Information processing apparatus and method

Abstract

To provide an information processor and its method capable of efficiently conveying a workpiece even when a movable range of a robot is limited.SOLUTION: An information processing apparatus includes a three dimensional information acquisition unit 405 that acquires three dimensional information of a plurality of loaded workpieces, a transport target workpiece determination unit 406 that determines a transport target workpiece from the plurality of workpieces based on the three dimensional information, a transport path calculation unit 407 that calculates one or more transport paths for transporting the transport target workpiece to a transport destination based on the three dimensional information, and an interference determination unit 408 that determines whether the transport target workpiece interferes with another workpiece when the transport target workpiece is transported based on the transport path. When the top surface of the other workpiece on the transfer path is higher than the bottom surface of the transfer target workpiece, the interference determination unit 408 detects this by any method and determines that the other workpiece interferes with the transfer target workpiece.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an information processing device and method. [Background technology]

[0002] In recent years, the logistics industry has been demanding automation of tasks such as sorting, loading, and unloading in warehouses, and various automation systems have been introduced (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-068099 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when installing an automated system in a place with a low ceiling, the robot's range of motion is limited. Also, although smaller robots are easier to install because they require less installation space, the range of motion of small robots is still limited.

[0005] When the robot's range of motion is limited, the following problems can occur, for example. Specifically, the workpiece transfer system shown in FIG. 1 has a smaller range in which the hand main body 24 can be lifted upward than a large robot due to reasons such as a low ceiling or the small size of the robot 2. Meanwhile, in order to transport the workpiece WX1 shown in FIG. 1 to the conveyor Co, the workpiece WX1 must be lifted high, as shown by the dashed line in FIG. 1, to clear the workpiece WY in the transport direction. However, when the robot 2 attempts to lift the workpiece WX1 high, as shown by the dashed line in FIG. 2, the workpiece WX1 interferes with the X-axis slide 22 of the robot 2. Thus, when the robot's range of motion is limited, efficient transport cannot be achieved.

[0006] In view of the above, an object of the present invention is to provide an information processing device and method that can efficiently transport workpieces even when the range of motion of the robot is limited. [Means for solving the problem]

[0007] The above object of the present invention can be achieved by the following means: Note that the parentheses indicate reference symbols of embodiments to be described later, but the present invention is not limited to these.

[0008] The information processing device according to claim 1 (for example, the information processing device 4 shown in FIG. 1) A three-dimensional information acquisition means (for example, the three-dimensional information acquisition unit 405 shown in FIG. 2) that acquires three-dimensional information of a plurality of loaded workpieces (for example, the workpiece W shown in FIG. 1) (for example, three-dimensional point cloud information of the workpieces W0 to W5 shown in FIG. 4(c)); a transfer target work determination means (for example, the transfer target work W2 shown in FIG. 4(c)) for determining a transfer target work from the plurality of workpieces (for example, the workpieces W0 to W5 shown in FIG. 4(c)) based on the three-dimensional information (for example, the three-dimensional point cloud information of the workpieces W0 to W5 shown in FIG. 4(c)); A transport path calculation means (for example, the transport path calculation unit 407 shown in FIG. 2) that calculates one or more transport paths for transporting the workpiece to be transported (for example, the workpiece W2 to be transported shown in FIG. 4(c)) based on the three-dimensional information (for example, the three-dimensional point cloud information of the workpieces W0 to W5 shown in FIG. 4(c)); an interference determination means (for example, the interference determination unit 408 shown in FIG. 2) for determining whether the workpiece to be transported (for example, the workpiece W2 to be transported shown in FIG. 5) will interfere with other workpieces (for example, the workpieces W0, W1, W3, W4, and W5 shown in FIG. 5) when the workpiece to be transported (for example, the workpiece W2 to be transported shown in FIG. 5) is transported based on the transport path; An information processing device (for example, the information processing device 4 shown in FIG. 1) comprising: If the top surface (for example, the top surface WIj of the other workpiece WI shown in Figure 8) of the other workpiece (for example, workpieces W0 and W4 shown in Figure 5) on the transport path is higher than the bottom surface (for example, the bottom surface WHt of the workpiece WH to be transported shown in Figure 8) of the workpiece to be transported (for example, workpiece W2 to be transported shown in Figure 5), the interference determination means (for example, the interference determination unit 408 shown in Figure 2) detects this using an arbitrary method and determines that there will be interference with the other workpiece (for example, workpieces W0 and W4 shown in Figure 5).

[0009] The information processing device according to claim 2 (for example, the information processing device 4 shown in FIG. 1) is the information processing device according to claim 1 (for example, the information processing device 4 shown in FIG. 1), The arbitrary method is characterized in that it is a method for detecting whether the top surface of the other workpiece (for example, the top surface WIj of the other workpiece WI shown in Figure 8) is at a position lower than the top surface of the workpiece to be transported (for example, the top surface WHj of the workpiece WH to be transported shown in Figure 8) by at least the height of the workpiece to be transported (for example, the height WHh of the workpiece WH to be transported shown in Figure 8).

[0010] The information processing device according to claim 3 (for example, the information processing device 4 shown in FIG. 1) is the information processing device according to claim 1 (for example, the information processing device 4 shown in FIG. 1), When the multiple workpieces (for example, the workpiece W shown in Figure 1) have a single shape, the any method is a method for detecting whether the top surface of the other workpiece (for example, the top surface WIj of the other workpiece WI shown in Figures 8(c) to (f)) is lower than the top surface of the workpiece to be transported (for example, the top surface WHj of the workpiece WH to be transported shown in Figures 8(c) to (f)), and further, when the top surface of the other workpiece (for example, the top surface WIj of the other workpiece WI shown in Figures 8(c)(f)) is lower than the top surface of the workpiece to be transported (for example, the top surface WHj of the workpiece WH to be transported shown in Figures 8(e)(f), the method is characterized in that it is a method for determining whether the height difference (for example, the height differences H4 to H5 shown in Figures 8(e)(f)) is a height difference (for example, the height differences H4, H5 shown in Figures 8(e)(f)) formed due to deformation of the shape of the other workpiece (for example, the other workpiece WI shown in Figure 8(e)) or a workpiece in a lower layer of the other workpiece (for example, the further workpiece WJ shown in Figure 8(f)).

[0011] The information processing device according to claim 4 (for example, the information processing device 4 shown in FIG. 1) is the information processing device according to claim 1 (for example, the information processing device 4 shown in FIG. 1), The apparatus further includes a search space setting means (for example, the search space setting unit 402 shown in FIG. 2) that sets a space in which the plurality of workpieces (for example, the workpiece W shown in FIG. 1) may exist as a search space (for example, the search space 8 shown in FIG. 4(b)) in which the interference determination means (for example, the interference determination unit 408 shown in FIG. 2) searches for the other workpieces (for example, the workpieces W0, W1, W3, W4, and W5 shown in FIG. 5) when making the determination, The search space (for example, search space 8 shown in Figure 4(b)) is characterized by a size determined based on the range (for example, pallet Pa shown in Figure 1) in which the multiple works (for example, work W shown in Figure 1) are loaded.

[0012] The information processing device according to claim 5 (for example, the information processing device 4 shown in FIG. 1) is the information processing device according to claim 4 (for example, the information processing device 4 shown in FIG. 1), The information processing device (e.g., the information processing device 4 shown in FIG. 1) according to claim 4, wherein the interference determination means (e.g., the interference determination unit 408 shown in FIG. 2) performs the search only within the search space (e.g., the search space 8 shown in FIG. 4(b)).

[0013] An information processing device according to claim 6 (for example, the information processing device 4 shown in FIG. 1) is the information processing device according to claim 4 (for example, the information processing device 4 shown in FIG. 1), wherein the transport route includes a first transport route (for example, the first transport route W2R1 shown in FIGS. 5(a) to 5(c)) and a second transport route (for example, candidates for the second transport route W2R2 to 5 shown in FIGS. 5(a) to 5(c)), The first transport path (for example, the first transport path W2R1 shown in FIGS. 5(a) to 5(c)) is a path that lifts the workpiece to be transported (for example, the workpiece W2 to be transported shown in FIGS. 5(a) to 5(c)), The second transport route (for example, the candidate second transport routes W2R2 to 5 shown in Figures 5(a) to (c)) is characterized in that it is a route that transports the workpiece to be transported (for example, the workpiece to be transported W2 shown in Figures 5(a) to (c)) from the end point (for example, the first relay point W2P1 shown in Figures 5(a) to (c)) or any point of the first transport route (for example, the first transport route W2R1 shown in Figures 5(a) to (c)) to a point (for example, the destination position 7 shown in Figures 4(b) and 5(a) to (c)) between the destination (for example, the conveyor Co shown in Figure 4(b)) and the search space (for example, the search space 8 shown in Figure 4(b)).

[0014] The information processing device according to claim 7 (for example, the information processing device 4 shown in FIG. 1) is the information processing device according to claim 6 (for example, the information processing device 4 shown in FIG. 1), The point (e.g., the destination position 7 shown in FIG. 4(b)) is characterized in that it is set at a position away from the center point of the workpiece (e.g., the center point Wc shown in FIG. 4(a)) of the workpiece to be transported from the search space (e.g., the search space 8 shown in FIG. 4(b)) by at least half the diagonal length of the workpiece to be transported (e.g., the diagonal length Wd shown in FIG. 4(a) and "Wd / 2" shown in FIG. 4(b)).

[0015] The information processing device according to claim 8 (for example, the information processing device 4 shown in FIG. 1) is the information processing device according to claim 6 (for example, the information processing device 4 shown in FIG. 1), When it is confirmed that the plurality of workpieces (for example, workpieces WC and WE shown in Figure 6(b)(c)) are adjacent to either of a pair of opposing side surfaces (for example, side surfaces WA1 and WA2 of the workpiece WA to be transported shown in Figure 6(b)(c)) of the workpiece to be transported (for example, workpiece WA to be transported shown in Figure 6(b)(c)), the transport path calculation means (for example, transport path calculation unit 407 shown in Figure 2) calculates the first transport path to be parallel to the pair of opposing side surfaces of the workpiece to be transported (for example, side surfaces WA1 and WA2 of the workpiece WA to be transported shown in Figure 6(b)(c)) (for example, first transport path W2R1 shown in Figures 5(a) to (c)).

