Control system and control program

Abstract

The robot is controlled to improve its ability to release objects. [Solution] The control system 1 comprises a gripping mechanism 31 and a control device 70. The gripping mechanism 31 holds the ingredients and releases the held ingredients. The control device 70 controls the operation of the gripping mechanism 31. The control device 70 causes the gripping mechanism 31 to perform a first release. Then, the control device 70 controls the gripping mechanism 31 to perform a second release at the position where the ingredients released by the first release are located.

Description

Technical Field

[0001] The present invention relates to a control system and a control program.

Background Art

[0002] In recent years, work has been carried out by robots to process various objects. For example, there are robots that hold an object in a storage container containing the object and release the held object into another container.

[0003] Techniques related to the control of such robots are disclosed, for example, in Patent Document 1. In the technique disclosed in Patent Document 1, the object is packed into the container by releasing the held object above the container. Thereby, the labor of the operator for the packing work can be reduced by the robot.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, there is still room for improvement in the work of releasing an object by a robot as in the technique disclosed in Patent Document 1 described above. Moreover, such problems are not limited to the case where the object is food as disclosed in Patent Document 1, but are common to all fields where holding is performed by a robot in industrial fields and the like. Further, regarding the method of holding by the robot, it is common not only to the means of gripping and holding the object with a gripping part but also to the case where the object is held by means such as adsorption.

[0006] The objective of this invention is to control a robot in a way that improves its ability to release objects. [Means for solving the problem]

[0007] To solve the above problems, a control system according to one embodiment of the present invention is provided. A holding mechanism that holds an object and releases the object being held, Control means for controlling the operation of the holding mechanism, Equipped with, The control means is The holding mechanism is made to perform the first release, Control is given to cause the holding mechanism to perform a second release at the position where the object released by the first release is located. It is characterized by the following: [Effects of the Invention]

[0008] According to the present invention, the robot can be controlled in a way that improves its ability to release objects. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram illustrating the configuration of the control system 1 according to the present invention. [Figure 2] This is a perspective view showing the configuration of the gripping member 311. [Figure 3] This is a schematic diagram showing the state of the gripping member 311 when it performs a gripping operation and a release operation, respectively. [Figure 4] This is a schematic diagram showing the hardware configuration of the control device 70. [Figure 5] This is a block diagram showing the functional configuration of the control device 70. [Figure 6] This is a schematic diagram showing the control status related to the movement of the articulated robot 30. [Figure 7] This is a schematic diagram showing the control status related to the movement of the articulated robot 30. [Figure 8]It is a schematic diagram showing the control status regarding the operation of the multi-joint robot 30. [Figure 9] It is a schematic diagram showing the control status regarding the operation of the multi-joint robot 30. [Figure 10] It is a flowchart showing the flow of the ingredient filling process executed by the control system 1. [Figure 11] It is a schematic diagram showing the control status regarding the release operation of the multi-joint robot 30 in the third modification. [Figure 12] It is a schematic diagram showing the control status regarding the release operation of the multi-joint robot 30 in the fourth modification. [Figure 13] It is a schematic diagram showing the control status regarding the release operation of the multi-joint robot 30 in the fourth modification. [Embodiments for Carrying Out the Invention]

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. [Embodiment] [Overall Configuration] FIG. 1 is a schematic diagram schematically showing the configuration of the control system 1 according to the present invention. [[ID=�1]]Here, the control system 1 is assumed to apply the present invention to a system that grips and releases food as an object. Therefore, in the following description, the case where the control system 1 grips ingredients such as prepared foods and fills the gripped ingredients into a container will be described as an example.

