first measuring instrument 51, the measurement error of the position and size of the object on the XY plane can be further reduced. When the measurement error is reduced, the first region R shown in FIG. 5(a) becomes smaller. As a result, it becomes less likely that the first region R may come into contact with another object. This increases the possibility that the selected object will be held, and the efficiency of holding and transport by the holding system 1 can be improved.

[0070] (Example) FIG. 14 is a perspective view that illustrates a loading apparatus according to an embodiment. The holding system 1 shown in FIG. 1 or the holding system 1a shown in FIG. 13 is implemented as a loading device 100 shown in FIG. 14. The loading device 100 is installed at a site where loading and unloading of an object O is performed. For example, the loading and unloading includes unloading and loading. As an example, a conveying device C that conveys the object O is installed adjacent to the loading device 100. The conveying device C is a belt conveyor, a roller conveyor, a chain conveyor, or the like. In addition, a pallet P on which the object O is loaded is placed adjacent to the loading device 100. The loading device 100 is located between the conveying device C and the pallet P. The loading device 100 moves the object O placed on the pallet P to the conveying device C.

[0071] 14, the loading / unloading device 100 includes a support frame 110, a hand 120, a robot arm 130, a measuring device 140, a negative pressure generating device 150, a transport device 160, a moving device 170, a moving device 180, and a control device 190. The hand 120 is an example of the holding device 10. The negative pressure generating device 150 is an example of the exhaust device 40. The moving device 170 is an example of the driving device 30. The control device 190 functions as the control device 20.

[0072] The support frame 110 supports each component of the loading / unloading apparatus 100. The hand 120 is capable of holding an object O. The robot arm 130 moves the hand 120 along the XY plane. The measuring device 140 recognizes the object O and measures the position and size of the object O. The transport device 160 transports the object O transported by the hand 120 and the robot arm 130 toward the transport device C. The moving device 170 moves the robot arm 130 in the Z direction. The moving device 180 moves the transport device 160 in the Z direction. The control device 190 controls the operation of each component of the loading / unloading apparatus 100.

[0073] A specific example of each component will be described in detail below.

[0074] The support frame 110 forms the outer shell of the loading / unloading device 100, and is fixed to the floor surface. The support frame 110 includes a main body 111 and a protruding portion 112. The main body 111 is shaped like a rectangular parallelepiped. The conveying device 160 is provided inside the main body 111. The main body 111 has an opening 113 facing the pallet P side, and an opening 114 facing the conveying device C side. The object O is conveyed from the pallet P to the conveying device 160 through the opening 113. Also, the object O is conveyed from the conveying device 160 to the conveying device C through the opening 114.

[0075] The main body 111 is composed of, for example, four vertical frames 111a and a plurality of horizontal frames 111b that connect the upper ends and lower ends of these four vertical frames 111a to each other. The protruding portion 112 is attached to the front of the upper part of the main body 111 and protrudes forward. The protruding portion 112 is located above the pallet P.

[0076] The hand 120 holds (stably grips) the object O by suction or jamming. In the illustrated example, the hand 120 includes an upper surface suction unit 121 (first suction unit) and a side surface suction unit 122 (second suction unit) to suction the object O.

[0077] The robot arm 130 is an orthogonal robot. The robot arm 130 includes a first linear unit 131 and a second linear unit 132. The first linear unit 131 is connected to the hand 120 and is extendable or slidable along the X direction. The operation of the first linear unit 131 allows the hand 120 to move along the X direction. The second linear unit 132 extends along the Y direction and movably supports the first linear unit 131 from below. The second linear unit 132 moves the first linear unit 131 along the Y direction. The operation of the second linear unit 132 allows the hand 120 to move along the Y direction. The first linear unit 131 and the second linear unit 132 are each operated by an actuator such as a motor or an air cylinder.

[0078] Without being limited to the illustrated example, the robot arm 130 may be a vertical multi-joint robot, a horizontal multi-joint robot, a linear motion robot, or a parallel link robot. The robot arm 130 may include a combination of two or more robots selected from a vertical multi-joint robot, a horizontal multi-joint robot, a linear motion robot, an orthogonal robot, and a parallel link robot.