[0016] The information processing device according to claim 9 (for example, the information processing device 4 shown in FIG. 1) is the information processing device according to claim 1 (for example, the information processing device 4 shown in FIG. 1), a shifting operation means (for example, a shifting unit 410 shown in FIG. 2) for shifting one of the plurality of workpieces when any of the sides of the plurality of workpieces cannot be detected based on the three-dimensional information; a three-dimensional information reacquisition means for reacquiring three-dimensional information of the plurality of workpieces (for example, workpieces W shown in FIG. 1) displaced by the displacing means (for example, displacing unit 410 shown in FIG. 2); Furthermore, The shifting operation means (for example, the shifting operation unit 410 shown in Figure 2) is characterized in that, when the shifting operation results in shifting an edge (for example, edge E4 shown in Figure 10(a)) that is recognized as being shorter than the length of the longest edge (for example, the longest edge L shown in Figure 9(b)) of the multiple workpieces, the shifting operation means shifts the edge parallel to the edge that is recognized as being shorter (for example, edge E4 shown in Figure 10(a)).

[0017] The information processing device according to claim 10 (for example, the information processing device 4 shown in FIG. 1) is the information processing device according to claim 9 (for example, the information processing device 4 shown in FIG. 1), The means for determining the workpiece to be transported (for example, the workpiece to be transported determination unit 406 shown in Figure 2) is characterized in that, when it is determined that any of the one or more transport paths calculated for the shifted workpiece (for example, the shifted workpiece WK shown in Figure 11(b)) will interfere with the other workpieces (for example, the workpieces WL, WM shown in Figure 11(b)), it determines a workpiece other than the shifted workpiece (for example, the shifted workpiece WK shown in Figure 11(b)) (for example, the workpiece WL shown in Figure 11(b)) as the workpiece to be transported.

[0018] The method according to claim 11, A method executed in a system (for example, the workpiece transfer system 1 shown in FIG. 1) including at least one information processing device (for example, the information processing device 4 shown in FIG. 1), A step (for example, step S5 shown in FIG. 3(a)) of acquiring three-dimensional information of a plurality of loaded workpieces (for example, workpiece W shown in FIG. 1) (for example, three-dimensional point cloud information of workpieces W0 to W5 shown in FIG. 4(c)); A step (for example, step S6 shown in FIG. 3(a)) of determining a workpiece to be transported (for example, workpiece W2 to be transported shown in FIG. 4(c)) from the plurality of workpieces (for example, workpieces W0 to W5 shown in FIG. 4(c)) based on the three-dimensional information (for example, three-dimensional point cloud information of workpieces W0 to W5 shown in FIG. 4(c)); A step of calculating one or more transport routes for transporting the workpiece to be transported (for example, the workpiece W2 to be transported shown in FIG. 4(c)) based on the three-dimensional information (for example, the three-dimensional point cloud information of the workpieces W0 to W5 shown in FIG. 4(c)) (for example, steps S7 and S8 shown in FIG. 3(a)); a step (e.g., step S9 shown in FIG. 3(a)) of determining whether the workpiece to be transported (e.g., the workpiece W2 to be transported shown in FIG. 5) interferes with other workpieces (e.g., the workpieces W0, W1, W3, W4, and W5 shown in FIG. 5) when the workpiece to be transported (e.g., the workpiece W2 to be transported shown in FIG. 5) is transported based on the transport path; A method comprising: If the top surface (for example, the top surface WIj of another workpiece WI shown in Figure 8) of the other workpiece (for example, workpieces W0, W1, W3, W4, W5 shown in Figure 5) on the transport path is higher than the bottom surface (for example, the bottom surface WHt of the workpiece WH to be transported shown in Figure 8) of the workpiece to be transported (for example, workpiece W2 to be transported shown in Figure 5), the interference determination means (for example, the interference determination unit 408 shown in Figure 2) detects this using an arbitrary method and determines that there will be interference with the other workpiece (for example, workpieces W0, W1, W3, W4, W5 shown in Figure 5). [Effects of the Invention]

[0019] Next, the effects of the present invention will be described with reference to the drawings. Note that the reference symbols in parentheses are those of the embodiments described below, but the present invention is not limited to these.

[0020] According to the inventions of claims 1 and 11, when a robot (for example, robot 2 shown in FIG. 1) transports a workpiece (for example, workpiece W2 shown in FIG. 5), it is not necessary to lift the workpiece (for example, workpiece W2 shown in FIG. 5) high to avoid interference with other workpieces (for example, works W0, W1, W3, W4, and W5 shown in FIG. 5). Therefore, the upward movement of the robot (for example, robot 2 shown in FIG. 1) can be minimized.

[0021] Therefore, according to the present invention, even when the range of motion of the robot is limited, the workpiece can be transported efficiently.

[0022] According to the invention of claim 2, even if the position of the bottom surface (for example, the bottom surface WHt of the workpiece WH to be transported shown in Figure 8) of the workpiece to be transported (for example, the workpiece W2 to be transported shown in Figure 5) is unknown, it is possible to confirm whether the top surface (for example, the top surface WIj of another workpiece WI shown in Figure 8) of another workpiece (for example, the workpiece W0, W4 shown in Figure 5) on the transport path is higher than the bottom surface (for example, the bottom surface WHt of the workpiece WH to be transported shown in Figure 8) of the workpiece to be transported (for example, the workpiece W2 to be transported shown in Figure 5).

[0023] According to the invention of claim 3, it is possible to confirm whether the top surface (for example, the top surface WIj of another work WI shown in Figure 8) of another work (for example, work W0, W4 shown in Figure 5) on the transport path is higher than the bottom surface (for example, the bottom surface WHt of the work WH to be transported shown in Figure 8) of the work to be transported (for example, the work W2 to be transported shown in Figure 5) without using the height of the work.

[0024] According to the invention of claim 4, a search space (for example, search space 8 shown in FIG. 4(b)) can be easily set.

[0025] According to the invention of claim 5, interference determination is performed only within the search space (for example, search space 8 shown in FIG. 4(b)), so the amount of calculation required for interference determination can be reduced.

[0026] According to the invention of claim 6, the second transport path (for example, the second transport path candidates W2R2 to 5 shown in Figures 5(a) to 5(c)) extends to a point (for example, the transport destination position 7 shown in Figure 4(b)) between the transport destination (for example, the conveyor Co shown in Figure 4(b)) and the search space (for example, the search space 8 shown in Figure 4(b)), and the route to the transport destination (for example, the conveyor Co shown in Figure 4(b)) is not calculated, so the amount of calculation required for route calculation is small.

[0027] According to the invention of claim 7, when the work to be transported (for example, work W2 shown in Figure 5) is transported from the destination position 7 (for example, the destination position 7 shown in Figure 4(b)) to the place position on the conveyor Co (for example, the place position CoP shown in Figure 4(b)), interference with the work (for example, works W0, W1, W3, W4, W5 shown in Figure 5) in the search space (for example, the search space 8 shown in Figure 4(b)) can be prevented.

[0028] According to the invention of claim 8, even if the plurality of workpieces (for example, workpieces WC and WE shown in Figures 6(b) and (c)) are adjacent to either of a pair of opposing side surfaces (for example, side surfaces WA1 and WA2 of the workpiece WA to be transported shown in Figures 6(b) and (c)), they can still be transported.

[0029] According to the invention of claim 9, it is possible to perform a shifting operation at a corner (for example, corner K4 shown in FIG. 10(a)) including a side (for example, side E4 shown in FIG. 10(a)) that is recognized as being shorter than the longest side (for example, longest side L shown in FIG. 9(b)).

[0030] According to the invention of claim 10, it is possible to avoid a situation where there are no workpieces available for transport. [Brief explanation of the drawings]

[0031] [Figure 1] 1 is a schematic overall view of an embodiment of a work transfer system using an information processing device according to the present invention; [Figure 2] FIG. 2 is a functional configuration diagram of the information processing device according to the embodiment. [Figure 3] 10A is a flowchart showing the operation of the information processing device according to the embodiment, and FIG. 10B is a flowchart showing the operation of a shifting operation among the operation shown in FIG. [Figure 4] (a) is a diagram showing an example of a work shape, (b) is an explanatory diagram explaining the values ​​set in advance preparation, and (c) is a diagram showing three-dimensional point cloud information obtained by capturing an image of multiple workpieces from above. [Figure 5] (a) is a diagram showing the first transport path and the first candidate second transport path, (b) is a diagram showing the first transport path and the second candidate second transport path, and (c) is a diagram showing the first transport path and the third and fourth candidate second transport paths. [Figure 6] An explanatory diagram explaining a method for determining a first conveying path according to the same embodiment, where (a) is an explanatory diagram when other workpieces are adjacent in four directions, (b) is an explanatory diagram when other workpieces are adjacent in three directions, (c) is an explanatory diagram when other workpieces are adjacent in two non-adjacent directions, (d) is an explanatory diagram when other workpieces are adjacent in two adjacent directions, (e) is an explanatory diagram when other workpieces are adjacent in one direction, and (f) is an explanatory diagram when other workpieces are not adjacent. [Figure 7]An explanatory diagram illustrating a method for determining a second transport path according to the same embodiment, where (a) is an explanatory diagram showing the first transport path and the first candidate second transport path, (b) is an explanatory diagram showing the first transport path and the second candidate second transport path, and (c) is an explanatory diagram showing the first transport path and the third and fourth candidate second transport paths. [Figure 8] 10A and 10B are explanatory diagrams illustrating a method for determining whether there are other interfering workpieces on a candidate second transport path according to the same embodiment, where (a) is an explanatory diagram illustrating a case where workpieces of multiple shapes are mixed and it is determined that there will be no interference, (b) is an explanatory diagram illustrating a case where workpieces of multiple shapes are mixed and it is determined that there will be interference, (c) is an explanatory diagram illustrating a case where workpieces of a single shape are mixed and it is determined that there will be no interference, (d) is an explanatory diagram illustrating a case where workpieces of a single shape are mixed and it is determined that there will be interference, (e) is an explanatory diagram illustrating a case where a difference in height between the workpiece to be transported and the other workpieces has been deformed in shape, and ...f) is an explanatory diagram illustrating a case where a difference in height between the workpiece to be transported and the other workpieces has been deformed in shape, [Figure 9] FIG. 10 is an explanatory diagram illustrating a shifting operation performed on a workpiece. [Figure 10] FIG. 10 is an explanatory diagram illustrating a shifting operation performed on a workpiece. [Figure 11] FIG. 10 is an explanatory diagram illustrating a shifting operation performed on a workpiece. DETAILED DESCRIPTION OF THE INVENTION

[0032] An embodiment of a workpiece transfer system using an information processing device according to the present invention will be specifically described below with reference to the drawings. In the following description, when directions such as up, down, left, right, front, and back are indicated by arrows in each drawing (right, left, up, down, front, back), the directions will be based on those arrows.