[0011] However, this is only an example for explanation and is not intended to limit the scope of application of the present invention. The present invention is applicable to the entire system that holds any object. For example, it is also possible to apply it to a system that processes unprepared vegetables etc. (for example, shredded cabbage, carrots, or bean sprouts) instead of prepared foods as an object. Also, for example, it is possible to apply it to a system that processes workpieces of industrial products such as electronic devices (for example, screws, bolts, or components of products) as an object. Furthermore, the method of holding is not limited to holding the object by means of gripping. For example, holding may be realized by a method such as adsorption other than gripping. Also, the method of releasing the object to the container is not limited to directly releasing it to the container. For example, the robot may release the object into the discharge chute inlet and supply the object from the discharge port of the discharge chute to the container for loading. That is, the present invention can be implemented for various control systems in general, regardless of the object to be gripped, the specific method of holding, or the field of application.

[0012] As shown in FIG. 1, the control system 1 includes an ingredient storage container 10, a container supply device 20, an articulated robot 30, a storage state detection sensor 41, a loading state detection sensor 42, a container detection sensor 43, a first weighing scale, a second weighing scale 52, a pedestal portion 60, casters 61, and a control device 70. Among these, the container supply device 20, the articulated robot 30, the storage state detection sensor 41, the loading state detection sensor 42, the container detection sensor 43, the first weighing scale, the second weighing scale 52, and the control device 70 are communicatively connected by wire or wirelessly and can communicate with each other.

[0013] <00xxxxxx>Also, adjacent to the control system 1, a belt conveyor 2 for automatically transporting vegetable containers from upstream to downstream is installed. The belt conveyor 2 has a transport surface for transporting the containers, and the containers are transported while being placed on this transport surface. In FIG. 1, as shown by the dashed arrow, the left side of the paper surface is the upstream of the transport in the belt conveyor 2, and the right side of the paper surface is the downstream of the transport.

[0014] Also, in FIG., only one control system 1 is shown, but it is not limited to this. In the present embodiment, it is assumed that a plurality of control systems 1 are installed along the transport direction of one belt conveyor 2, and a plurality of articulated robots 30 cooperate to perform operations.

[0015] The ingredient container 10 has a storage space for storing ingredients such as side dishes that are to be served in the control system 1. The ingredient container 10 is implemented using a general-purpose container such as a large tray or tub. The storage space of the ingredient container 10 can hold various ingredients that can be grasped by the articulated robot 30, such as paste salads like potato salad (i.e., side dishes containing ingredients with viscosity or stickiness), okara (soy pulp), dried daikon radish, namasu (pickled daikon radish and carrots), hijiki seaweed, boiled beans, fiddlehead ferns, buttered corn, noodles, croquettes, fried chicken, and broccoli. In this embodiment, the ingredient container 10 is assumed to contain multiple servings (for example, several dozen to several hundred servings) of one type of ingredient. When the amount of ingredients stored in the ingredient container 10 becomes low, it can be replaced manually by an operator or automatically by the articulated robot 30.

[0016] The container supply device 20 supplies containers to a predetermined serving position where the ingredients are to be placed (in this case, the position where the second weighing scale 52 in Figure 1 is located) in the control system 1. The container supply device 20 houses numerous containers vertically. When the control system 1 starts operating, the container supply device 20 supplies containers one by one to the serving positions. In response, the articulated robot 30 releases the ingredients, and the released ingredients are placed into the containers supplied to the serving positions. Then, the extrusion mechanism 21 provided in the container supply device 20 pushes the filled containers onto the conveying surface of the belt conveyor 2. As a result, the filled containers are transported downstream by the belt conveyor 2.

[0017] Furthermore, a container detection sensor 43 is positioned near the location where the extrusion mechanism 21 pushes the container onto the belt conveyor 2. The container detection sensor 43 is a sensor that detects containers being transported on the conveying surface of the belt conveyor 2. The container supply device 20 pushes the containers with ingredients already placed onto the conveying surface at a time when the container detection sensor 43 has not detected any other containers being transported on the conveying surface (containers that have already been filled by other articulated robots 30). This prevents containers from colliding with each other on the conveying surface. The reason why other containers are transported from upstream is, as mentioned above, because in this embodiment, multiple control systems 1 are installed.