[0079] The measuring device 140 includes a first measuring instrument 141 and a second measuring instrument 142. The first measuring instrument 141 measures the object O placed on the pallet P from the Z direction. The second measuring instrument 142 measures the object O from a direction intersecting the Z direction.

[0080] Specifically, the first measuring instrument 141 includes an imaging unit 141a. The imaging unit 141a is fixed to a support portion 112a provided on the protruding portion 112. The imaging unit 141a includes one or two selected from an image sensor and a distance measuring sensor. The imaging unit 141a captures an image of an object O placed on a pallet P from above. The imaging unit 141a transmits the captured image (still image) to the control device 190. The imaging unit 141a may capture a moving image. In this case, a still image is cut out from the moving image.

[0081] The control device 190 calculates data related to the object O from the image acquired by the imaging unit 141a. The calculated data includes a recognition result of the top surface of the object O shown in the image, the position of the top surface in each of the X direction, Y direction, and Z direction, the length of the top surface in the X direction, the length of the top surface in the Y direction, the area of ​​the top surface, etc. The imaging unit 141a and the control device 190 function as the first measuring instrument 141. An image recognition system separate from the control device 190 may be incorporated in the imaging unit 141a and used as the first measuring instrument 141.

[0082] The second measuring instrument 142 includes a distance measuring sensor 142a. The distance measuring sensor 142a measures the distance to the object O in a direction intersecting the Z direction. In the illustrated example, the second measuring instrument 142 is provided on one of the multiple vertical frames 111a, and measures the distance to the object O from a direction perpendicular to the Z direction and tilted from the X direction and the Y direction. The distance measuring sensor 142a emits infrared rays, laser light, or ultrasonic waves toward the object O. From the viewpoint of distance measurement accuracy, the distance measuring sensor 142a is preferably a laser range finder (LRF) using laser light. The control device 190 calculates the recognition result of the side surface of the object O, the position of the side surface of the object O in the XY plane, etc. based on the measurement result by the distance measuring sensor 142a. The distance measuring sensor 142a and the control device 190 function as the second measuring instrument 142.

[0083] The second measuring instrument 142 may include a moving device 142b. The moving device 142b moves the distance measuring sensor 142a along the Z direction. In this case, the control device 190 can measure the position of the upper surface of each object O in the Z direction, the position of the lower surface of each object O in the Z direction, the height of each object O (dimension in the Z direction), and the like, from the measurement result by the distance measuring sensor 142a and the amount of movement by the moving device 142b.

[0084] The second measuring instrument 142 may include an imaging unit, similar to the first measuring instrument 141. The imaging unit captures an image of the object O placed on the pallet P from the side. The imaging unit transmits the acquired image to the control device 190. The control device 190 calculates, from the image, the recognition result of the side surface of the object O, the position of the side surface of the object O in the XY plane, the height of the object O, and the like. In this case, the imaging unit and the control device 190 function as the second measuring instrument 142.

[0085] The negative pressure generating device 150 can individually adjust the pressure of the upper surface suction unit 121 and the pressure of the side surface suction unit 122. The negative pressure generating device 150 includes a plurality of pipes 151 respectively connected to the upper surface suction unit 121 and the side surface suction unit 122. In addition, the negative pressure generating device 150 includes a vacuum pump, an ejector, a valve, etc., which are not shown.

[0086] The conveying device 160 is, for example, a belt conveyor. The conveying device 160 includes a belt 161, a pulley 162, and a driving unit 163. The belt 161 is an endless belt that is hung around a pair of pulleys 162 that are spaced apart from each other in the X direction. One end of the belt 161 is adjacent to the conveying device C. The rotation axis of the pulley 162 is parallel to the Y direction. The driving unit 163 drives the belt 161 by rotating one of the pair of pulleys 162. By driving the belt 161, the object O placed on the conveying device 160 is conveyed toward the conveying device C. The conveying device 160 may be a roller conveyor, a chain conveyor, or the like, other than the example shown in the figure.

[0087] The moving device 170 moves the robot arm 130 along the Z direction. The moving device 170 includes a driving unit 171, a shaft 172, and a wire 173. The driving unit 171 is attached to the upper end of the main body 111. The shaft 172 extends along the Y direction and is connected to the driving unit 171. The wire 173 is wound around the shaft 172. One end of the wire 173 is connected to the robot arm 130. The driving unit 171 rotates the shaft 172. The wire 173 is wound or unwound in response to the rotation of the shaft 172, causing the robot arm 130 to move along the Z direction.

