Robot control device, robot control method, storage medium

Abstract

To provide a robot control device and the like which can optimize storage operation where a robot stores in a container an object to be stored.SOLUTION: A robot control device 50 comprises: a storage operation teaching part 51 which teaches a robot arm 100 storage operation where an object 60 to be stored is stored into a specific reference storage place in a container 70; and a packing work part 53 which makes the robot arm 100 having learned the storage operation store a plurality of objects 60 to be stored to a plurality of storage places different from the reference storage place in the container 70. The reference storage place includes a place facing an inner wall of the container 70. The storage operation that the storage operation teaching part 51 teaches the robot arm 100 includes contact operation which makes the object 60 to be stored contact the inner wall. The packing work part 53 makes through the robot arm 100 having learned the contact operation the plurality of objects 60 to be stored respectively contact at least one of the inner wall and the object 60 to be stored already stored in the container 70.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a robot control device and the like. [Background technology]

[0002] Industrial robots that perform various tasks in place of humans have been introduced in industrial sites such as factories, logistics warehouses, construction sites, and hospitals. Conventional industrial robots are often large and high-powered, and for safety reasons, they must be operated in isolated spaces that humans cannot enter. Meanwhile, in recent years, collaborative robots that work together with humans in the same space have also been introduced. Compared to conventional industrial robots, collaborative robots are small and can be installed in narrow spaces and have low power output, so they do not require large-scale systems to ensure safety. Patent Document 1 discloses a robot that packs a large number of workpieces into packaging boxes. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-43322 A Summary of the Invention [Problem to be solved by the invention]

[0004] The packaging box disclosed in Patent Document 1 is provided with aligned workpiece insertion holes for receiving the lower end portions of the workpieces, and an insertion groove for inserting an upper partition plate that abuts against the upper portion of the workpiece to prevent the workpiece from falling over. However, containers or packaging boxes that require a robot to carry out a storage or packing operation do not necessarily have special auxiliary structures such as workpiece insertion holes or insertion grooves.

[0005] The present disclosure has been made in consideration of these circumstances, and aims to provide a robot control device etc. that can improve the efficiency of the work of storing objects in a container by a robot. Note that, although a collaborative robot has been exemplified above, the present disclosure is not limited to a collaborative robot and can also be applied to a robot arm etc. as a general industrial robot. [Means for solving the problem]

[0006] In order to solve the above problems, a robot control device according to one aspect of the present disclosure includes a storage operation teaching unit that teaches a robot a storage operation for storing an object in a specific reference storage location within a container, and a container filling work unit that causes the robot, having learned the storage operation, to fill multiple objects into multiple storage locations within the container that are different from the reference storage location.

[0007] In this aspect, a robot that has learned the storage operation of storing an item in a specific reference storage location within a container can efficiently pack multiple items into multiple storage locations within the container that are different from the reference storage location.

[0008] Another aspect of the present disclosure is a robot control method, which includes teaching a robot a storage operation for storing an object in a specific reference storage location in a container, and having the robot, having learned the storage operation, pack a plurality of objects in a plurality of storage locations different from the reference storage location in the container.

[0009] Yet another aspect of the present disclosure is a storage medium that stores a robot control program for causing a computer to execute the following operations: teaching a robot a storage operation for storing an object in a specific reference storage location in a container; and causing the robot, having learned the storage operation, to pack a plurality of objects in a plurality of storage locations in the container that are different from the reference storage location.

[0010] Any combination of the above components, or any conversion of these components into a method, device, system, recording medium, computer program, or the like, is also encompassed by the present disclosure. Effect of the Invention

[0011] According to the present disclosure, the efficiency of the robot's work of storing items in a container can be improved. [Brief description of the drawings]

[0012] [Figure 1] FIG. 2 is a perspective view showing the appearance of a robot arm. [Diagram 2] 1 shows a schematic configuration of a coupling device that constitutes each joint of a robot arm. [Diagram 3] 1 shows a schematic configuration of a coupling device that constitutes each joint of a robot arm. [Figure 4] FIG. 2 is a schematic functional block diagram of a robot control device. [Diagram 5] 13A and 13B are schematic diagrams illustrating direct teaching of the storing operation through the storing operation teaching unit. [Figure 6] 13A and 13B are schematic diagrams illustrating an example of setting of an accommodation procedure by an accommodation procedure setting unit. [Figure 7] 13A and 13B are schematic diagrams showing how the container filling section uses a robot arm to place each of the objects in the intended locations within the box. [Figure 8] 13A and 13B are schematic diagrams showing how the container filling section uses a robot arm to place each of the objects in the intended locations within the box. [Figure 9] 13A and 13B are schematic diagrams showing how the container filling section uses a robot arm to place each of the objects in the intended locations within the box. [Figure 10] 13A and 13B show schematic diagrams of how each object is tilted when being accommodated in each accommodation location. [Figure 11] 13A and 13B are schematic diagrams showing how the container filling section uses a robot arm to place each of the objects in the intended locations within the box. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] In the following, the form for carrying out the present disclosure (hereinafter, also referred to as an embodiment) will be described in detail with reference to the drawings. In the description and / or drawings, the same or equivalent components, members, processes, etc. will be given the same reference numerals, and duplicated descriptions will be omitted. The scale and shape of each part shown in the drawings are set for convenience in order to simplify the description, and are not to be interpreted as being limiting unless otherwise specified. The embodiment is an example, and does not limit the scope of the present disclosure in any way. All features and their combinations presented in the embodiment are not necessarily essential to the present disclosure. The embodiment is presented by decomposing it into components for each function and / or each functional group that realizes it for convenience. However, one component in the embodiment may be realized by a combination of multiple components that are actually separate, or multiple components in the embodiment may be realized by one component that is actually integrated. In addition, multiple embodiments and variations may be disclosed in parallel, but any components of each embodiment and / or each variation may be combined in any manner as long as they do not inhibit each other's functions.

[0014] 1 is a perspective view showing the appearance of a robot arm 100 as an example of a robot such as an industrial robot or a collaborative robot. This robot arm 100 is a vertical multi-joint type robot arm with a serial link mechanism. The robot to which the present disclosure is applicable is not limited to a robot arm in the narrow sense, but may be a robot arm in the broad sense having joints (corresponding to joints in the human body) that connect multiple links (corresponding to bones in the human body) so that they can move relative to one another, or any robot having at least one movable part. In addition, a parallel link mechanism may be used instead of the serial link mechanism, and a horizontal multi-joint type may be used instead of the vertical multi-joint type.