[0033] <Outline of the workpiece transfer system> As shown in Fig. 1, the workpiece transfer system 1 according to this embodiment is configured with a robot 2, a robot controller 5 that controls the robot 2, an imaging unit 3, and an information processing device 4 as its main components. A plurality of workpieces W, each consisting of a cardboard box, are loaded on a pallet Pa, and the workpieces W are transported to a conveyor Co by the robot 2. Below, the main components of the workpiece transfer system 1 shown in Fig. 1, as well as the pallet Pa, the workpieces W, and the conveyor Co will be described in detail.

[0034] <Robot> The robot 2 is a conventionally known three-axis Cartesian robot. Briefly describing its structure, a hand main body 24 equipped with multiple suction cups 25 is fixed to the lower tip of a Z-axis slide 23. The Z-axis slide 23 is supported by a Y-axis slide 21 so as to be slidable in the vertical direction (Z-axis direction). Although not shown in the figure, the Y-axis slide 21 is an elongated member extending in the direction from the front to the back of the page (Y-axis direction) and is equipped with a pair of guide rails extending in the longitudinal direction. The Z-axis slide 23 is fitted and supported by these guide rails, allowing it to slide in the Y-axis direction relative to the Y-axis slide 21. Furthermore, the Y-axis slide 21 is supported by an X-axis slide 22 so as to be slidable in the front-rear direction (X-axis direction). This allows the hand main body 24 equipped with multiple suction cups 25 to move in the X-axis, Y-axis, and Z-axis directions. Because three-axis Cartesian robots that perform such operations are common, detailed description thereof will be omitted.

[0035] The multiple suction cups 25 use compressed air sent from a compressor (not shown) to generate a vacuum using a vacuum generating device built into the hand main body 24, and adsorb one or more workpieces W placed on the pallet Pa.

[0036] The robot 2 also receives control commands from the robot controller 5 or from the information processing device 4 via the robot controller 5 to the control box 26. Based on the control commands, the control box 26 moves the hand main body 24 in the left-right, front-rear, and up-down directions, and causes the multiple suction cups 25 to suck the workpiece W.

[0037] <Image capture unit> The imaging unit 3 is a three-dimensional image sensor that captures images of the stacking state of one or more workpieces W stacked on a pallet Pa shown in Fig. 1 and is capable of outputting three-dimensional point cloud information. The imaging unit 3 is equipped with a camera and a projector, and calculates three-dimensional point cloud information of the subject by an active stereo method using the camera and projector. Note that the active stereo method using a camera and projector is a common technology, so a detailed description will be omitted.

[0038] <Information processing device> 1, the information processing device 4 is mainly composed of a CPU 40, a RAM 41, a ROM 42, a communication IF (communication interface) 43, a display device 44, and an input device 45. The CPU 40 executes and controls each function of the information processing device 4, and the RAM 41 temporarily stores programs stored in the ROM 42 and data used by the programs.

[0039] On the other hand, the ROM 42 stores various parameters and programs that describe the functions and processing of the information processing device 4 described later, and the communication IF 43 sends and receives data to and from devices such as the imaging unit 3 and robot controller 5 via the network.

[0040] On the other hand, the display device 44 displays graphics drawn by the CPU 40, and the input device 45 is an external input device for receiving operation instructions from a user, such as a keyboard, a mouse, etc. The functions and processes of the information processing device 4, which will be described later, are realized by the CPU 40 reading a program stored in the ROM 42 into the RAM 41 and executing this program.

[0041] <Robot controller> The robot controller 5 is a control device that houses a servo amplifier, a circuit board, etc., and is a device that comprehensively controls the movement of the robot 2. The robot controller 5 is also capable of storing and executing a program that controls the robot 2 that has been created in advance.

[0042] <Work> The workpieces W are cardboard boxes containing predetermined products and are placed on the pallet Pa. In this embodiment, cardboard boxes are used as an example, but the materials may be other than cardboard as long as they can be stacked on the pallet Pa. For example, they may be made of plastic or wood, or they may be bag-shaped objects that can approximate a box shape. Furthermore, each workpiece W may be a mixture of workpieces of multiple shapes, or may be a single shape. Furthermore, as shown in FIG. 1, the workpieces W are allowed to protrude from the edge of the pallet Pa by an amount La of protrusion.

[0043] <Palette> Pallet Pa is a loading platform for placing cargo used in logistics, and can be lifted by inserting the claws of a forklift or hand lift between the legs of pallet Pa. In this embodiment, multiple workpieces W are loaded on pallet Pa, but any other device capable of loading workpieces W, such as a cart, can be used.

[0044] <Conveyor> The conveyor Co is a roller conveyor installed on floor B. The conveyor Co is long in the direction from the front to the back of the page (see Figure 4(b)). The robot 2 transports one or more workpieces W placed on a pallet Pa to a specified position on the conveyor Co (see the place position CoP shown in Figure 4(b)). The height from floor B to the top surface of the conveyor Co (the surface on the place position CoP side) is height Ld.

[0045] <Description of information processing device> Next, the functional configuration of the information processing device 4 according to this embodiment will be described with reference to Fig. 2. As shown in Fig. 2, the functional configuration of the information processing device 4 includes a determination unit 401, a search space setting unit 402, a transfer destination position setting unit 403, a transfer area setting unit 404, a three-dimensional information acquisition unit 405, a transfer target workpiece determination unit 406, a transfer path calculation unit 407, an interference determination unit 408, a control instruction unit 409, a shift operation unit 410, and a three-dimensional information re-acquisition unit 411. Each component will be described below.

[0046] The judgment unit 401 exchanges information between each functional block based on the state held by the judgment unit 401 or the state held by each functional block, and also exchanges information with external devices, and controls the robot 2 via the robot controller 5.

[0047] The search space setting unit 402 sets the search space 8 (see FIG. 4(b)).

[0048] The destination position setting unit 403 sets the destination position 7 (see FIG. 4(b)).

[0049] The transport area setting unit 404 sets a transport area 9 (see Figure 4(b)) as the range through which the work W can pass when transported from the pallet Pa (see Figure 1) to the destination position 7 (see Figure 4(b)).

[0050] The three-dimensional information acquisition unit 405 acquires, from the imaging unit 3, three-dimensional point cloud information (see FIG. 4(c)) of the packing state of the plurality of workpieces W on the pallet Pa (see FIG. 1).

[0051] The workpiece determination unit 406 determines each workpiece W0 to 5 (see Figure 4(c)) detected from the three-dimensional point cloud information (see Figure 4(c)) acquired by the three-dimensional information acquisition unit 405 as the workpiece to be transported in order of proximity to the destination position 7 (see Figure 4(c)).

[0052] The transfer path calculation unit 407 calculates a first transfer path W2R1 (see FIGS. 5(a) to 5(c)) for the transfer target work (see transfer target work W2 in FIGS. 5(a) to 5(c)) determined by the transfer target work determination unit 406. Furthermore, it also calculates candidates W2R2 to 5 (see FIGS. 5(a) to 5(c)) for the second transfer path, which is a path for transferring the work from the end point of the calculated first transfer path W2R1 (see FIGS. 5(a) to 5(c)) to the transfer destination position 7.

[0053] The interference determination unit 408 determines whether there are other workpieces that will interfere with the workpiece W2 to be transported (see FIGS. 5(a) to (c)) within the range through which the workpiece W2 to be transported passes when transporting the workpiece W2 (see FIGS. 5(a) to (c)), based on the candidates W2R2 to 5 for the second transport path calculated by the transport path calculation unit 407. If any of the candidates W2R2 to 5 for the second transport path interferes with other workpieces, the workpiece W2 to be transported must be lifted high in order to avoid interference with the other workpieces in order to transport the workpiece W2 to be transported. Therefore, the interference determination unit 408 determines that the workpiece W2 to be transported cannot be transported.

[0054] The control instruction unit 409 transmits control commands required for transporting the workpiece to the robot controller 5 (see FIG. 1) via the determination unit 401.

[0055] The shifting operation unit 410 performs a shifting operation when the side of the workpiece W cannot be detected from the three-dimensional point cloud information acquired by the three-dimensional information acquisition unit 405.

[0056] The three-dimensional information reacquisition unit 411 acquires three-dimensional point cloud information again after the shifting unit 410 has performed the shifting operation.