[0088] Here, an example has been described in which the moving device 170 is provided separately from the robot arm 130. The moving device 170 may be included in the robot arm 130 as an axis for imparting a degree of freedom in the Z direction.

[0089] The moving device 180 includes a driving unit 181, a shaft 182, and a wire 183. The driving unit 181 is attached to the upper end of the main body 111. The shaft 182 extends along the Y direction and is connected to the driving unit 181. The wire 183 is wound around the shaft 182. One end of the wire 183 is connected to the conveying device 160. The driving unit 181 rotates the shaft 182. The wire 183 is wound or unwound in response to the rotation of the shaft 182, causing the conveying device 160 to move along the Z direction.

[0090] The control device 190 is electrically connected to the hand 120, the imaging unit 141a, the distance measurement sensor 142a, the negative pressure generating device 150, the driving unit 163, the driving unit 171, and the driving unit 181. The control device 190 controls the hand 120, the negative pressure generating device 150, the driving unit 163, the driving unit 171, the driving unit 181, etc., based on the first measurement result by the first measuring instrument 141 and the second measurement result by the second measuring instrument 142.

[0091] 15(a) to 15(c), 16(a), 16(b), 17(a), and 17(b) are schematic diagrams showing the operation of the loading and unloading device according to the embodiment. Here, an example will be described in which the hand 120 holds an object using only the upper surface suction unit 121. In Fig. 15(b) and subsequent figures, the side surface suction unit 122 is omitted.

[0092] In the example shown in FIG. 15(a), a plurality of objects 200 are placed on a pallet P. The upper surface suction unit 121 includes a housing 121a, a rod 121b extending in the Z direction, and a suction pad 121c provided at the tip of the rod 121b. The suction pad 121c has flexibility so that it can deform in accordance with the upper surface of the object 200. Similarly, the side surface suction unit 122 includes a housing 122a, a rod 122b extending in the X direction, and a suction pad 122c provided at the tip of the rod 122b. The suction pad 122c has flexibility so that it can deform in accordance with the side surface of the object 200.

[0093] The control device 190 selects the object 200 whose upper surface is at the highest position as the object to be held, among the multiple objects 200. When there are multiple objects 200 whose upper surfaces are at the highest positions, the object 200 closest to the distance measuring sensor 142a is selected as the object to be held. In the illustrated example, an object 201, which is one of the multiple objects 200, is selected as the object to be held.

[0094] First, the control device 190 calculates a first position for the hand 120 to hold the object 201. The position of the hand 120 shown by the dashed line in Fig. 15(a) is an example of the first position. When the hand 120 is at the first position, the hand 120 comes into contact with the adjacent object 200 in addition to the object 201. Therefore, the control device 190 calculates a second position where the hand 120 does not come into contact with the object 200 that is approaching or leaving.

[0095] When the second position is calculated, the robot arm 130 moves the hand 120 to above the object 201 determined to be held. The side suction unit 122 is located behind the upper surface suction unit 121. The moving device 170 shown in Fig. 14 lowers the hand 120 toward the object 201 as shown in Fig. 15(b). The position of the hand 120 shown in Fig. 15(b) is an example of the second position.

[0096] When the suction pad 121c comes into contact with the upper surface of the object 201, the inside of the suction pad 121c is evacuated. The upper surface suction unit 121 suctions and holds the upper surface of the object 201. As shown in Fig. 15(c), while the upper surface suction unit 121 holds the object 201, the moving device 170 lifts the hand 120 and the robot arm 130. As a result, the object 201 lifts.

[0097] 16(a), the robot arm 130 moves the hand 120 toward the space above the transport device 160. As shown in Fig. 16(b), the moving device 170 lowers the hand 120 toward the transport device 160. As a result, the held object 201 is placed on the transport device 160.