[0015] The robot arm 100 has seven joints or axes, namely, a first joint 11, a second joint 12, a third joint 13, a fourth joint 14, a fifth joint 15, a sixth joint 16, and a seventh joint 17, in order from the side closest to the base 10. Each joint corresponds to a joint of the human body. Specifically, the first joint 11 corresponds to the waist, the second joint 12 corresponds to the shoulder, the third joint 13 corresponds to the upper arm (twist), the fourth joint 14 corresponds to the elbow, the fifth joint 15 corresponds to the forearm (twist), the sixth joint 16 corresponds to the wrist, and the seventh joint 17 corresponds to the fingertip (twist). Each of the rotatable joints 11 to 17 and each of the links connected via the joints 11 to 17 constitute a movable part of the robot arm 100.

[0016] The direction of each axis can be designed appropriately depending on the purpose and use of the robot arm 100, but in this embodiment, the base 10 is placed on a horizontal plane, and the first joint 11 may be oriented in the vertical direction (perpendicular to the base 10, which is a horizontal plane), the second joint 12 may be oriented in the horizontal direction (parallel to the base 10, which is a horizontal plane), the third joint 13 may be oriented in a vertical direction relative to the second joint 12, the fourth joint 14 may be oriented in a vertical direction relative to the third joint 13, the fifth joint 15 may be oriented in a vertical direction relative to the fourth joint 14, the sixth joint 16 may be oriented in a vertical direction relative to the fifth joint 15, and the seventh joint 17 may be oriented in a vertical direction relative to the sixth joint 16.

[0017] An end effector or robot hand as a working part having a shape and function according to the purpose of the work is attached to the seventh joint 17 at the tip of the robot arm 100. For example, various end effectors such as a grapple shape for grasping an object, a shovel shape for scooping an object, a fork shape for supporting an object from below and transporting it, a hook shape for hanging and transporting an object, and a crane shape for lifting and transporting an object can be used. In this embodiment, an example is described in which a holding tool or a gripping tool is used as an end effector as a transport part that holds or grips and transports an object to be stored or transported as a work target. In addition, the movable part in the robot arm 100 to which the present disclosure is applicable may be any part (substantially the entire robot arm 100 except for the base 10) that can move (translate and / or rotate), including each of the joints 11 to 17 and each of the links, as described above, but in this embodiment, a holding tool or a gripping tool as a transport part is exemplarily described as a movable part.

[0018] 2 and 3 are schematic diagrams showing the configuration of a connecting device 30 constituting each of the joints 11 to 17 of the robot arm 100. The connecting device 30 in Fig. 2 is applicable to joints that perform a "bending" motion, such as the second joint 12, the fourth joint 14, and the sixth joint 16 in Fig. 1, and the connecting device 30 in Fig. 3 is applicable to joints that perform a "twisting" motion, such as the first joint 11, the third joint 13, the fifth joint 15, and the seventh joint 17 in Fig. 1.

[0019] 2, the connecting device 30 connects a first link 41 as a first member and a second link 42 as a second member so as to be capable of relative movement. The connecting device 30 corresponds to a joint in the human body, and the first link 41 and the second link 42 connected to each other by the connecting device 30 correspond to bones in the human body.

[0020] The first link 41 and the second link 42 perform various types of relative movement depending on the manner of connection by the connecting device 30. In this embodiment, an example will be described in which the first link 41 and the second link 42 rotate relatively around a rotation axis A perpendicular to the extension direction of the first link 41 and the second link 42.

[0021] The relative motion of the first link 41 and the second link 42 is not limited to rotational motion, but may be translational motion. For example, the first link 41 and the second link 42 may be configured to relatively translate in a direction perpendicular to the extension direction of the first link 41 and the second link (direction perpendicular to the paper surface in FIG. 2), or the first link 41 and the second link 42 may be configured to relatively translate in a direction parallel to the extension direction of the first link 41 and the second link (up and down direction in FIG. 2).

[0022] The coupling device 30 includes a housing 31, a control board 32, a motor 33, a reducer 34, an elastic member 35, and an output flange 36. The housing 31 has a rotationally symmetric shape about the rotation axis A, and accommodates therein the components 32 to 36 of the coupling device 30. On the outer periphery of the housing 31, a first attachment portion 311 to which the first link 41 is attached, and a second attachment portion 312 to which the second link 42 is attached are provided.

[0023] The first link 41 fixed to the housing 31 at the first attachment portion 311 is rotatable integrally with the housing 31 relative to the second link 42 around the rotation axis A. The second attachment portion 312 is an opening on the bottom side (left side in FIG. 2) that communicates with the internal space of the housing 31 that houses the components 32 to 36. The second link 42 is attached to the coupling device 30 via the output flange 36 provided in this opening.

[0024] The control board 32 controls the coupling device 30 under the control of a central control device (not shown) that controls the entire robot arm 100. For example, the control board 32 generates a drive command for the motor 33, performs adaptive control based on measurement data from an output shaft encoder (not shown), detects torque based on elastic deformation of the elastic member 35, and performs adaptive control based on the detected torque. The motor 33 is an actuator that generates power to rotate the second link 42 around the rotation axis A in response to a drive command from the control board 32. The reducer 34 reduces the rotation speed of the motor 33 by gears or the like, and generates torque proportional to a reduction ratio.

[0025] The elastic member 35 is provided in series between the motor 33 and the reducer 34 as a power source, and the second link 42 as a load that is rotationally driven by the power, and constitutes a series elastic actuator (SEA) in the connecting device 30. Even if a human working together with the robot arm 100 as a collaborative robot collides with the robot arm 100, the elastic deformation of the elastic member 35 absorbs the impact, improving safety. In addition, the elastic member 35 can store and release the power generated by the motor 33 and the reducer 34 and the external force applied to the second link 42 as elastic energy, thereby realizing efficient movement like human muscles.

[0026] The elastic member 35 is a member that imparts elasticity to the connecting device 30, and is formed of any elastic body such as a spring or rubber. Furthermore, in addition to or instead of the elastic member 35, a resistance imparting member that imparts resistance to the relative rotation of the first link 41 and the second link 42 of the connecting device 30 may be provided. Examples of resistance imparting members include those that impart resistance by mechanical friction, and those that impart resistance by the viscosity of a viscous fluid such as oil or grease. The elasticity of the elastic member 35 and the resistance imparted by the resistance imparting member may be made variable by the control board 32.