[0057] The functional configuration of the workpiece transfer system 1 and the information processing device 4 according to this embodiment is configured by the components described above. Here, the operation of the workpiece transfer system 1 will be briefly described. First, the three-dimensional information acquisition unit 405 acquires three-dimensional point cloud information of the multiple workpieces W on the pallet Pa, and based on that, the transport target workpiece determination unit 406 determines the workpiece W2 closest to the destination position 7 (see FIG. 4(b)) as the transport target workpiece. Then, the transport path calculation unit 407 calculates the first transport path W2R1 (see FIGS. 5(a) to (c)) based on the status of other workpieces adjacent to the transport target workpiece W2. The transport path calculation unit 407 also calculates candidates W2R2 to W2R5 for the second transport path (see FIGS. 5(a) to (c)). Then, based on the candidates for the second transfer path W2R2 to W2R5 (see Figures 5(a) to (c)), the interference determination unit 408 determines whether there are any other interfering workpieces within the range through which the workpiece W2 to be transferred passes when it is transferred. If there is a path that is determined to be free of interfering workpieces, it determines that this is the second transfer path. Finally, it sends the necessary control commands to the robot controller 5 so that the robot 2 can transfer the workpiece W2 to be transferred based on the first transfer path and the second transfer path. On the other hand, if there is no path that is determined to be free of interfering workpieces, it determines that the workpiece W2 to be transferred cannot be transferred because it would have to be lifted high to avoid interference with other workpieces in order to transfer the workpiece W2 to be transferred. Then, the above process is repeated with the workpiece closest to the next transfer destination position 7 (see Figure 4(b)) as the workpiece to be transferred.

[0058] Briefly, the workpiece transfer system 1 and the information processing device 4 according to this embodiment operate as described above.

[0059] <Explanation of processing contents of information processing device> Next, the processing contents of the information processing device 4 according to this embodiment will be described with reference to the flowchart shown in FIG.

[0060] <Advance preparation> First, necessary information is set (steps S1 to S4). Specifically, the following operations are performed.

[0061] First, the judgment unit 401 saves the workpiece shape (step S1). More specifically, first, the worker inputs the shape of the workpiece W (see FIG. 1) into the information processing device 4 (see FIG. 1) using the input device 45 (see FIG. 1) or the like. As shown in FIG. 4(a), in this embodiment, the workpiece W (see FIG. 1) is box-shaped, so the worker can input the width Ww, the length Wl, and the height Wh. If the workpiece W (see FIG. 1) has a single shape, only one type of shape is input, but if there are multiple workpiece shapes, these multiple shapes are input.

[0062] The determining unit 401 receives this input from the worker and temporarily stores the work shape of the work W (see FIG. 1) in the RAM 41 (see FIG. 1).

[0063] Instead of inputting the data by an operator, the data may be measured by a predetermined measuring device using a conventionally known method and stored in the RAM 41 (see FIG. 1) or the like.

[0064] Next, the search space setting unit 402 sets the search space 8 (see FIG. 4(b)) (step S2). More specifically, first, the worker inputs the space in which the workpiece W (see FIG. 1) may exist into the information processing device 4 (see FIG. 1) using the input device 45 (see FIG. 1) or the like. The input values ​​are the area of ​​the pallet Pa (see FIG. 1), the amount of protrusion La (see FIG. 1) from the pallet Pa (see FIG. 1) that is allowed for the multiple workpieces W (see FIG. 1) to be loaded onto this pallet Pa (see FIG. 1), and the amount of shift Lb (see FIGS. 9 to 11) by which the multiple workpieces W (see FIG. 1) are shifted to clarify the contours of the multiple workpieces W (see FIG. 1).

[0065] The size of this search space 8 (see FIG. 4(b)) will now be described. The size of the search space 8 is the area of ​​the pallet Pa (see FIG. 1) plus the amount of overhang La (see FIG. 1) and the amount of shift Lb (see FIGS. 9-11) input by the worker (see "(La+Lb)" in FIG. 4(b)). Therefore, as shown in FIG. 4(b), the search space 8 has a base area that is slightly larger than that of the pallet Pa (see FIG. 1). The search space 8 (see FIG. 4(a)) also has a height. This height can be determined by inputting, for example, the stack height Lc (see FIG. 1) of the multiple workpieces W loaded on the pallet Pa (see FIG. 1).

[0066] In this embodiment, the search space 8 is set based on the size of the pallet Pa (see FIG. 1) as described above, but it may be set based on the area of ​​the range where multiple workpieces W are loaded, such as the base of a cart. In this embodiment, the search space 8 is sized taking into account the protrusion amount La (see FIG. 1) and the shift amount Lb (see FIGS. 9 to 11), but the factors to be taken into account are not limited to these.

[0067] The search space setting unit 402 receives this input from the worker and sets a search space 8 as a space in which multiple works W (see FIG. 1) can exist, as shown in FIG. 4(b). This setting can be temporarily stored in the RAM 41 (see FIG. 1), for example, as three-dimensional coordinates indicating each vertex of the search space 8 (see FIG. 4(b)).

[0068] Next, the destination position setting unit 403 sets the destination position 7 (see FIG. 4(b)) (step S3). More specifically, first, the worker inputs the destination position 7 (see FIG. 4(b)), which is the end point of the transport route calculated by the transport route calculation unit 407, into the information processing device 4 (see FIG. 1) using the input device 45 (see FIG. 1) or the like.

[0069] This destination position 7 is set at a position where the center point Wc (see FIG. 4(a)) of the workpiece W to be transported is separated from the search space 8 (see FIG. 4(b)) by at least half the diagonal length Wd (see FIG. 4(a)) of the top surface of the workpiece W to be transported (see FIG. 4(a)) (see "(Wd / 2)" in FIG. 4(b)). The height of this destination position 7 (see FIG. 4(a)) is also set. The height of the destination position 7 (see FIG. 4(a)) is set to the minimum height that does not interfere with the conveyor Co (see FIG. 1).

[0070] The reason for setting the destination position 7 (see FIG. 4(b)) as described above is as follows.

[0071] Conventionally, when calculating a transport path for a robot 2 to transport a workpiece W, the transport path to the place position CoP (see FIG. 4(b)) of the conveyor Co (see FIG. 4(b)) is calculated. As a result, the information processing device 4 can use the three-dimensional point cloud information acquired by the three-dimensional information acquisition unit 405 to transport the workpiece W to the place position CoP (see FIG. 4(b)) of the conveyor Co (see FIG. 4(b)) without interfering with other works or the surrounding environment.

[0072] However, there is a problem in that the calculation of such a transport route requires a large amount of calculation.

[0073] Therefore, in this embodiment, a transfer route calculation is provided that requires a small amount of calculation. More specifically, the end point of the transfer route calculated by the transfer route calculation unit 407 is set to the transfer destination position 7 (see FIG. 4(b)) closer to the pallet Pa (see FIG. 1) rather than the place position CoP (see FIG. 4(b)) of the conveyor Co (see FIG. 4(b)). This shortens the transfer route, so the transfer route calculation unit 407 only requires a small amount of calculation to calculate the transfer route.

[0074] Here, the path from the destination position 7 (see FIG. 4(b)) to the place position CoP (see FIG. 4(b)) of the conveyor Co (see FIG. 4(b)) is determined by another device such as the robot controller 5. However, since the other device such as the robot controller 5 cannot use the three-dimensional point cloud information of the imaging unit 3 (see FIG. 1), it is not possible to recognize other workpieces or the surrounding environment. For this reason, it is necessary to take precautions to ensure that the workpiece W to be transported does not interfere with other workpieces W or the conveyor Co (see FIG. 1).

[0075] Therefore, in this embodiment, the destination position 7 (see FIG. 4(b)) is set so that the distance from the search space 8 (see FIG. 4(b)) is at least half (see "Wd / 2" in FIG. 4(b)) of the diagonal length Wd (see FIG. 4(a)). In this way, no matter what posture the robot 2 takes of the workpiece W (shown by the broken line in FIG. 4(b)) transported to the destination position 7 (see FIG. 4(b)), the workpiece W will not enter the search space 8 (see FIG. 4(b)) even in part. To explain in more detail, for example, suppose the robot 2 rotates the workpiece W transported to the destination position 7 (see FIG. 4(b)) until the diagonal line of the workpiece W is perpendicular to the search space 8 (see FIG. 4(b)). Then, The corner of the workpiece W transported to destination position 7 (see FIG. 4(b)) will be closest to search space 8 (see FIG. 4(b)). However, even in this case, since the destination position 7 (see FIG. 4(b)) and the search space 8 (see FIG. 4(b)) are separated by at least the "diagonal length Wd / 2" (see FIG. 4(b)), the corner will not invade the search space 8 (see FIG. 4(b)). Therefore, no matter what path or posture the workpiece is transported from destination position 7 (see FIG. 4(b)) to place position CoP (see FIG. 4(b)) by robot 2, it will not interfere with the workpiece W in search space 8 (see FIG. 4(b)) (unless it returns in the opposite direction). This makes it possible to prevent interference between the workpiece W being transported and other workpieces W.

[0076] Furthermore, in this embodiment, the height of the destination position 7 (see FIG. 4(b)) is set to the minimum height that does not interfere with the conveyor Co (see FIG. 4(b)) when the workpiece W shown by the dashed line in FIG. 4(b) is transported from the destination position 7 toward the conveyor Co (see FIG. 4(b)). This may be set to a height that does not cause interference between the workpiece to be transported and the conveyor Co (see FIG. 4(b)), even when the robot controller 5 (see FIG. 1) transports the workpiece along a path that connects the destination position 7 (see FIG. 4(b)) and the place position CoP (see FIG. 4(b)) of the conveyor Co (see FIG. 4(b)) in a straight line. This makes it possible to prevent interference between the workpiece W and the conveyor Co (see FIG. 4(b)).

[0077] This is the reason why the destination position 7 (see FIG. 4(b)) is set as described above.