[0098] By increasing the pressure inside the suction pad 121c, the suction of the hand 120 to the object 201 is released. As shown in FIG. 17(a), the moving device 170 raises the hand 120 and the robot arm 130. After the hand 120 and the robot arm 130 have been raised, the moving device 180 shown in FIG. 1 raises the transport device 160 as shown in FIG. 17(a). The position of the transport device 160 in the Z direction is set to the same position as that of the transport device C. As shown in FIG. 17(b), the transport device 160 transports the transported object 201 to the transport device C. The transport device 160 may be raised while the object 201 is being transported.

[0099] 18(a) to 18(c) and 19(a) to 19(c) are schematic diagrams showing other operations of the cargo handling apparatus according to the embodiment. When the hand 120 holds an object, the side suction unit 122 may be used in addition to the upper surface suction unit 121. In the example shown in Fig. 18(a), a plurality of objects 210 are placed on a pallet P. The control device 190 selects, from the plurality of objects 210, the object 211 whose upper surface is located at the highest position and which is closest to the distance measuring sensor 142a (or the conveying device 160) as the object to be held.

[0100] After the selection, the control device 190 calculates a first position for holding the object 211. The control device 190 determines whether the hand 120 can come into contact with an object other than the object 211 at the first position. When the hand 120 comes into contact with only the object 211, the robot arm 130 moves the hand 120 to the space above the object 211, as shown in FIG. 18(a). In addition, the movement device 180 sets the position of the transport device 160 in the Z direction to the same position as the bottom surface of the object 211.

[0101] 18(b), the upper surface suction unit 121 and the side surface suction unit 122 come into contact with the upper surface and the side surface of the object 211, respectively. The inside of the suction pad 121c and the inside of the suction pad 122c are evacuated, and the object 211 is suctioned by the upper surface suction unit 121 and the side surface suction unit 122.

[0102] 18(c), the robot arm 130 transports the object 211 onto the transport device 160. For example, the object 211 is slid by the robot arm 130 and transported onto the transport device 160. At this time, as shown in the figure, the hand 120 may be inclined with respect to the XY plane. This reduces the contact area between the bottom surface of the object 211 and another object 210 (or pallet P), thereby reducing friction.

[0103] When the pressure inside the suction pad 121c and the pressure inside the suction pad 122c increase, the holding by the upper surface suction unit 121 and the side surface suction unit 122 is released, as shown in Fig. 19(a). As shown in Fig. 19(b), the moving device 180 sets the position of the transport device 160 in the Z direction to the same position as the transport device C. In addition, the moving device 170 raises the hand 120 and the robot arm 130. As shown in Fig. 19(c), the transport device 160 transports the transported object 211 to the transport device C.

[0104] In the above-described operations, the operations of the robot arm 130 , the transport device 160 , the moving device 170 , and the moving device 180 are controlled by the control device 190 .

[0105] By using both the upper surface suction unit 121 and the side surface suction unit 122, the stability of holding is improved compared to when only the upper surface suction unit 121 is used. Furthermore, when sliding an object, the time required for transport can be shortened compared to when lifting the object. This improves the efficiency of loading and unloading operations. On the other hand, when only the upper surface suction unit 121 is used, the object is lifted and transported, so the object can be transported regardless of the state between the held object and the transport device 160.

[0106] Whether or not to use the side suction unit 122 for holding may be determined according to the arrangement of the objects 210. In the example shown in FIG. 14(a), a plurality of objects of different sizes are arranged side by side. In this case, the side suction unit 122 is not used, and the objects are held only by the upper surface suction unit 121. In the example shown in FIG. 17(a), a plurality of objects of the same size are arranged side by side. In this case, the objects are held by the upper surface suction unit 121 and the side surface suction unit 122. In the arrangement shown in FIG. 17(a), the upper surfaces of the objects are arranged side by side in the X direction and the Y direction in each stage. Therefore, when an object located away from the transport device 160 is transported, the object can slide on the upper surface of the other object.

[0107] An instruction as to whether or not to use the side suction unit 122 may be input to the loading / unloading device 100. The loading / unloading device 100 switches whether or not to use the side suction unit 122 according to the received instruction. The instruction may be input by a user or may be transmitted by a higher-level host computer or the like. Whether or not to use the side suction unit 122 may be determined based on the measurement results of the first measuring instrument 141 and the second measuring instrument 142. For example, when the path between the object 210 determined as the object to be held and the conveying device 160 is flat and the object 210 can slide, the side suction unit 122 is used. When the path is not flat, the side suction unit 122 is not used. The path is the upper surface of another object 210 or the upper surface of the pallet P.