[0027] The elastic member 35 also functions as a torque sensor that detects torque due to an external force. That is, torque due to an external force causes elastic deformation of the elastic member 35, and torque can be detected based on the amount of elastic deformation. In order to measure the amount of elastic deformation of the elastic member 35, various displacement sensors such as magnetostrictive sensors, strain gauges, piezoelectric elements, polarizing elements, and electrostatic capacitance sensors may be attached to the surface of the elastic member 35. The amount of elastic deformation measured by such a displacement sensor is converted into torque by a computing device or the like mounted on the control board 32. The connecting device 30 may be provided with a force sensor that detects a force applied to the connecting device 30 by the elastic member 35 and / or other members. Hereinafter, the force sensor and the torque sensor are also collectively referred to as a force sensor.

[0028] In this way, the connecting device 30 may be provided with a force sensor capable of detecting the applied force and / or torque. Based on the force and / or torque applied to the connecting device 30 constituting each joint 11-17, the force, torque, and the weight of the workpiece that the end effector or robot hand, such as a holding tool or a gripping tool, which is a movable part provided at the tip of the robot arm 100, receives from the workpiece, such as a held object, a gripping object, or a contained object or a transported object, which is a workpiece, can be calculated. That is, the force, torque, and the weight of the workpiece that the end effector receives from the workpiece are indirectly detected by each force sensor provided at each connecting device 30. In addition to or instead of these force sensors, a force sensor may be attached to the end effector itself to directly detect the force, torque, and the weight of the workpiece that the end effector receives from the workpiece.

[0029] In the above configuration, the reducer 34, the elastic member 35, and the resistance imparting member each constitute a flexibility imparting portion that imparts flexibility to the connecting device 30 as a joint. Here, flexibility means the ease with which a joint bends, and a joint is said to have flexibility when it bends due to an external force. For example, the reducer 34 generates torque proportional to the reduction ratio, so that a highly flexible state in which the joint is easily bent by an external force can be realized by lowering the reduction ratio. In addition, the elastic member 35 and the resistance imparting member can be said to impart flexibility to the joint since they allow the joint to bend while generating elastic force and resistance against an external force. Note that it is sufficient that the flexibility imparting portion is provided in at least one joint, and it is not necessary that the flexibility imparting portion is provided in all of the seven joints 11 to 17 in FIG. 1.

[0030] The output shaft encoder (not shown) is a rotary encoder that measures the rotational position of the second link 42 about the rotation axis A relative to the first link 41. The output flange 36 transmits the torque generated by the reducer 34 to the second link 42 via the elastic member 35, causing the second link 42 to rotate about the rotation axis A. A bearing 361 that smooths the rotation of the second link 42 relative to the housing 31 is provided around the output flange 36.

[0031] 3, the first link 41 and the second link 42 rotate relatively about a rotation axis B that is parallel to the extension direction of each of them. A notch 37 provided on the housing 31 on the side of the second link 42 prevents the housing 31 from interfering with the rotation of the second link 42 about the rotation axis B caused by the motor 33.

[0032] FIG. 4 is a schematic functional block diagram of a robot control device 50 according to this embodiment. The robot control device 50 includes a storage operation teaching unit 51, a storage procedure setting unit 52, and a container filling unit 53. As long as the robot control device 50 can achieve at least some of the actions and / or effects described below, some of these functional blocks may be omitted. These functional blocks may be realized by the cooperation of hardware resources such as a central processing unit of a computer, a memory, an input device, an output device, and peripheral devices connected to the computer, and software executed using them. Regardless of the type of computer or the installation location, each of the above functional blocks may be realized by the hardware resources of a single computer, or may be realized by combining hardware resources distributed among multiple computers. For example, some or all of the functional blocks of the robot control device 50 may be incorporated into the robot arm 100 itself as the control target, or may be realized as a configuration outside the robot arm 100 as the control target.

[0033] In the illustrated example, a gripping tool as an end effector or robot hand attached to the robot arm 100 moves freely as a movable part and gripper 18. The gripper 18 holds or grasps and transports a work or object 60 of any shape and size. The movement of the gripper 18 and object 60 is achieved by a combination of rotations of the joints 11 to 17 described above.

[0034] The robot control device 50 according to this embodiment causes the robot arm 100 to pack and store a plurality of objects 60, typically of similar shape and size, in a container 70 of any shape and size. The shape of the container 70 is arbitrary, but in this embodiment, it is approximately rectangular or box-shaped. In this example, the container 70 is also referred to as a box 70, and the container packing work unit 53 described later is also referred to as a box packing work unit 53.

[0035] The shape of each of the objects 60 contained in the container 70 may be any shape, and may be substantially cylindrical as shown in FIG. 4, or substantially rectangular as described later. As described later, the length of each side of the rectangular box 70 in a top or plan view is an integer multiple or slightly larger than the length of each corresponding direction of one of the objects 60, so that the objects 60 are stored in an aligned or packed state in the box 70. In an example described later, the length of the upper and lower sides of the rectangular box 70 in a plan view is "8" times the length of one of the objects 60 in the left-right direction, and the length of the left and right sides of the rectangular box 70 in a plan view is "4" times the length of one of the objects 60 in the up-down direction.

[0036] The storing operation teaching unit 51 teaches the robot arm 100 a storing operation for storing the object 60 in a specific reference storing location in the container 70. A specific example will be described later, but the reference storing location is preferably a location facing the inner wall of the container 70. In particular, when the container 70 is substantially rectangular parallelepiped-shaped, the reference storing location is preferably a location facing a corner or edge of the box 70.

[0037] The storing operation teaching unit 51 may use any method to teach the storing operation to the robot arm 100. For example, online teaching or offline teaching, which may be collectively referred to as an indirect teaching method, may be used to teach the robot arm 100 the storing operation. In the example of the present embodiment, direct teaching, which is also referred to as a direct teaching method, is used to teach the robot arm 100 the storing operation. In direct teaching, a human operator directly moves the robot arm 100 (particularly the gripping unit 18) that is gripping the object 60 to teach the robot arm 100 the storing operation.