[0018] The articulated robot 30 is composed of, for example, a horizontal articulated robot or a vertical articulated robot, and includes a gripping mechanism 31 capable of gripping an object, and a robot arm 32 that moves the gripping mechanism 31 to any position within its range of motion.

[0019] The gripping mechanism 31 is attached to the tip of the robot arm 32 and is supported by the robot arm 32. The gripping mechanism 31 can then be moved to any position within its range of motion in accordance with the movement of the robot arm 32 based on the control of the control device 70. Furthermore, the joint that holds the gripping mechanism 31 is equipped with an axis that rotates the gripping mechanism 31 in a twisting direction relative to the robot arm 32. Therefore, when the gripping mechanism 31 grips an ingredient, the direction in which the gripping mechanism 31 grips can be adjusted by changing the orientation of the gripping mechanism 31. As a result, when the gripping mechanism 31 reaches near the inner wall surface of the ingredient container 10, it becomes possible to change the orientation of the gripping mechanism 31 to a direction parallel to the inner wall surface of the ingredient container 10, making it easier to grip ingredients near the inner wall surface of the container.

[0020] The storage state detection sensor 41 is a sensor that detects the storage state of the ingredients contained in the ingredient container 10. The storage state detection sensor 41 is implemented, for example, by a depth camera that can detect the distance to the subject. In this case, the field of view of the storage state detection sensor 41 is set to, for example, a field of view that can capture the entire opening surface of the ingredient container 10. The control device 70 can determine the amount of ingredients remaining in each area of ​​the ingredient container 10, the degree of surface roughness (unevenness), etc., by analyzing the distance information detected by the storage state detection sensor 41 (i.e., depth information for each pixel across the entire opening surface of the ingredient container 10).

[0021] The serving state detection sensor 42 is a sensor that detects the serving state of the container in which the ingredients are placed and the operating status of the gripping mechanism 31. Similar to the storage state detection sensor 41, the serving state detection sensor 42 is implemented, for example, by a depth camera capable of detecting the distance to the subject. In this case, the field of view of the serving state detection sensor 42 is set to capture, for example, the entire opening surface of the container in which the ingredients are placed and the operating status of the gripping mechanism 31 that places the ingredients into the container. The control device 70 can identify the arrangement state of the ingredients in each area of ​​the container where the ingredients are placed, the operating status of the gripping mechanism 31, etc., by analyzing the distance information detected by the food arrangement state detection sensor 42 (i.e., depth information for each pixel across the entire opening surface of the container where the ingredients are placed, and depth information of the gripping mechanism 31 regarding the behavior of the gripping mechanism 31).

[0022] As described above, the container detection sensor 43 is a sensor that detects containers being transported on the conveying surface of the belt conveyor 2. The container detection sensor 43 is implemented, for example, by an optical sensor (also called a photodetector). The container detection sensor 43 detects containers being transported upstream of the position where the extrusion mechanism 21 pushes the containers onto the belt conveyor 2. Based on the detection results of the container detection sensor 43, the control device 70 can determine the timing at which the extrusion mechanism 21 pushes the container onto the belt conveyor 2.

[0023] The first weighing scale 51 and the second weighing scale 52 are both devices for detecting the weight of an object. The first weighing scale 51 and the second weighing scale 52 are implemented, for example, by weighing scales that measure weight using strain gauges. Here, the first weighing scale 51 is positioned where the ingredient container 10 is placed. The first weighing scale 51 then detects the weight of the ingredient container 10 itself, as well as the weight of the ingredients contained in the ingredient container 10. Based on the values ​​detected by the first weighing scale 51, the control device 70 can determine the total weight of the ingredients contained (i.e., the remaining amount) and the increase or decrease in the total weight due to gripping or other actions of the ingredients contained (i.e., the change in the remaining amount).