[0078] The destination position setting unit 403 receives this input from the worker and sets the end point of the transport route calculated by the transport route calculation unit 407 to be the destination position 7 (see FIG. 4(b)). This setting can be temporarily stored in the RAM 41 (see FIG. 1) as three-dimensional coordinates, for example.

[0079] Next, the transfer area setting unit 404 sets a transfer area 9 (see FIG. 4(b)) as a range through which the workpiece W can pass when being transferred to the destination position 7 (see FIG. 4(b)) (step S4). More specifically, first, the transfer area setting unit 404 reads out the workpiece shape (see FIG. 4(a)) stored in the RAM 41 (see FIG. 1) and acquires the diagonal length Wd of the workpiece W. Then, the three-dimensional information acquisition unit 405 sets the transfer area 9 (see FIG. 4(b)) as a range obtained by extending the search space 8 (see FIG. 4(b)) toward the destination position 7 by the diagonal length Wd. In this embodiment, the transfer path calculation unit 407 does not calculate a transfer path that causes even a portion of the workpiece W to protrude from the transfer area 9 (see FIG. 4(b)). Therefore, the operator can know in advance the range through which the workpiece W can pass when being transferred to the destination position 7 (see FIG. 4(b)).

[0080] This setting can be temporarily stored in the RAM 41 (see FIG. 1) as three-dimensional coordinates, for example.

[0081] <Determining the work to be transported> Next, a transport route is determined for the workpiece W detected based on the three-dimensional point cloud information (steps S6 to S11). Specifically, the following operations are performed.

[0082] First, the three-dimensional information acquisition unit 405 acquires three-dimensional point cloud information (step S5). More specifically, when the information processing device 4 receives an instruction from the robot controller 5 or another device or program, the three-dimensional information acquisition unit 405 acquires three-dimensional point cloud information of multiple workpieces W (see FIG. 1) via the imaging unit 3. Then, from the acquired three-dimensional point cloud information, the sides of the multiple workpieces W (see FIG. 4(b)) viewed from above are detected. As a result, multiple workpieces W0 to W5 viewed from above are detected, as shown in FIG. 4(c).

[0083] If the sides of the workpiece W cannot be detected from the acquired three-dimensional point cloud information, a shifting operation is performed by the shifting operation unit 410. However, this time, the explanation will continue assuming that the sides have been detected.

[0084] Next, the transfer target work determination unit 406 determines each of the workpieces W0 to 5 (see FIG. 4(c)) detected from the acquired three-dimensional point cloud information as the transfer target workpiece in order of proximity to the transfer destination position 7 (see FIG. 4(c)), and hands them over to the transfer path calculation unit 407. The transfer path calculation unit 407 performs loop processing (loop 1 processing shown in FIG. 3(a)) consisting of the following processing for the determined transfer target workpiece, and calculates the transfer path (step S6). Here, the processing when the workpiece W2 (see FIG. 4(b)) is determined as the transfer target workpiece will be described.

[0085] <Determining the first transport route> First, the transfer path calculation unit 407 calculates the first transfer path W2R1 (see FIGS. 5(a) to 5(c)) (step S7). The first transfer path W2R1 (see FIGS. 5(a) to 5(c)) is a path for lifting the workpiece W2 to be transferred that is loaded on the pallet Pa (see FIG. 1).

[0086] When calculating the first transfer path W2R1 (see FIGS. 5(a) to 5(c)), the transfer path calculation unit 407 first determines the direction W2D depending on which direction of the workpiece W2 to be transferred (see FIGS. 5(a) to 5(c)) there is another adjacent workpiece W. Next, the transfer path calculation unit 407 moves a predetermined distance (e.g., 50 mm) from the center point W2C (see FIGS. 5(a) to 5(c)) of the workpiece W2 to be transferred in the direction W2D, and then calculates a position a predetermined distance (e.g., 50 mm) upward from there as the first relay point W2P1 (see FIGS. 5(a) to 5(c)). The first transfer path W2R1 (see FIGS. 5(a) to 5(c)) of the workpiece W2 to be transferred is a path connecting the center point C of the workpiece W2 to be transferred and the first relay point W2P1 (see FIGS. 5(a) to 5(c)). The position of the workpiece W2 to be transported when it is transported according to the first transport route W2R1 calculated by the transport route calculation unit 407 is indicated by a dashed line as position W21 of the workpiece W2 to be transported.

[0087] Here, with reference to FIG. 6, it will be explained how the transport path calculation unit 407 calculates the direction of the first transport path depending on the direction in which the other workpiece is adjacent to the workpiece to be transported.

[0088] In FIG. 6(a), other workpieces WB, WC, WD, and WE are adjacent to the workpiece WA to be transported (see FIG. 6(a)) on all four sides (front, back, left, and right). More specifically, workpiece WB is present in front of the workpiece WA to be transported (see FIG. 6(a)), workpiece WC is present on the right, workpiece WD is present on the back, and workpiece WE is present on the left. In this case, since it cannot be lifted in any direction, it is determined that the workpiece WA to be transported (see FIG. 6(a)) cannot be transported. Therefore, processing for the workpiece WA to be transported is terminated (see step S7), and the transport target workpiece determination unit 406 determines the next workpiece to be transported and performs processing on that workpiece to be transported (see step S6).

[0089] In FIG. 6(b), other workpieces WC, WD, and WE are adjacent to three sides of the workpiece WA to be transported (see FIG. 6(b)). More specifically, workpiece WC is present to the right of the workpiece WA to be transported, workpiece WD is present behind it, and workpiece WE is present on the left. In this case, in order to transport the workpiece WA to be transported without interfering with these other workpieces WC, WD, and WE, the transport path calculation unit 407 determines the direction D1 of the first transport path so that it is parallel to each of the pair of left and right faces WA1 and WA2 (see FIG. 6(b)) of the workpiece WA to be transported.

[0090] Figure 6(c) is the same as Figure 6(b) except that there is no workpiece WD behind the workpiece WA to be transported (see Figure 6(c)). In this case as well, in order to transport the workpiece WA to be transported without interfering with the other works WC and WE, the transport path calculation unit 407 determines the direction D1 of the first transport path so that it is parallel to each of the pair of left and right faces WA1, WA2 (see Figure 6(c)) of the workpiece WA to be transported.

[0091] That is, when it is confirmed that other works WC and WE are adjacent to either of the pair of left and right faces WA1 and WA2 of the work WA to be transported, as shown in Figures 6(b) and (c), the transport path calculation unit 407 determines the direction D1 so that the first transport path is parallel to the pair of left and right faces WA1 and WA2 of the work WA to be transported (see Figures 6(b) and (c)).

[0092] Also, although not shown, if it is confirmed that other workpieces are adjacent to either of the pair of front and rear sides of the workpiece WA to be transported, the direction D1 of the first transport path can be determined so that the first transport path is parallel to the pair of front and rear sides of the workpiece WA to be transported.

[0093] In FIG. 6(d), other workpieces WC and WD are adjacent to two sides of the workpiece WA to be transported (see FIG. 6(d)). More specifically, workpiece WC is present to the right of the workpiece WA to be transported, and workpiece WD is present behind it. In this case, the transport path calculation unit 407 calculates the direction of the first transport path so that it is in the diagonal direction D2 away from the other workpieces WC and WD.

[0094] In FIG. 6(e), another workpiece WC is adjacent to one of the workpieces WA to be transported (see FIG. 6(e)). More specifically, the workpiece WC is present on the right side of the workpiece WA to be transported. In this case, the transport path calculation unit 407 determines the direction D3 of the first transport path so that the direction is opposite to that of the other workpiece WC.

[0095] In FIG. 6(f), there are no other workpieces adjacent to the workpiece WA to be transported (see FIG. 6(f)). In this case, the transport path calculation unit 407 determines that the direction of the first transport path for the workpiece WA to be transported is direction D4 (not shown) directly above the workpiece WA to be transported. In addition, in the case of direction D4, the first transport path calculates the first relay point to be a position moved a predetermined distance (for example, 50 mm) above the center point C of the workpiece WA to be transported.

[0096] Conventionally, when lifting a workpiece WA to be transported that is adjacent to other workpieces, it is desirable to lift it in a direction away from the other adjacent workpieces (see directions D2 and D3 shown in Figures 6(d) and (e)). This prevents the other adjacent workpieces from being lifted together, thereby protecting the other adjacent workpieces. Conversely, if the workpiece cannot be lifted in a direction away from the other adjacent workpieces (see direction D1 shown in Figures 6(b) and (c)), it has conventionally been determined that it cannot be used as a workpiece to be transported, from the perspective of protecting the other adjacent workpieces. However, this has posed a problem in that it limits the workpieces that can be used as a workpiece to be transported.

[0097] Therefore, if the workpiece cannot be lifted in a direction away from other adjacent workpieces, the direction of the first transport path is determined (see direction D1 shown in Fig. 6(b)(c)) so that it is parallel to each of the pair of left and right faces of the workpiece to be transported (see side faces WA1 and WA2 in Fig. 6(b)(c)), and the workpiece can be made the transport target. This makes it possible to avoid a situation where there is no workpiece that can be transported.

[0098] As described above, the transport path calculation unit 407 determines the directions D1 to D4 of the first transport path depending on the direction of the workpiece W to be transported that is adjacent to the workpiece WA. The example shown in Figures 5(a) to (c) corresponds to Figure 6(b).

[0099] <Calculation of second transport route candidates> Next, the transfer path calculation unit 407 calculates a candidate second transfer path for the workpiece W2 to be transferred (see FIGS. 5(a) to 5(c)) (step S8). As shown in FIGS. 5(a) to 5(c), the second transfer path is a path for transferring the workpiece W2 to be transferred from position W21 of the workpiece W2 to be transferred, indicated by a dashed line, to the transfer destination position 7. Note that the position W22 of the workpiece W2 to be transferred according to the second transfer path calculated by the transfer path calculation unit 407 is indicated by a dashed line.