[0038] Specifically, the stowing operation recording unit 511 included in the stowing operation teaching unit 51 records or acquires the operation of the robot arm 100 (particularly, the gripping unit 18) during direct teaching. The stowing operation recording unit 511 records the rotational position or rotational angle of each of the joints 11 to 17 measured by the output shaft encoder of each of the joints 11 to 17 or a rotary encoder called a PG (Position Generator) provided in conjunction with the motor 33 over a period during which the operator directly moves the robot arm 100.

[0039] By combining the rotational positions of the joints 11 to 17 at each time recorded by the storing operation recording unit 511, the three-dimensional position and three-dimensional posture of the gripping unit 18 and / or the stored object 60 at each time can be grasped or calculated. Therefore, the robot arm 100 can learn the change in the movement path and posture of the gripping unit 18 and / or the stored object 60 until the stored object 60 is stored in the reference storage location with the assistance of the operator through the chronological recording by the storing operation recording unit 511 during direct teaching. In addition, the speed and acceleration obtained by differentiating the three-dimensional position and three-dimensional posture of the gripping unit 18 and / or the stored object 60 may be used as additional teaching data for the robot arm 100.

[0040] The storage operation teaching unit 51 may teach the robot arm 100 the force and / or torque applied to each of the joints 11 to 17 measured by the above-mentioned force sensor during direct teaching, together with the three-dimensional position and three-dimensional posture of the gripper 18 and / or the stored object 60. In particular, as exemplified below, when the stored object 60 is brought into contact with the inner wall of the box 70 during direct teaching, a force and / or torque is applied to the gripper 18 and / or each of the joints 11 to 17 from the inner wall, and therefore the measurement data of the force sensor can be important learning data.

[0041] In addition, when the precise orientation of the contained object 60 needs to be taken into consideration, such as when the shape of the contained object 60 is anisotropic, such as a rectangular parallelepiped or elliptical cylinder, or when a large number of contained objects 60 are contained in the container 70 with the same orientation, the storage operation teaching unit 51 may additionally teach the robot arm 100 the relative posture or orientation of the gripping unit 18 and the contained object 60 during direct teaching.

[0042] 5 is a schematic diagram showing a state of direct teaching of a storing operation through the storing operation teaching unit 51. In the example of this figure, one stored object 60 held by a gripping unit 18 (not shown) is directly moved by an operator (not shown) to a reference storing place SL1 facing a corner of a box 70 and stored therein. The movement path of the stored object 60 during this direct teaching is roughly divided into a first movement path M1 from the outside of the box 70 to the bottom inside the box 70, and a second movement path M2 toward the reference storing place SL1 facing the corner at the bottom.

[0043] The first moving path M1 is important in that it teaches the robot arm 100 the height or position of the bottom of the box 70. On the other hand, the shape or trajectory of the first moving path M1 and where the first moving path M1 "lands" on the bottom of the box 70 are relatively less important. As described later, in the actual container packing work by the container packing work unit 53, the entry path and entry location of the contained object 60 into the box 70 are set by the packing procedure setting unit 52. For this reason, the worker only needs to move the contained object 60 toward any location on the bottom of the box 70 as the first moving path M1. However, in order to teach the robot arm 100 the subsequent second moving path M2, it is preferable that the first moving path M1 does not directly move the contained object 60 to the reference packing location SL1.

[0044] As described later, the second movement path M2 includes an action of bringing the contained object 60 into contact with the inner wall of the box 70, but such a contact action may be realized integrally with a descending action or an entering action on the first movement path M1. Actions involving such contact action and descending action are also called "copying". The second movement path M2 described later is not limited to a parallel movement of the contained object 60 toward the inner wall of the box 70 as shown in FIG. 5, but is also interpreted as including a case in which the contained object 60 is copied from top to bottom along the inner wall of the box 70. In the case of such copying, the first movement path M1 is interpreted as being taken into the second movement path M2.

[0045] The second movement path M2 taught by the storage operation teaching unit 51 to the robot arm 100 corresponds to an operation of bringing the contained object 60 into contact with the inner wall of the box 70. In the illustrated example in which the container 70 is a box 70 having a substantially rectangular parallelepiped shape, the contact operation taught by the storage operation teaching unit 51 to the robot arm 100 is an operation of bringing the contained object 60 into contact with two inner walls (the inner walls on the front side and the right side in FIG. 5) facing the corners of the box 70. The contact operation may include an operation of moving the contained object 60 up and down or at least sliding it downward along each inner wall of the box 70. The contained object 60 that has come into contact with the corners of the box 70 in this way is stored in a desired attitude in a desired reference storage location SL1 after the attitude or direction of the gripping unit 18 is adjusted by the operator as necessary.

[0046] Through the second movement path M2 leading to the reference storage location SL1 as described above, the robot arm 100 can learn the storing and / or contacting operations of storing the item 60 in the reference storage location SL1 at the corners of the box 70 while contacting the inner walls of the box 70 on the front and right sides in Figure 5.

[0047] Although detailed illustrations are omitted, through similar direct teaching storage and / or contact operations to the first reference storage location SL1 and the second reference storage location SL2 facing the diagonally opposite corner of the box 70, the robot arm 100 can learn the operation of contacting the stored item 60 with the inner walls of the box 70 on the back and left sides in Figure 5.

[0048] The teaching of the storing operation and / or the contact operation by direct teaching via the storing operation teaching unit 51 or the operator may be performed for at least two locations of the reference storing locations SL1 and SL2 facing two diagonal corners of the box 70. For example, through a contact operation toward the front side of the first reference storing location SL1 and a contact operation toward the left side of the second reference storing location SL2, the robot arm 100 can learn, for example, an operation of contacting the stored object 60 with the front and left inner walls of the corner of "SL3" of the box 70. Similarly, through a contact operation toward the right side of the first reference storing location SL1 and a contact operation toward the back side of the second reference storing location SL2, the robot arm 100 can learn, for example, an operation of contacting the stored object 60 with the right and back inner walls of the corner of "SL4" of the box 70.

[0049] Alternatively, the teaching of the storing operation and / or the contact operation by direct teaching via the storing operation teaching unit 51 or the operator may be performed for the reference storing locations SL1 to SL4 facing the four corners of the box 70. Through the storing operation and / or the contact operation by direct teaching or the like for the third reference storing location SL3, the robot arm 100 can learn the operation of contacting the stored object 60 with the inner walls of the box 70 on the front and left sides in Fig. 5. Through the storing operation and / or the contact operation by direct teaching or the like for the fourth reference storing location SL4, the robot arm 100 can learn the operation of contacting the stored object 60 with the inner walls of the box 70 on the right and back sides in Fig. 5.