[0024] The second weighing scale 52 is positioned in the control system 1 at a predetermined serving position where the ingredients are placed. The second weighing scale 52 detects the weight of the container itself supplied to this serving position, and the weight of the ingredients that are released into the container and placed inside. The control device 70 can determine the total weight of the ingredients that have been released into the container and placed inside, based on the detection value of the second weighing scale 52. The control device 70 can also determine, based on the detection value of the second weighing scale 52, whether or not the container has been supplied to the placement position, and whether or not the placed container has been pushed out onto the conveying surface of the belt conveyor 2.

[0025] The base 60 is a base for placing the ingredient container 10, the container supply device 20, and the articulated robot 30, etc. These articulated robots, etc., together have a weight of several hundred kg (for example, more than 300 kg). Therefore, the base 60 has a structure that has sufficient rigidity to support these even when they are placed on its top surface.

[0026] The casters 61 are mounted on the base 60. The base 60 supports the articulated robot 30, etc., by contacting the ground with these casters 61. Furthermore, because these casters 61 function as wheels, the base 60 can be moved by human power even with the articulated robot 30, etc., positioned on it.

[0027] The control device 70 is composed of an information processing device such as a PC (Personal Computer) or a programmable controller, and controls the entire control system 1 by executing various programs. For example, the control device 70 controls the operation of the container supply device 20, such as supplying containers or pushing out containers that have already been filled, and the operation of the articulated robot 30, such as grasping ingredients from the ingredient container 10 and releasing them into the container to fill it with ingredients.

[0028] For example, the control device 70 controls the drive of the robot arm 32 to move the gripping mechanism 31 to a predetermined position along a predetermined route and at a predetermined speed, and controls the drive of the actuator of the gripping mechanism 31 to perform actions such as gripping and releasing the material using the gripping mechanism.

[0029] The components constituting the control system 1 have been described above. In addition to these components, plate-like members may be further arranged to surround or above the locations where each component is installed. This plate-like member shields each component from the external space, preventing materials gripped or released by the articulated robot 30 from scattering from the internal space to the external space. It also prevents workers from coming into contact with the articulated robot 30 while it is in operation, thereby ensuring worker safety and preventing malfunctions of the articulated robot 30. In this case, the plate-like member should be made of a transparent material such as glass or resin, so that the operating status of the control system 1 can be visually observed from the outside space. Furthermore, this plate-like member may be used to provide an additional, openable and closable door on a portion of the side wall. This allows workers to open the door and perform various tasks such as replacing or replenishing the ingredient container 10, adding containers to the container supply device 20, or performing maintenance on the control system 1.

[0030] [Configuration of the gripping member 311] Figure 2 is a perspective view showing the configuration of the gripping member 311. As shown in Figure 2, the gripping member 311 comprises a first gripping portion 311a and a second gripping portion 311b. The gripping member 311 is supported by the robot arm 32 by being coupled to a gripping mechanism 31 attached to the robot arm 32, and moves in accordance with the movement of the robot arm 32. The gripping member 311, configured in this way, contacts the ingredients while connected to the gripping mechanism 31. While in contact with the ingredients, the first gripping portion 311a and the second gripping portion 311b open and close to grip and release the ingredients. The ingredients to be gripped by the gripping member 311 are not particularly limited, but in this embodiment, as an example, it is assumed that ingredients with fine shapes, such as paste salads like potato salad or okara (soy pulp), will be gripped.

[0031] The first gripping portion 311a and the second gripping portion 311b are each formed from plate-shaped members. The first gripping portion 311a is connected to a pin cylinder (not shown) located inside the gripping mechanism 31. The first gripping portion 311a moves to open and close in response to the drive of this pin cylinder. In contrast, the second gripping portion 311b remains stationary and maintains its position.