[0100] The transport path calculation unit 407 calculates the first candidate second transport path W2R2 (see Figure 5(a)), the second candidate second transport path W2R3 (see Figure 5(b)), the third candidate second transport path W2R4 (see Figure 5(c)), and the fourth candidate second transport path W2R5 (see Figure 5(c)) for the work W2 to be transported.

[0101] Here, a method for calculating candidates R2 to R5 for the second transport route of the transport target workpiece WG will be explained using Fig. 7. In Fig. 7, the transport target workpiece WG is shown by a solid line. Also, the transport target workpiece WG1 that has been transported to the first relay point P1 along the first transport route R1 calculated by the transport route calculation unit 407 is shown by a dashed line.

[0102] The first candidate second transfer route R2 is a route that connects the first relay point P1 (see FIG. 7) and the transfer destination position 7 (see FIG. 7) in a straight line.

[0103] The second candidate for the second transfer route R3 is a route that connects the first relay point P1 and the candidate for the second relay point P3, and the candidate for the second relay point P3 and the transfer destination position 7, as shown in Fig. 7. The candidate for the second relay point P3 is set in a direction that further extends the first transfer route R1 (see Fig. 7) from the first relay point P1 (see Fig. 7). However, the candidate for the second relay point P3 is set so that the position WG3 when the workpiece WG to be transferred is transferred to the candidate for the second relay point P3 does not protrude from the transfer area 9.

[0104] The third candidate for the second transfer route R4 is a route that connects the first relay point P1 and the candidate for the second relay point P4, and the candidate for the second relay point P4 and the transfer destination position 7, as shown in Fig. 7. This candidate for the second relay point P4 is set in a direction that is obtained by rotating the first transfer route R1 (see Fig. 7) by -45 degrees from the first relay point P1 (see Fig. 7). However, the candidate for the second relay point P4 is set so that the position WG4 when the workpiece WG to be transferred is transferred to the candidate for the second relay point P4 does not protrude from the transfer area 9.

[0105] The fourth second transfer route candidate R5 is a route that connects the first relay point P1 and the second relay point candidate P5, and the second relay point candidate P5 and the transfer destination position 7, as shown in Fig. 7. This second relay point candidate P5 is set in a direction that is obtained by rotating the first transfer route R1 (see Fig. 7) by +45 degrees from the first relay point P1 (see Fig. 7). However, the second relay point candidate P5 is set so that the position WG5 when the workpiece WG to be transferred is transferred to the second relay point candidate P5 does not protrude from the transfer area 9.

[0106] In this embodiment, the transport path calculation unit 407 sets the second relay point candidates P3 to P5 and calculates four second transport path candidates R2 to R5 as described above. However, more second transport path candidates may be calculated.

[0107] Furthermore, when the direction D4 directly above the workpiece WA to be transported is determined as the direction of the first transport route (see FIG. 6(f)), the second and subsequent candidates for the second transport route are not calculated.

[0108] In addition, the first candidate second transport route W2R2 (see Figure 5(a)), the second candidate second transport route W2R3 (see Figure 5(b)), the third candidate second transport route W2R4 (see Figure 5(c)), and the fourth candidate second transport route W2R5 (see Figure 5(c)) shown in Figures 5(a) to (c) correspond to the first candidate second transport route R2, the second candidate second transport route R3, the third candidate second transport route R4, and the fourth candidate second transport route R5 shown in Figure 7, respectively.

[0109] In this embodiment, the transport path is composed of the first transport path and the second transport path as described above. However, the transport path may further include other paths. In this case, the other paths may be, for example, a path connecting the first relay point W2P1 (see FIGS. 5(a) to 5(c)), which is the end point of the first transport path, to any point within the search space 8 or the transport area 9 (see FIGS. 5(a) to 5(c)), and the second transport path may be a path for transporting the workpiece to be transported from the end point of the other path to the destination position 7. In this way, the transport path can be determined in more detail.

[0110] <Collision detection> The transport path calculation unit 407 passes the second transport path candidates W2R2 to W2R5 (see FIGS. 5(a) to 5(c)) obtained as described above to the interference determination unit 408. The interference determination unit 408 performs interference determination for the second transport path candidates W2R2 to W2R5 (see FIGS. 5(a) to 5(c)) in order of shortest distance.

[0111] Here, a method for determining interference will be described with reference to Fig. 8. It is assumed that, based on the three-dimensional point cloud information acquired by the three-dimensional information acquisition unit 405, another workpiece WI (see Fig. 8) is detected within a range through which the workpiece WH (see Fig. 8) to be transported (see Fig. 8) passes when the workpiece WH (see Fig. 8) to be transported (see Fig. 7) is transported, based on the candidate R2 of the second transport route (see Fig. 7).

[0112] In both Figures 8(a) and (b), workpieces of multiple shapes are mixed together. In the example shown in Figure 8(a), the top surface WIj of the other workpiece WI is at the same height as the bottom surface WHt of the workpiece WH to be transported. In this case, the interference determination unit 408 determines that the workpiece WH to be transported will not interfere with the other workpiece WI. On the other hand, in the example shown in Figure 8(b), the top surface WIj of the other workpiece WI is higher than the bottom surface WHt of the workpiece WH to be transported. In this case, the interference determination unit 408 determines that the workpiece WH to be transported will interfere with the other workpiece WI.

[0113] Note that any method may be used to detect whether the top surface WIj of the other workpiece WI is higher than the bottom surface WHt of the workpiece WH to be transported. For example, it may be detected whether the top surface WIj of the other workpiece WI shown in FIGS. 8(a) and 8(b) is lower than the top surface WHj of the workpiece WH to be transported by at least the height WHh of the workpiece WH to be transported. More specifically, first, the height difference H1 (H2) between the top surface WIj of the other workpiece WI and the top surface WHj of the workpiece WH to be transported shown in FIGS. 8(a) and 8(b) is detected using the three-dimensional point cloud information acquired by the three-dimensional information acquisition unit 405. This may be compared with the height WHh of the workpiece WH to be transported.

[0114] 8(a), the height difference H1 is the same as the height WHh of the workpiece WH to be transported. In this case, it can be detected that the top surface WIj of the other workpiece WI is at the same height as the bottom surface WHt of the workpiece WH to be transported.

[0115] 8(b), the height difference H2 is shorter than the height WHh of the workpiece WH to be transported. In this case, it can be detected that the top surface WIj of the other workpiece WI is higher than the bottom surface WHt of the workpiece WH to be transported.

[0116] Although not shown, if no height difference is detected, the interference determination unit 408 can determine that the workpiece WH to be transported will interfere with another workpiece WI.

[0117] The height WHh of the workpiece WH to be transported used for comparison may be determined by using the workpiece shape (see FIG. 4(a)) stored in RAM 41 (see FIG. 1). Alternatively, it may be measured by a conventionally known method using a predetermined measuring device. Furthermore, as shown in FIGS. 8(a) and 8(b), when workpieces of multiple shapes are mixed, the longest side of the multiple workpiece shapes stored in RAM 41 (see FIG. 1) may be used as the height WHh.

[0118] Next, in Figures 8(c) to (f), the workpieces W have the same shape. In the example shown in Figure 8(c), the top surface WIj of the other workpiece WI is at the same height as the bottom surface WHt of the workpiece WH to be transported. In this case, the interference determination unit 408 determines that the workpiece WH to be transported will not interfere with the other workpiece WI. On the other hand, in the example shown in Figure 8(d), the top surface WIj of the other workpiece WI is higher than the bottom surface WHt of the workpiece WH to be transported. In this case, the interference determination unit 408 determines that the workpiece WH to be transported will interfere with the other workpiece WI.

[0119] Note that any method may be used to detect whether the top surface WIj of the other workpiece WI is higher than the bottom surface WHt of the workpiece WH to be transported. For example, as in the case where workpieces of multiple shapes are mixed (see FIGS. 8(a) and 8(b)), the height difference H3 between the top surface WIj of the other workpiece WI and the top surface WHj of the workpiece WH to be transported shown in FIG. 8(c) may be compared with the height of the workpiece WH to be transported. In addition, in the example shown in FIG. 8(d), no height difference is detected. This allows the interference determination unit 408 to determine that the workpiece WH to be transported will interfere with the other workpiece WI.

[0120] However, when the workpiece W has a single shape, the interference determination unit 408 may detect whether the top surface WIj of the other workpiece WI shown in FIG. 8(c) is higher than the bottom surface WHt of the workpiece WH to be transported as follows. Specifically, first, the interference determination unit 408 detects the height difference H3 between the top surface WIj of the other workpiece WI shown in FIG. 8(c) and the top surface WHj of the workpiece WH to be transported, using the three-dimensional point cloud information acquired by the three-dimensional information acquisition unit 405. Here, when the workpiece W has a single shape, this height difference H3 should be the same as the height WHh of the workpiece WH to be transported (or an integer multiple of the height WHh). Therefore, when the workpiece W has a single shape, the interference determination unit 408 may determine that the top surface WIj of the other workpiece WI is not higher than the bottom surface WHt of the workpiece WH to be transported simply by detecting the height difference H3 (simply detecting that the top surface WIj of the other workpiece WI is lower than the top surface WHj of the workpiece WH to be transported), without having to compare it with the height WHh of the workpiece WH to be transported. That is, as shown in FIG. 8(c), when the workpiece W has a single shape, the interference determination unit 408 may determine that no interference will occur simply by detecting the height difference H3.

[0121] However, it is preferable to check whether the height difference H3 is equal to or less than a predetermined value (for example, 80 mm). The reason is that, as shown in Fig. 8(e), the shape of another work WI may be deformed due to the weight of other workpieces stacked on the upper layer, and the height WIh may be slightly lower than the height WHh.

[0122] Therefore, in this embodiment, if the detected height difference H4 is small, equal to or less than a predetermined value (e.g., 80 mm), the interference determination unit 408 determines that the height difference is caused by deformation of the shape of the other workpiece WI. In this way, when the height difference H4 is detected, it can be determined that the workpiece WH to be transported will interfere with the other workpiece WI without using the height WHh of the workpiece WH.