[0050] Although the teaching of the storing operation and / or the contact operation by direct teaching via the storing operation teaching unit 51 or the operator may be performed for reference storing locations other than the reference storing locations SL1 to SL4 facing the four corners of the box 70, the teaching work can be significantly reduced by limiting the reference storing locations as teaching targets to only the locations facing the corners of the box 70. For example, in the conventional direct teaching of the boxing work, the teaching work was required for all storing locations in the box, but in this embodiment, it is sufficient to perform the teaching work for at most the four reference storing locations SL1 to SL4 facing the four corners of the box 70, and at the least, it is sufficient to perform the teaching work for the two reference storing locations SL1 and SL2 (or SL3 and SL4) facing the two diagonally opposite corners of the box 70.

[0051] In this way, the reason why it is sufficient to only teach the corners of the box 70 or the reference storage locations facing the inner wall of the container 70 is that, as described below, the container packing operation of each contained object 60 by the container packing unit 53 ultimately involves an action of contacting the inner wall of the container 70 and / or existing contained objects 60 already contained in the container 70. Such contact actions in each direction within the container 70 can be comprehensively learned at a small number of reference storage locations, as described above.

[0052] The storage procedure setting unit 52 sets a basic storage procedure for the container filling work by the container filling work unit 53. The container filling work unit 53 causes the robot arm 100, which has learned the storage operation and / or contact operation through the storage operation teaching unit 51, to fill a plurality of objects 60 to a plurality of storage locations in the container 70, in accordance with the storage procedure set by the storage procedure setting unit 52.

[0053] In the following, the processing by the storage procedure setting unit 52 and the container filling unit 53 will be described based on a specific example. Fig. 6 shows a schematic diagram of a setting example of a storage procedure by the storage procedure setting unit 52. This figure is a top view or a plan view, and a box 70 is shown in a rectangular shape.

[0054] The storage procedure setting unit 52 recognizes in advance the size or area of ​​the box 70 in a plan view and the size or area of ​​the contained object 60 in a plan view. Then, the storage procedure setting unit 52 divides the rectangular area of ​​the box 70 in a plan view into a plurality of storage locations or storage areas, each of which accommodates one contained object 60. In the illustrated example in which each contained object 60 (not shown) occupies a square area or a circular area in a plan view, the storage procedure setting unit 52 divides the rectangular area of ​​the box 70 in a plan view into a total of "32" square areas, "4" in the vertical direction and "8" in the horizontal direction. Here, the square area in the lower right corner corresponds to the first reference storage location SL1 described above, the square area in the upper left corner corresponds to the second reference storage location SL2 described above, the square area in the lower left corner corresponds to the third reference storage location SL3 described above, and the square area in the upper right corner corresponds to the fourth reference storage location SL4 described above.

[0055] Next, the storage procedure setting unit 52 sets any one of the "32" square regions as the final storage region or final storage location. The final storage location is the location where the stored object 60 is stored last (i.e., the "32nd" location) among the "32" square regions. The final storage location is preferably set to any one of the reference storage locations SL1 to SL4 at the corners of the box 70, which is rectangular in plan view. In the example of FIG. 6, the second reference storage location SL2 is set as the final storage location. The number "32" shown in the second reference storage location SL2 indicates that it is the final storage location where the "32nd" item 60 is stored.

[0056] Next, the storage procedure setting unit 52 sets a storage order, which is the order in which the "32" objects 60 are stored in the box 70. In this storage order, the final storage location is the last one, which is the "32nd." On the other hand, it is preferable that the starting storage location, which is the location where the first (i.e., the "1st") object 60 is stored among the "32" square areas, is set to a location far from the final storage location. In the example of FIG. 6, the first reference storage location SL1, which is on the diagonal farthest from the second reference storage location SL2 as the final storage location, is set as the starting storage location. The number "1" shown in the first reference storage location SL1 indicates that it is the starting storage location where the "1st" object 60 is stored.

[0057] The storage order from "2" to "31" between the "1" first reference storage location SL1 as the starting storage location and the "32" second reference storage location SL2 as the final storage location can be set arbitrarily. In general, it is preferable that the storage location farther from the "32" second reference storage location SL2 as the final storage location is given a lower storage order. In addition, it is preferable that the storage location to which a new storage order is given is adjacent to at least one existing stored object 60.

[0058] For example, the "second" storage location in the storage order, indicated by the numeral "2," is far from the "32nd" second reference storage location SL2 as the final storage location after the "1st" first reference storage location SL1 as the starting storage location, and is adjacent to an existing stored object 60 (not shown) already stored in the first reference storage location SL1. Also, the "third" storage location, indicated by the numeral "3," is far from the "32nd" second reference storage location SL2 as the final storage location after the "1st" first reference storage location SL1 as the starting storage location, and is adjacent to an existing stored object 60 (not shown) already stored in the first reference storage location SL1.

[0059] After setting the storage order from the first "1" to the last "32", the storage procedure setting unit 52 sets an entry location into the box 70 for each of the "32" stored objects 60. FIG. 6 shows an example of setting an entry location EL1 into the box 70 for the "1" stored object 60. This entry location EL1 is set at a location that does not come into contact with at least the inner wall of the box 70 and the existing stored objects 60. In addition, it is preferable that the entry location EL1 is set at a location away from the first reference storage location SL1, which is the storage location of the "1" stored object 60, by a distance of, for example, one or more stored objects 60. In the illustrated example, the entry location EL1 is set at a location a predetermined distance away from the first reference storage location SL1 on a line segment connecting the second reference storage location SL2 as the final storage location and the first reference storage location SL1 as the storage location of the "1" stored object 60. It should be noted that this entry location EL1 does not have to be the same as the location where the first movement path M1 by direct teaching shown in FIG.

[0060] FIG. 7 is a schematic diagram showing how the container filling unit 53 uses the robot arm 100 to store the "1" object 60 in the first reference storage location SL1, which is the intended storage location in the box 70, based on the entry location EL1 set in FIG. 6. The container filling unit 53 causes the robot arm 100, which has learned the storage operation from the storage operation teaching unit 51, to enter each of the multiple objects 60 into the container 70 at the entry location EL1 where the robot arm 100 does not come into contact with the inner wall of the container 70 or the existing objects 60, and moves each of the objects 60 from the entry location EL1 toward at least one of the inner wall of the container 70 and the existing objects 60. Note that FIG. 7 shows only the "1" object 60 that is the target of the storage operation, and the "32" object 60 that is to be stored in the second reference storage location SL2, which is the final storage location, is shown by a dotted line.