[0108] 20(a) and 20(b) are schematic diagrams illustrating the arrangement of the suction pads 11. FIG. In the above-mentioned example, as shown in Fig. 20(a), the number of suction pads 11 lined up in the X direction is the same in each portion in the Y direction, and the number of suction pads 11 lined up in the Y direction is the same in each portion in the X direction. The arrangement of the multiple suction pads 11 is not limited to this example. For example, as shown in Fig. 20(b), the number of suction pads 11 lined up in the X direction may differ in each portion in the Y direction, and the number of suction pads 11 lined up in the Y direction may differ in each portion in the X direction. The size and shape of the holding area 12 referred to in the contact judgment are appropriately set according to the arrangement of the multiple suction pads 11.

[0109] FIG. 21 is a schematic diagram showing a hardware configuration. 21 is used as the control device 20 or the control device 190. The computer 90 includes a CPU 91, a ROM 92, a RAM 93, a storage device 94, an input interface 95, an output interface 96, and a communication interface 97.

[0110] The ROM 92 stores a program for controlling the operation of the computer 90. The ROM 92 stores a program necessary for causing the computer 90 to realize each of the above-mentioned processes. The RAM 93 functions as a storage area in which the programs stored in the ROM 92 are expanded.

[0111] The CPU 91 includes a processing circuit. The CPU 91 uses a RAM 93 as a working memory and executes a program stored in at least one of a ROM 92 and a storage device 94. During execution of the program, the CPU 91 controls each component via a system bus 98 and executes various processes.

[0112] The storage device 94 stores data necessary for executing the programs and data obtained by executing the programs.

[0113] The input interface (I / F) 95 can connect the computer 90 and the input device 95a. The input I / F 95 is, for example, a serial bus interface such as USB. The CPU 91 can read various data from the input device 95a via the input I / F 95.

[0114] The output interface (I / F) 96 can connect the computer 90 and the output device 96a. The output I / F 96 is, for example, a video output interface such as a Digital Visual Interface (DVI) or a High-Definition Multimedia Interface (HPMI (registered trademark)). The CPU 91 can transmit data to the output device 96a via the output I / F 96 and cause the output device 96a to display an image.

[0115] The communication interface (I / F) 97 can connect the computer 90 to a server 97a outside the computer 90. The communication I / F 97 is, for example, a network card such as a LAN card. The CPU 91 can read various data from the server 97a via the communication I / F 97.

[0116] The storage device 94 includes one or more selected from a hard disk drive (HDD) and a solid state drive (SSD). The input device 95a includes one or more selected from a mouse, a keyboard, a microphone (audio input), and a touch pad. The output device 96a includes one or more selected from a monitor, a projector, a printer, and a speaker. A device having the functions of both the input device 95a and the output device 96a, such as a touch panel, may be used.

[0117] Each process executed by the control device 20 or the control device 190 may be realized by one computer 90 or by a plurality of computers 90 working together.

[0118] The various data processing operations described above may be recorded as a program that can be executed by a computer on a magnetic disk (such as a flexible disk or a hard disk), an optical disk (such as a CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW), a semiconductor memory, or other non-transitory computer-readable storage medium.

[0119] For example, information recorded on a recording medium can be read by a computer (or an embedded system). The recording medium may have any recording format (storage format). For example, the computer reads a program from the recording medium and causes a CPU to execute instructions described in the program based on the program. The computer may acquire (or read) the program via a network.