[0123] 8(f), another workpiece WJ in a layer below the other workpiece WI may be deformed due to the weight of the workpiece in the layer above the other workpiece WI, etc. In this case, the height difference H5 is detected as shown in FIG. 8(f), but since it is equal to or less than a predetermined value (e.g., 80 mm), the interference determination unit 408 can determine that the workpiece WH to be transported will interfere with the other workpiece WI.

[0124] Furthermore, the interference determination unit 408 performs such interference determination (search for other workpieces) only inside a search space 8 (see FIG. 4(b)), which is set as a space where multiple workpieces W can exist. In this way, the amount of calculation required to determine interference is reduced compared to when determining interference within the range up to the conveyor Co (see FIG. 1), which is the transport destination.

[0125] Returning to FIG. 5(a), the description of the processing for the workpiece W2 to be transported will continue. The interference determination unit 408 searches for whether there are any other workpieces within the range through which the workpiece W2 to be transported passes when transporting the workpiece W2 to be transported from the position of the workpiece W21 to the position of the workpiece W22, following the candidate second transport route W2R2. The interference determination unit 408 then recognizes that there is a workpiece W0. Therefore, it determines whether the workpiece W2 to be transported will interfere with the workpiece W0.

[0126] In making this determination, the interference determination unit 408 recognizes that there is no difference in height between the top surface of the workpiece W0 and the top surface of the workpiece W2 to be transported (corresponding to the example in FIG. 8(d)) based on the three-dimensional point cloud information acquired by the three-dimensional information acquisition unit 405. Therefore, it is determined that the workpiece W2 to be transported will interfere with the workpiece W0 on the second transport route candidate W2R2 (see FIG. 5(a)).

[0127] Therefore, the interference determination unit 408 performs interference determination on the second transport route candidate W2R4 (see FIG. 5(c)), which has the next shortest distance.

[0128] The interference determination unit 408 recognizes that the workpiece W0 is within the range that the workpiece W2 passes through when transporting the workpiece W2 from the position of the workpiece W21 to the position of the workpiece W22 according to the candidate second transport path W2R4 (see FIG. 5(c)). The interference determination unit 408 also recognizes that there is no difference in height between the top surface of the workpiece W0 shown in FIG. 5(c) and the top surface of the workpiece W2 to be transported (corresponding to the example of FIG. 8(d)). Therefore, it is determined that the workpiece W2 to be transported will interfere with the workpiece W0 on the candidate second transport path W2R4 (see FIG. 5(c)).

[0129] Therefore, the interference determination unit 408 performs interference determination on the second transport route candidate W2R3 (see FIG. 5(b)), which has the next shortest distance.

[0130] The interference determination unit 408 recognizes that there are no other workpieces within the range through which the workpiece W2 passes when transporting it from the position of the workpiece W21 to the position of the workpiece W22, in accordance with the candidate W2R3 for the second transport route (see FIG. 5(b)). Therefore, the interference determination unit 408 determines the candidate W2R3 for the second transport route shown in FIG. 5(b) as the second transport route (see step S9).

[0131] Since the second transport route has been determined, the interference determination unit 408 does not perform interference determination for the second transport route candidate W2R5 shown in FIG. 5(c).

[0132] As described above, since the transport route has been calculated for the workpiece W2 determined to be the transport target, the calculation of transport routes for the remaining workpieces W0, 1, 2 to 5 is not performed, and the loop processing is terminated (see step S11). Note that if any of the candidates W2R2 to 5 for the second transport route interferes with other workpieces, the transport target workpiece W2 must be lifted high to avoid interference with the other workpieces. Therefore, the transport target workpiece W2 is not selected as the transport target, and the loop processing (processing of loop 1 shown in FIG. 3(a)) is performed for the next workpiece (for example, workpiece W1).

[0133] Finally, the control instruction unit 409 transmits the center point W2C of the workpiece W2 to be transported (the gripping position of the workpiece W2 to be transported, see FIGS. 5(a) to (c)), the first relay point W2P1 (see FIGS. 5(a) to (c)), the candidate second relay point W2P3 (see FIG. 5(b)), and other necessary control commands calculated by the transport path calculation unit 407 based on the determination of the interference determination unit 408, to the robot controller 5 (see FIG. 1), and ends the process. Note that when the next workpiece W is to be transported, the determination unit 401 returns to step S5 and can continue the process.

[0134] <Shifting operation> However, there are cases where the edges of the workpieces W cannot be detected from the three-dimensional point cloud information acquired by the three-dimensional information acquisition unit 405 in step S5. In such cases, the shifting operation unit 410 performs a shifting operation to shift one workpiece W (see FIG. 1) out of the multiple workpieces W (see FIG. 1) by a predetermined distance.

[0135] The processing content of this shifting operation will be explained using the flowchart shown in FIG.

[0136] First, a process when the three-dimensional information acquisition unit 405 acquires the three-dimensional point group information shown in FIG. 9(a) will be described.

[0137] FIG. 9(a) shows the three-dimensional point cloud information acquired by the three-dimensional information acquisition unit 405 (see step S5 shown in FIG. 3(a)). In the three-dimensional point cloud information shown in FIG. 9(a), the sides of the workpiece W (boundaries between multiple workpieces) cannot be detected. Therefore, the shifting operation unit 410 reads out the length of the longest side of the workpiece shape (see FIG. 4(a)) temporarily stored in the RAM 41 (step S21). Note that if multiple workpiece shapes are stored, the longest side among them is read out. In addition, the length of the longest side in the examples shown in FIGS. 9 to 11 is the longest side L shown in FIG. 9(b).

[0138] Next, the shifting operation unit 410 detects corners from the three-dimensional point cloud information (see FIG. 9(a)) acquired by the three-dimensional information acquisition unit 405, and performs the following loop processing (step S22) starting from the corner closest to the destination position 7 (see FIG. 9(a)). Here, the processing of corner K1 (see FIG. 9(a)) will be described.

[0139] First, the shifting unit 410 determines the shifting direction of the angle K1 (step S23). More specifically, it determines whether one or both of the two sides tangent to the angle K1 satisfy any of the following conditions. The first condition is that the opposite corner is an outer corner (i.e., a corner that protrudes outward). The second condition is that the length of the side is equal to or greater than the longest side.

[0140] Regarding angle K1, angle K3, which is on the opposite side of side E1, one of the two sides tangent to angle K1, corresponds to an outer corner. Furthermore, the length L1 of side E1 is equal to or greater than the longest side L (see Figure 9(b)). Furthermore, angle K2, which is on the opposite side of side E2, the other of the two sides tangent to angle K1, is an outer corner. Furthermore, the length L2 of side E2 is equal to or greater than the longest side L (see Figure 9(b)).

[0141] Therefore, the shifting operation section 410 determines that both of the two sides that are in contact with the corner K1 satisfy the above condition. In this case, the shifting operation section 410 determines the shift direction to be the diagonal direction D4.

[0142] Next, the shifting operation unit 410 determines whether the direction D4 is the transport direction 7a (see FIG. 9(a)). Note that the transport direction 7a is the direction of the destination position 7 (see FIG. 9(a)) as seen from the search space 8, as shown in FIG. 9(a).

[0143] Although direction D4 is not the same as conveying direction 7a (see FIG. 9(a)), the difference is within a predetermined angle (for example, within 45 degrees), so the shifting operation unit 410 determines that direction D4 is on the side of conveying direction 7a (see FIG. 9(a)) (step S24: Y). Note that a difference of up to 90 degrees from conveying direction 7a (see FIG. 9(a)) is permitted. This is because if the difference exceeds 90 degrees, there is a possibility that the shifting operation will interfere with adjacent workpieces.

[0144] Next, the shifting operation unit 410 performs the shifting operation (step S26). That is, it transmits a necessary control command to the robot controller 5 via the determination unit 401 to shift the angle K1 in the direction D4 by the shift amount Lb (see FIGS. 9(b) and 9(c)).

[0145] Finally, the three-dimensional information reacquisition unit 411 acquires the three-dimensional point cloud information again after the shifting operation (step S27). The three-dimensional point cloud information acquired at this time is either of FIG. 9(b) or (c).

[0146] Next, a process when the three-dimensional information acquisition unit 405 acquires the three-dimensional point group information shown in FIG. 10(a) will be described.

[0147] The difference from the shifting operation for the three-dimensional point cloud information shown in FIG. 9(a) is that only one side E3 of the two sides tangent to the corner K4 satisfies the two conditions.

[0148] Looking more specifically at angle K4, angle K6, which is opposite side E3, one of the two sides tangent to angle K4, corresponds to an outside corner. Furthermore, the length L3 of side E3 is the same as the longest side L (see FIG. 9(b)), and is therefore greater than or equal to the longest side L (see FIG. 9(b)). On the other hand, angle K5, which is opposite side E4, the other of the two sides tangent to angle K4, is not an outside corner. Furthermore, the length L4 of side E4 is recognized as being shorter than the longest side L (see FIG. 9(b)).

[0149] Therefore, the shifting unit 410 determines that only side E3 of the two sides tangent to corner K4 satisfies the above condition. In this case, the shifting unit 410 determines that the shift direction is direction D5 parallel to side E4, which is not side E3 that satisfies the condition.

[0150] The shifting operation unit 410 performs a shifting operation (step S26) because the direction D5 is the transport direction 7a (see FIG. 10(a)) (step S24: Y). Finally, the three-dimensional information reacquisition unit 411 acquires three-dimensional point cloud information again after the shifting operation (step S27). The three-dimensional point cloud information acquired at this time is either of FIG. 10(b) or (c).