[0061] The movement path of the "first" contained item 60 is composed of a first movement path M1' from outside the box 70 to an entry location EL1 inside the box 70, and a second movement path M2' from the entry location EL1 toward the reference storage location SL1, which is the intended storage location of the contained item 60.

[0062] The first movement path M1' is automatically formed based on the entry location EL1 set by the storage procedure setting unit 52 in Fig. 6 and the height of the bottom of the box 70 taught to the robot arm 100 by the storage operation teaching unit 51 based on the first movement path M1 in Fig. 5. As shown in the figure, the first movement path M1' is preferably a path that vertically descends the stored object 60 from outside the box 70 to the entry location EL1 inside the box 70. Comparing the first movement path M1' in Fig. 6 and the first movement path M1 in Fig. 5, the two paths have in common only the height at which the stored object 60 "lands" on the bottom of the box 70, and the "landing" location or entry location and the shape or trajectory of the entry path may be different from each other.

[0063] The second movement path M2' is automatically formed based on the storage location SL1 of the "first" object 60 set by the storage procedure setting unit 52 in FIG. 6 and the contact operation taught to the robot arm 100 by the storage operation teaching unit 51 based on the second movement path M2 in FIG. 5. As also shown in FIG. 6, the second movement path M2' is a path that connects the entry location EL1 and the storage location SL1 of the "first" object 60 in a straight line, curved line, or broken line shape. This second movement path M2' itself can be formed only by the information set by the storage procedure setting unit 52 (i.e., the entry location EL1 and the storage location SL1, which are both ends of the second movement path M2'). Then, when the robot arm 100 actually moves the "first" object 60 along the second movement path M2', the learning result of the contact operation based on the second movement path M2 in FIG. 5 is used.

[0064] Specifically, the container filling unit 53 causes the robot arm 100, which has learned the contact operation through direct teaching or the like, to move the "first" object 60 from the entry location EL1 along the second movement path M2' and to contact and fill the object with two inner walls (the inner walls on the front and right sides in FIG. 7) of the box 70 facing the storage location SL1 located at the end of the second movement path M2'. This contact operation is substantially the same as the contact operation learned for the second movement path M2 leading to the first reference storage location SL1 in FIG. 5 (however, as described above, the entry location EL1 as the starting point is different from that in FIG. 5). As a result, the "first" object 60 is stored in the intended storage location SL1 in the box 70.

[0065] Next, as shown in Fig. 8, the container filling unit 53 uses the robot arm 100 to place the "second" object 60 in the "second" storage location in the box 70 set in Fig. 6. The container filling unit 53 causes the robot arm 100, which has learned the storage operation from the storage operation teaching unit 51, to enter the "second" object 60 into the container 70 at an entry location EL2 that does not come into contact with the inner wall of the container 70 and the existing object 60 (in the example of Fig. 8, the "first" object 60 that has already been stored in Fig. 7), and moves the "second" object 60 from the entry location EL2 toward the inner wall of the container 70 (the inner wall on the right side in Fig. 8) and the rear surface of the existing "first" object 60.

[0066] The movement path of the "second" contained item 60 is composed of a first movement path M1' from outside the box 70 to an entry location EL2 inside the box 70, and a second movement path M2' from the entry location EL2 toward the intended storage location of the contained item 60.

[0067] The first movement path M1' is automatically formed based on the entry location EL2 set for the "second" stored object 60 by the storage procedure setting unit 52, similar to the entry location EL1 set for the "first" stored object 60 in Fig. 6, and the height of the bottom of the box 70 taught to the robot arm 100 by the storage operation teaching unit 51 based on the first movement path M1 in Fig. 5. As shown in the figure, the first movement path M1' is preferably a path that moves the stored object 60 vertically downward from outside the box 70 to the entry location EL2 inside the box 70.

[0068] The second movement path M2' is automatically formed based on the storage location of the "second" object 60 set by the storage procedure setting unit 52 in FIG. 6 and the contact operation taught to the robot arm 100 by the storage operation teaching unit 51 based on the second movement path M2 in FIG. 5. The second movement path M2' is a path that connects the entry location EL2 and the storage location of the "second" object 60 in a straight line, curved line, or broken line shape. This second movement path M2' itself can be formed only by the information set by the storage procedure setting unit 52 (i.e., the entry location EL2 and the storage location, which are both ends of the second movement path M2'). Then, when the robot arm 100 actually moves the "second" object 60 along the second movement path M2', the learning result of the contact operation based on the second movement path M2 in FIG. 5 is used.

[0069] Specifically, the container filling unit 53 has the robot arm 100, which has learned the contact operation through direct teaching or the like, move the "second" contained object 60 from the entry location EL2 along the second movement path M2' and pack it by contacting one inner wall of the box 70 facing the storage location located at the end of the path (the right inner wall in FIG. 8) and the rear side of the existing "first" contained object 60. Here, in the direct teaching in FIG. 5, the operation of contacting the contained object 60 with two inner walls of the box 70 (the front and right inner walls in FIG. 5) is learned, but the operation of contacting the contained object 60 with the front inner wall in FIG. 5 is substantially the same as the operation of contacting the "second" contained object 60 with the existing "first" contained object 60 on the front side in FIG. 8. Therefore, the robot arm 100 can store the “second” object 60 in the intended storage location within the box 70 based on the instruction of the second movement path M2 (FIG. 5) from the storage operation instruction unit 51.

[0070] As described above, the container filling work unit 53 has the robot arm 100, which has learned the storage and contact operations, store the first contained item 60 in the reference storage location SL1 in Figure 7, and then has the robot arm 100 bring another contained item 60 into another storage location adjacent to the reference storage location SL1 in Figure 8 by bringing the other contained item 60 into contact with the first contained item 60 and filling it.