[0120] Embodiments of the invention include the following features. (Feature 1) A control device for controlling a holding device capable of holding an object, calculating a first position for holding a first object by the holding device; determining whether the holding device may contact another object when the holding device is in the first position; A control device that, if the holding device may come into contact with the other object, calculates a second position in which the holding device comes into contact with the first object and does not come into contact with the other object. (Feature 2) receiving a first measurement result from a first measuring device that measures the object in a first direction, the first measurement result including a position and a size of the object in a first plane that intersects with the first direction; The control device according to feature 1, further comprising: a controller configured to calculate the first position using the first measurement result. (Feature 3) The control device according to feature 2, wherein in the determination, the control device determines whether the holding device may come into contact with the other object using the first measurement result and a measurement error on the first surface. (Feature 4) receiving a second measurement result from a second measuring device that measures a size of the object in a direction intersecting the first direction, the second measurement result including a position of the object on the first plane and a size of the object on a second plane intersecting the intersecting direction; The control device according to feature 2, further comprising: a controller configured to calculate the first position using the first measurement result and the second measurement result. (Feature 5) The control device according to feature 4, wherein in the determination, the control device determines whether the holding device may come into contact with the other object using the first measurement result, the second measurement result, and a measurement error on the first surface. (Feature 6) In the above judgment, Calculating a first area by adding the measurement error to a holding area in which the holding device can hold an article; determining that the holding device may contact the other object when the first region is aligned with the other object in the first direction and a distance in the first direction between a first surface of the first object that intersects with the first direction and a second surface of the other object that intersects with the first direction is less than a predetermined threshold; 6. The control device according to feature 3 or 5. (Feature 7) The control device according to any one of features 1 to 6, wherein when the holding device may come into contact with the other object, the second position is calculated by changing a position of the holding device from the first position toward a contact area between the holding device and the first object, away from a contact area between the holding device and the other object. (Feature 8) determining whether the first object can be held by the holding device at the second position; The control device according to any one of features 1 to 7, wherein, if the first object is holdable, the control device causes the holding device to hold the first object. (Feature 9) 9. The control device of claim 8, further comprising: a controller for calculating an alternative first position for holding a second object by the holding device if the holding device is unable to hold the first object in the second position. (Feature 10) The holding device includes a plurality of suction pads; 10. The control device according to any one of features 1 to 9, wherein an upper surface of the first object is held by at least a portion of the plurality of suction pads. (Feature 11) A control device according to any one of features 1 to 9; the holding device including a plurality of suction pads; A holding system in which the control device causes the first object to be held by at least a portion of the plurality of suction pads at the first position or the second position. (Feature 12) The control device causes the held first object to be transported to the holding device; The holding system of feature 11, wherein a conveying speed when the first object is held at the second position is slower than a conveying speed when the first object is held at the first position. (Feature 13) The holding device comprises: A plurality of flow paths respectively connected to the plurality of suction pads; a plurality of throttle joints provided in the plurality of flow paths, respectively, for closing the flow paths in response to an airflow; 13. The retention system according to feature 11 or 12, comprising: (Feature 14) A control device according to any one of features 1 to 9; The holding device includes a plurality of suction pads; a transport device that transports the first object held by the holding device and that has the first object held thereon; A loading and unloading device equipped with the above. (Feature 15) On the computer, calculating a first position for holding the first object by the holding device; determining whether the holding device may contact another object when the holding device is in the first position; and calculating a second position where the holding device is in contact with the first object and is not in contact with the other object, if the holding device may be in contact with the other object. Processing methods. (Feature 16) A program for causing a computer to execute the processing method according to feature 15. (Feature 17) A storage medium storing the program according to feature 16.

[0121] According to the embodiments described above, a control device, a holding system, a loading device, a processing method, a program, and a storage medium are provided that are capable of causing a holding device to hold only a target object.

[0122] Although some embodiments of the present invention have been illustrated above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, modifications, etc. can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims. In addition, the above-mentioned embodiments can be implemented in combination with each other. [Explanation of symbols]