[0151] It is preferable that the workpiece W that has been shifted is transported immediately. Therefore, when the shifting operation is completed and the process returns to step S6, the transport target workpiece determination unit 406 first hands over the shifted workpiece W (see FIGS. 9(b)(c) and 10(b)(c)) to the transport path calculation unit 407. In response to this, the transport path calculation unit 407 calculates a transport path for the shifted workpiece W (see FIGS. 9(b)(c) and 10(b)(c)) using the transport path calculation method according to this embodiment (see FIGS. 6 and 7). Then, if the interference determination unit 408 confirms that there are no other interfering workpieces, the workpiece W will be transported.

[0152] Next, a process when the three-dimensional information acquisition unit 405 acquires the three-dimensional point group information shown in FIG. 11(a) will be described.

[0153] In the case of the three-dimensional point cloud information shown in FIG. 11(a), as in the example shown in FIG. 10(a), of the two sides E5 and E6 tangent to the corner K7, only E5 satisfies the above condition. Therefore, the shifting operation unit 410 determines the shift direction to be direction D6 parallel to side E6 other than side E5, which satisfies the condition. Since this direction D6 differs from the conveying direction 7a (see FIG. 10(a)) by within a predetermined angle (e.g., within 45 degrees) (step S24: Y), a shifting operation is performed (step S26). Finally, the three-dimensional information reacquisition unit 411 reacquires the three-dimensional point cloud information after the shifting operation (step S27).

[0154] Here, the three-dimensional point cloud information acquired again may be as shown in Fig. 11(b). When the shifting operation is completed and the process returns to step S6, the transport target work determination unit 406 hands over the work W after the shifting operation shown in Fig. 11(b) to the transport path calculation unit 407. In response to this, the transport path calculation unit 407 calculates a transport path for the work W after the shifting operation shown in Fig. 11(b) using the transport path calculation method according to this embodiment (see Figs. 6 and 7).

[0155] However, in FIG. 11(b), the workpiece WK is adjacent to the workpieces WL and WM on the opposing left and right sides. To create a transport route that can transport these workpieces WL and WM without interfering with them, it is necessary to transport the workpiece WK2 to be transported parallel to the opposing left and right sides to the position of the workpiece WK2 (see FIG. 11(b)) by, for example, setting a candidate second relay point P6. However, when transported to the position of the workpiece WK2, the workpiece WK2 will extend beyond the transport area 9 (see FIG. 11(b)). The transport route calculation unit 407 does not calculate a transport route that causes even a portion of the workpiece WK2 to extend beyond the transport area 9, and therefore cannot set the candidate second relay point P6. In this way, the transport route calculation unit 407 may not be able to calculate a transport route that does not cause interference.

[0156] In this way, if the transport path calculation unit 407 cannot calculate a transport path that does not cause interference, the transport target work determination unit 406 determines a work WL that is different from the work WK whose shape has been revealed by the shifting operation as the transport target work, and hands it over to the transport path calculation unit 407.

[0157] Conventionally, the workpiece WK that has been shifted is immediately transported. This is because the workpiece WK (see FIG. 11(c)) is prone to falling due to vibrations and the like after being shifted. Therefore, in the example shown in FIGS. 9 and 10, the workpiece W that has been shifted is given priority as the transport target.

[0158] However, as described above, in the example shown in Figure 11(b), the transport path of the shifted workpiece WK interferes with other workpieces. Therefore, in this embodiment, a workpiece WL other than the shifted workpiece WK is allowed to be the workpiece to be transported. This avoids a situation where there is no workpiece available to be transported.

[0159] According to the present embodiment described above, workpieces W that need to be lifted high to move over other workpieces are not transported (see works WX1, WX2, and WY shown in FIG. 1). This makes it possible to minimize the upward movement of the robot 2.

[0160] As described above, according to this embodiment, even when the movable range of the robot 2 is limited, the workpiece W can be transported efficiently.

[0161] <Description of Modifications> It should be noted that the information processing device 4 or system 1 shown in this embodiment is merely an example, and various modifications and alterations are possible within the scope of the gist of the present invention as set forth in the claims. For example, in this embodiment, an example is shown in which the suction cups 25 of the hand main body 24 adsorb one or more workpieces W placed on a pallet Pa to transfer the workpieces W, but this is not limiting, and a hand that clamps one or more workpieces W placed on a pallet Pa with a gripper may also be used, and any type of hand may be used as long as it is capable of transferring one or more workpieces W placed on a pallet Pa.

[0162] In this embodiment, the direction of the first transport path is determined based on the direction of the workpiece WB-WF adjacent to the workpiece WA to be transported, as shown in Figures 6(a) to 6(f). At this time, the positional relationship in the height direction between the workpiece WA to be transported and the other workpieces WB-WF may be taken into consideration to determine whether to treat them as "other adjacent workpieces."

[0163] For example, only when the top surface of the other workpieces WB to WF is higher than the bottom surface of the workpiece WA to be transported, it may be treated as "another adjacent workpiece." More specifically, as in the interference determination by the interference determination unit 408, when the top surface of the other workpiece (see the top surface WIj of the other workpiece WI in FIGS. 8(a) to 8(f)) is higher than the bottom surface of the workpiece to be transported (see the bottom surface WHt of the workpiece WH to be transported in FIGS. 8(a) to 8(f)), it may be treated as "another adjacent workpiece." [Explanation of symbols]

[0164] 4. Information processing equipment 7 Destination location (point) 8 Search space double work W2 Work to be transported W0, W1, W3~5 Other works WA Work to be transported WA1, WA2: Pair of left and right sides (pair of sides) WB~F Other works WH Work to be transported WHh: Height of the workpiece to be transported WHj Top surface of the workpiece to be transported WHt Bottom surface of the workpiece to be transported WI Other Work WIj Top surface of other workpiece H1~5 Height difference WJ Further work (lower level work) W2R1, R1 First transport route W2P1, P1 First relay point (end point) W2R2~5, R2~5 Candidates for the second transport route (second transport route) Wd Diagonal length WK Shifted workpiece WL Workpieces other than the workpieces that have been shifted Edges E8 and E10 (edges recognized as short) 402 Search space setting section 403 Destination position setting unit 405 3D information acquisition unit 406 Transfer target work determination unit 407 Transport path calculation unit 408 Interference detection section

Claims

1. a three-dimensional information acquisition means for acquiring three-dimensional information of the plurality of loaded workpieces; a transfer target workpiece determination means for determining a transfer target workpiece from the plurality of workpieces based on the three-dimensional information; a transport path calculation means for calculating one or more transport paths for transporting the workpiece to be transported based on the three-dimensional information; an interference determination means for determining whether the workpiece to be transported interferes with another workpiece when the workpiece to be transported is transported based on the transport path; An information processing device comprising: An information processing device in which, if the top surface of the other work on the transport path is higher than the bottom surface of the work to be transported, the interference determination means detects this using an arbitrary method and determines that there will be interference with the other work.

2. The information processing apparatus according to claim 1 , wherein the arbitrary method is a method of detecting whether or not the top surface of the other workpiece is at a position lower than the top surface of the workpiece to be transferred by a height equal to or greater than the height of the workpiece to be transferred.

3. 2. The information processing device of claim 1, wherein, when the multiple workpieces have a single shape, the arbitrary method is a method for detecting whether the top surface of the other workpiece is lower than the top surface of the workpiece to be transported, and further, if the top surface of the other workpiece is lower than the top surface of the workpiece to be transported, a method for determining whether the difference in height is a difference in height formed by deformation of the shape of the other workpiece or a workpiece in a lower layer than the other workpiece.

4. A search space setting means is further provided for setting a space in which the plurality of workpieces may exist as a search space in which the interference determination means searches for the other workpieces when making the determination, The information processing apparatus according to claim 1 , wherein the size of the search space is determined based on an area in which the plurality of workpieces are loaded.

5. The information processing apparatus according to claim 4 , wherein the interference determination means performs the search only within the search space.

6. the transport path includes a first transport path and a second transport path; the first transport path is a path for lifting the workpiece to be transported, The information processing apparatus according to claim 4 , wherein the second transport path is a path for transporting the workpiece to be transported from an end point or any arbitrary point of the first transport path to a point between the destination and the search space.

7. The information processing apparatus according to claim 6 , wherein the point is set at a position away from the center point of the workpiece to be transferred from the search space by at least half a diagonal length of the workpiece to be transferred.

8. 7. The information processing device of claim 6, wherein when it is confirmed that the plurality of workpieces are adjacent to either of a pair of opposing side surfaces of the workpiece to be transported, the transport path calculation means calculates the first transport path to be parallel to the pair of opposing side surfaces of the workpiece to be transported.

9. a shifting operation means for shifting one of the plurality of workpieces when any of the sides of the plurality of workpieces cannot be detected based on the three-dimensional information; a three-dimensional information reacquisition means for reacquiring three-dimensional information of the plurality of workpieces shifted by the shifting operation means; Furthermore, 2. The information processing device according to claim 1, wherein the shifting operation means shifts a side recognized as being shorter than the length of the longest side of the plurality of works in a direction parallel to the side recognized as being shorter when the shifting operation results in the shifting of the side recognized as being shorter than the length of the longest side of the plurality of works.

10. The information processing device described in claim 9, wherein the means for determining the workpiece to be transported determines a workpiece other than the workpiece that has been shifted as the workpiece to be transported when it is determined that all of the one or more transport paths calculated for the workpiece that has been shifted will interfere with the other workpiece.

11. 1. A method performed in a system including at least one information processing device, comprising: acquiring three-dimensional information of the plurality of loaded workpieces; determining a workpiece to be transported from the plurality of workpieces based on the three-dimensional information; calculating one or more transport paths for transporting the workpiece based on the three-dimensional information; a step of determining whether the workpiece to be transported interferes with another workpiece when the workpiece to be transported is transported based on the transport path; A method comprising: When the top surface of the other workpiece on the transport path is higher than the bottom surface of the workpiece to be transported, this is detected by any method and it is determined that the other workpiece will interfere with the other workpiece.

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