[0071] 9, the container filling unit 53 uses the robot arm 100 to store the "3rd" object 60 in the "3rd" storage location in the box 70 set in Fig. 6. The container filling unit 53 causes the robot arm 100, which has learned the storage operation from the storage operation teaching unit 51, to enter the "3rd" object 60 into the container 70 at an entry location EL3 that does not come into contact with the inner wall of the container 70 and the existing objects 60 (in the example of Fig. 9, the "1st" and "2nd" objects 60 already stored in Figs. 7 and 8), and moves the "3rd" object 60 from the entry location EL3 toward the inner wall of the container 70 (the inner wall on the near side in Fig. 9) and the left side of the existing "1st" object 60.

[0072] The movement path of the "third" contained item 60 is composed of a first movement path M1' from outside the box 70 to an entry location EL3 inside the box 70, and a second movement path M2' from the entry location EL3 toward the intended storage location of the contained item 60.

[0073] The first movement path M1' is automatically formed based on the entry location EL3 set for the "3" stored object 60 by the storage procedure setting unit 52, similar to the entry location EL1 set for the "1" stored object 60 in Fig. 6, and the height of the bottom of the box 70 taught to the robot arm 100 by the storage operation teaching unit 51 based on the first movement path M1 in Fig. 5. As shown in the figure, the first movement path M1' is preferably a path that moves the stored object 60 vertically downward from outside the box 70 to the entry location EL3 inside the box 70.

[0074] The second movement path M2' is automatically formed based on the storage location of the "3" object 60 set by the storage procedure setting unit 52 in FIG. 6 and the contact operation taught to the robot arm 100 by the storage operation teaching unit 51 based on the second movement path M2 in FIG. 5. The second movement path M2' is a path that connects the entry location EL3 and the storage location of the "3" object 60 in a straight line, curved line, or broken line shape. This second movement path M2' itself can be formed only by the information set by the storage procedure setting unit 52 (i.e., the entry location EL3 and the storage location, which are both ends of the second movement path M2'). Then, when the robot arm 100 actually moves the "3" object 60 along the second movement path M2', the learning result of the contact operation based on the second movement path M2 in FIG. 5 is used.

[0075] Specifically, the container filling unit 53 has the robot arm 100, which has learned the contact operation through direct teaching or the like, move the "3rd" contained object 60 from the entry location EL3 along the second movement path M2' and pack it by contacting one inner wall of the box 70 facing the storage location located at the end of the path (the inner wall on the front side in FIG. 9) and the left side of the existing "1st" contained object 60. Here, in the direct teaching in FIG. 5, the operation of contacting the contained object 60 with two inner walls of the box 70 (the inner walls on the front side and the right side in FIG. 5) is learned, but the operation of contacting the contained object 60 with the right inner wall in FIG. 5 is substantially the same as the operation of contacting the "3rd" contained object 60 with the existing "1st" contained object 60 on the right side in FIG. 9. Therefore, the robot arm 100 can store the “third” object 60 in the intended storage location within the box 70 based on the instruction of the second movement path M2 (FIG. 5) from the storing operation instruction unit 51.

[0076] As shown in FIG. 10, when the robot arm 100 that has learned the contact operation contacts each of the objects 60 (e.g., the "3rd" object 60 in FIG. 9) with an existing object 60 (e.g., the "1st" object 60 in FIG. 9) and / or the inner wall of the container 70 (e.g., the inner wall on the near side in FIG. 9), the container filling unit 53 may tilt each of the objects 60 (the object 60 on the left side in FIG. 10) downward toward the object of the contact operation (the object 60 on the right side in FIG. 10 or the inner wall of the container 70 not shown). In other words, the container filling unit 53 may tilt each of the objects 60 downward toward the front of the second moving path M2'. This effectively prevents each of the objects 60 to be moved to a new storage location from climbing over the object of the contact operation. The inclination angle is set by the storage procedure setting unit 52 to an appropriate value that provides a sufficient effect of preventing riding up.

[0077] 11, the container filling unit 53 uses the robot arm 100 to store the "4th" object 60 in the "4th" storage location (not shown in FIG. 6) in the box 70 set by the storage procedure setting unit 52. The container filling unit 53 causes the robot arm 100, which has learned the storage operation from the storage operation teaching unit 51, to enter the "4th" object 60 into the container 70 at an entry location EL4 that does not come into contact with the inner wall of the container 70 and the existing objects 60 (in the example of FIG. 11, the "1st" to "3rd" objects 60 already stored in FIGS. 7 to 9), and moves the "4th" object 60 from the entry location EL4 toward the left side of the existing "2nd" object 60 (FIG. 8) and the back side of the existing "3rd" object 60 (FIG. 9).

[0078] The movement path of the "fourth" contained item 60 is composed of a first movement path M1' from outside the box 70 to an entry location EL4 inside the box 70, and a second movement path M2' from the entry location EL4 toward the intended storage location of the contained item 60.

[0079] The first movement path M1' is automatically formed based on the entry location EL4 set by the storage procedure setting unit 52 for the "4" stored object 60, similar to the entry location EL1 set for the "1" stored object 60 in Fig. 6, and the height of the bottom of the box 70 taught to the robot arm 100 by the storage operation teaching unit 51 based on the first movement path M1 in Fig. 5. As shown in the figure, the first movement path M1' is preferably a path that moves the stored object 60 vertically downward from outside the box 70 to the entry location EL4 inside the box 70.

[0080] The second movement path M2' is automatically formed based on the storage location of the "4" object 60 set by the storage procedure setting unit 52 and the contact operation taught to the robot arm 100 by the storage operation teaching unit 51 based on the second movement path M2 in FIG. 5. The second movement path M2' is a path that connects the entry location EL4 and the storage location of the "4" object 60 in a straight line, curved line, or broken line shape. This second movement path M2' itself can be formed only by the information set by the storage procedure setting unit 52 (i.e., the entry location EL4 and the storage location, which are both ends of the second movement path M2'). Then, when the robot arm 100 actually moves the "4" object 60 along the second movement path M2', the learning result of the contact operation based on the second movement path M2 in FIG. 5 is used.