[0123] 1, 1a: holding system, 10: holding device, 10a: arm, 11: suction pad, 12: holding area, 13: flow path, 14: throttle joint, 15: housing, 20: control device, 30: drive device, 40: exhaust device, 51: first measuring device, 52: second measuring device, 90: computer, 91: CPU, 92: ROM, 93: RAM, 94: storage device, 95: input interface, 95a: input device, 96: output interface, 96a: output device, 97: communication interface, 97a: server, 98: system bus, 100: loading device, 110: support frame, 111: main body, 111a: vertical frame, 111b: horizontal frame, 112: protrusion, 112a: support portion, 113, 114: opening, 120: hand, 121: upper surface suction unit, 121a: housing, 121b: rod, 121c: suction pad, 122: side surface suction unit, 122a: housing, 122b: rod, 122c: suction pad, 130: robot arm, 131: first linear unit, 132: second linear unit, 140: measuring device, 141: first measuring instrument, 141a: imaging unit, 142: second measuring instrument, 142a: distance measuring sensor, 142b: moving device, 150: negative pressure generating device, 151: pipe, 160: conveying device, 161: belt, 162: pulley, 163: driving unit, 170: moving device, 171: driving unit, 172: shaft, 173: wire, 180: moving device, 181: driving unit, 182: shaft, 183: wire, 190: control device, 200, 201, 210, 211: object, C: conveying device, CR1 to CR3: contact area, O, O1 to O3: object, P: pallet, R: first area, d1: distance, s1, s2: upper surface

Claims

1. A control device for controlling a holding device capable of holding an object, Calculating a first position for holding a first object by the holding device; determining whether the holding device may contact another object when the holding device is in the first position; A control device that, if the holding device may contact the other object, calculates a second position where the holding device contacts the first object and does not contact the other object.

2. receiving a first measurement result from a first measuring device that measures the object in a first direction, the first measurement result including a position and a size of the object in a first plane that intersects with the first direction; The control device according to claim 1 , further comprising: a controller configured to calculate the first position using the first measurement result.

3. The control device according to claim 2 , wherein in the determination, it is determined whether the holding device may come into contact with the other object by using the first measurement result and a measurement error on the first surface.

4. receiving a second measurement result from a second measuring device that measures a size of the object in a direction intersecting the first direction, the second measurement result including a position of the object on the first plane and a size of the object on a second plane intersecting the intersecting direction; The control device according to claim 2 , wherein the first position is calculated using the first measurement result and the second measurement result.

5. The control device according to claim 4 , wherein in the determination, it is determined whether the holding device may come into contact with the other object by using the first measurement result, the second measurement result, and a measurement error on the first surface.

6. In the above judgment, Calculating a first area by adding the measurement error to a holding area in which the holding device can hold an article; determining that the holding device may contact the other object when the first region is aligned with the other object in the first direction and a distance in the first direction between a first surface of the first object that intersects with the first direction and a second surface of the other object that intersects with the first direction is less than a predetermined threshold; The control device according to claim 3 or 5.

7. A control device as described in any one of claims 1 to 5, wherein when the holding device may come into contact with the other object, the second position is calculated by changing the position of the holding device from the first position toward the contact area between the holding device and the first object, away from the contact area between the holding device and the other object.

8. determining whether the first object can be held by the holding device at the second position; The control device according to claim 1 , further comprising: a control unit configured to cause the holding device to hold the first object when the first object is holdable.

9. The control device of claim 8 , further comprising: a controller configured to calculate an alternative first position for holding a second object by the holding device if the holding device is unable to hold the first object in the second position.

10. The holding device includes a plurality of suction pads; The control device according to claim 1 , wherein an upper surface of the first object is held by at least a portion of the plurality of suction pads.

11. A control device according to any one of claims 1 to 5; the holding device including a plurality of suction pads; A holding system, wherein the control device causes the first object to be held by at least a portion of the plurality of suction pads at the first position or the second position.

12. The control device causes the held first object to be transported to the holding device; The holding system of claim 11 , wherein a conveying speed when the first object is held at the second position is slower than a conveying speed when the first object is held at the first position.

13. The holding device comprises: A plurality of flow paths respectively connected to the plurality of suction pads; a plurality of throttle joints provided in the plurality of flow paths, respectively, for closing the flow paths in response to an airflow; The support system of claim 11 , comprising:

14. A control device according to any one of claims 1 to 5; The holding device includes a plurality of suction pads; a transport device that transports the first object held by the holding device and that has the first object held thereon; A loading and unloading device equipped with the above.

15. On the computer, calculating a first position for holding the first object by the holding device; determining whether the holding device may contact another object when the holding device is in the first position; and calculating a second position where the holding device is in contact with the first object and is not in contact with the other object, if the holding device may be in contact with the other object. Processing methods.

16. A program for causing a computer to execute the processing method according to claim 15.

17. A storage medium storing the program according to claim 16.

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