[0081] Specifically, the container filling work unit 53 causes the robot arm 100, which has learned contact operations through direct teaching or the like, to move the "4th" contained object 60 from the entry location EL4 along the second movement path M2' and fill it by contacting it with the left side face of the existing "2nd" contained object 60 and the rear side face of the existing "3rd" contained object 60 facing the storage location located at the end of the second movement path M2'. Here, in the direct teaching in Fig. 5, the operation of bringing the contained object 60 into contact with two inner walls of the box 70 (the inner walls on the front side and the right side in Fig. 5) is learned, but the operation of bringing the contained object 60 into contact with the inner wall on the front side in Fig. 5 is substantially the same as the operation of bringing the "fourth" contained object 60 into contact with the existing "third" contained object 60 on the front side in Fig. 11, and the operation of bringing the contained object 60 into contact with the inner wall on the right side in Fig. 5 is substantially the same as the operation of bringing the "fourth" contained object 60 into contact with the existing "second" contained object 60 on the right side in Fig. 11. Therefore, the robot arm 100 can accommodate the "fourth" contained object 60 in the intended accommodation location in the box 70 based on the instruction of the second movement path M2 (Fig. 5) from the accommodation operation instruction unit 51.

[0082] By repeating the above-mentioned storing operation for the "32" objects 60, the objects 60 are stored in all of the "32" storage locations in the box 70 set by the storing procedure setting unit 52 in FIG. 6. For the "32" object 60 stored in the second reference storage location SL2 as the final storage location, there is not enough space to set the second movement path M2' involving a contact operation, so only the first movement path M1' for descending vertically from the outside of the box 70 to the storage location SL2 in the box 70 may be set. However, when the "32" object 60 descends along the first movement path M1', it is preferable that it is guided by contacting two inner walls of the box 70 (the inner walls on the far side and the left side in FIG. 11). In this contact operation, the learning result for the second reference storage location SL2 in FIG. 5 is used.

[0083] Following the packing of the "32" objects 60 in the "1st" tier as described above, the objects 60 in the "2nd" tier and onward may be packed in a similar manner. Only the height of the bottom surface on which the objects 60 are placed differs between different tiers. The height of the bottom surface in each tier can be easily calculated based on the height of the bottom surface of the box 70 learned by direct teaching in FIG. 5 and the height of the objects 60 recognized by the packing operation teaching unit 51 and / or the packing procedure setting unit 52. The packing procedure setting unit 52 automatically adjusts the height of the end point of the first moving path M1' described above to match the height of the bottom surface in each tier.

[0084] The present disclosure has been described above based on the embodiments. Various modifications are possible to the combinations of the components and processes in the exemplary embodiments, and it will be obvious to those skilled in the art that such modifications are included within the scope of the present disclosure.

[0085] In the embodiment of Figs. 7 to 11, the storing operation in which the new object 60 is mainly brought into contact with the inner walls of the box 70 on the front side and the right side or the existing object 60 is illustrated, but storing operations involving contact operations in other directions are also realized under the instruction of the storing operation teaching unit 51. For example, a storing operation in which the new object 60 is brought into contact with the inner walls of the box 70 on the back side and the left side or the existing object 60 is realized based on the learning result of the contact operation for the second reference storing place SL2. A storing operation in which the new object 60 is brought into contact with the inner walls of the box 70 on the front side and the left side or the existing object 60 is realized based on the learning result of the contact operation for the third reference storing place SL3 (or the first reference storing place SL1 and the second reference storing place SL2). The storage operation of bringing a new contained item 60 into contact with the inner walls of the box 70 on the back and right sides or with existing contained items 60 is realized based on the learning results of the contact operation for the fourth reference storage location SL4 (or the first reference storage location SL1 and the second reference storage location SL2).

[0086] The configuration, action, and function of each device and method described in the embodiments can be realized by hardware resources or software resources, or by the cooperation of hardware resources and software resources. For example, a processor, ROM, RAM, and various integrated circuits can be used as hardware resources. For example, programs such as an operating system and applications can be used as software resources. [Explanation of symbols]

[0087] 18 gripping unit, 50 robot control device, 51 storage operation teaching unit, 52 storage procedure setting unit, 53 container filling unit, 60 object to be stored, 70 container, 100 robot arm, 511 Containment Operations Recorder.

Claims

1. a storage operation teaching unit that teaches the robot a storage operation for storing an object to be stored in a specific reference storage location in the container; a container filling unit that causes the robot that has learned the storing operation to fill a plurality of objects to be stored in a plurality of storage locations different from the reference storage location in the container; A robot control device comprising:

2. the reference storage location includes a location facing an inner wall of the container, the storing action that the storing action teaching unit teaches to the robot includes a contact action of bringing the object to be stored into contact with the inner wall, the container filling work unit causes the robot that has learned the contact motion to fill the container with each of the plurality of objects by contacting the respective objects with at least one of the inner wall and objects already contained in the container; The robot control device according to claim 1 .

3. The container and the object to be contained are substantially rectangular parallelepiped-shaped, The reference storage location includes a location facing a corner of the container, the contact action taught to the robot by the storage action teaching unit includes an action of bringing the object into contact with two inner walls facing the corner; The robot control device according to claim 2 .

4. The robot control device according to claim 3 , wherein the reference storage locations include locations facing two diagonally opposite corners of the container.

5. The robot control device according to claim 4 , wherein the reference storage locations include locations facing the four corners of the container.

6. The robot control device according to claim 3 , wherein the reference storage location includes only the location facing the corner.

7. The robot control device according to any one of claims 2 to 5, wherein the container filling work unit has the robot, which has learned the storage operation, place a first item in the reference storage location, and then have another item in another storage location adjacent to the reference storage location by bringing the first item into contact with the first item and filling it.

8. A robot control device as described in any one of claims 2 to 5, wherein the container filling work unit causes the robot that has learned the storage operation to enter each of the multiple items into the container at a location that does not come into contact with the inner wall and the existing stored items, and moves each of the multiple items from the entry location toward at least one of the inner wall and the existing stored items.

9. The robot control device according to any one of claims 2 to 5, wherein the container filling work unit tilts the robot that has learned the contact motion downward toward the existing object when bringing each of the multiple objects into contact with the existing object.

10. The robot control device according to claim 1 , wherein the storing operation teaching unit teaches the robot the storing operation through direct teaching in which an operator directly moves the robot.

11. Teaching the robot a storing operation for storing an object to be stored in a specific reference storing location in a container; having the robot that has learned the storing operation pack a plurality of objects to be stored into a plurality of storage locations different from the reference storage location in the container; A robot control method for performing the above.

12. Teaching the robot a storing operation for storing an object to be stored in a specific reference storing location in a container; having the robot that has learned the storing operation pack a plurality of objects to be stored into a plurality of storage locations different from the reference storage location in the container; A storage medium storing a robot control program for causing a computer to execute the above.

Images