[0032] Then, the first gripping portion 311a moves closer to the second gripping portion 311b, and the edges of both close (that is, the extended portions that constitute the edges of each come into contact with each other), thereby forming a gripping space inside for gripping the material. The gripping space formed in this manner is enclosed by the plate-shaped first gripping portion 311a and the second gripping portion 311b, preventing ingredients from spilling out. Therefore, it is suitable for gripping paste salads such as potato salad, or ingredients with fine shapes, such as okara (soy pulp). Furthermore, the lower ends of the first gripping portion 311a and the second gripping portion 311b have an acute angle shape. Therefore, the first gripping portion 311a and the second gripping portion 311b can suppress the reaction force acting from the group of ingredients in the ingredient container 10 when gripping the ingredients. This makes it easy to insert the first gripping portion 311a and the second gripping portion 311b into the group of ingredients.

[0033] Figure 3 is a schematic diagram showing the state of the gripping member 311 when it performs a gripping operation and a release operation, respectively. First, as shown in Figure 3(a), the gripping member 311 closes as the first gripping portion 311a moves closer to the second gripping portion 311b. In this case, a gripping space is formed inside, and this gripping space allows the gripping tool to be held, as shown in the figure. Then, with the gripping tool held, the gripping member 311 moves above the container to be released.

[0034] Subsequently, as shown in Figure 3(b), the first gripping portion 311a moves away from the second gripping portion 311b, causing the gripping member 311 to open. As shown in the figure as a "released ingredient," the gripped ingredient can be released into the container to which it will be released, allowing the ingredient to be placed. In this embodiment, the gripping, releasing, and removal operations are realized as shown in Figure 3.

[0035] [Hardware configuration of control device 70] Figure 4 is a schematic diagram showing the hardware configuration of the control device 70. As shown in Figure 4, the control device 70 includes a CPU (Central Processing Unit) 711, a ROM (Read Only Memory) 712, a RAM (Random Access Memory) 713, a bus 714, an input unit 715, an output unit 716, a storage unit 717, a communication unit 718, and a drive 719.

[0036] The CPU 711 executes various processes according to the program recorded in the ROM 712 or the program loaded into the RAM 713 from the storage unit 717. RAM713 also stores data necessary for CPU711 to perform various processes.

[0037] The CPU 711, ROM 712, and RAM 713 are interconnected via a bus 714. The input unit 715, output unit 716, storage unit 717, communication unit 718, and drive 719 are connected to the bus 714.

[0038] The input unit 715 is equipped with an input device such as a mouse or keyboard and accepts various types of information input to the control device 70. Alternatively, the input unit 715 may be equipped with a microphone and accept various types of information input via the operator's voice. The output unit 716 consists of a display, speakers, etc., and outputs images and sound. The memory unit 717 consists of an SSD (Solid State Drive), HDD (Hard Disk Drive), or DRAM (Dynamic Random Access Memory), and stores various types of data managed by each server. The communications unit 718 controls communication with other devices via the network.

[0039] The drive 719 is appropriately equipped with removable media 731, which may consist of a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory. Programs read from the removable media 731 by the drive 719 are installed in the storage unit 717 as needed. The above hardware configuration is the basic configuration of the control device 70, and it is possible to omit some hardware, add additional hardware, or change the hardware implementation.

[0040] [Functional configuration] Next, the functional configuration of the control device 70 will be described. Figure 5 is a block diagram showing the functional configuration of the control device 70. As shown in Figure 5, by executing a program to control the operation of the control system 1, the CPU 711 of the control device 70 functions as follows: information acquisition unit 151, articulated robot control unit 152, container supply control unit 153, and recording control unit 154. In addition, the storage unit 717 is configured with a parameter storage unit 171 and a history database (history DB) 172.

[0041] The parameter storage unit 171 stores various parameters used when the control system 1 operates. For example, the parameter storage unit 171 stores data that serves as control criteria for the gripping operation, such as the position and shape of the ingredient container 10, the position and shape of the container supplied from the container supply device 20, the position of the area in the container where the ingredients are provided and placed, the weight per unit volume of the ingredients (i.e., the density of the ingredients), and the target amount of ingredients to be grasped and released (i.e., ingredients to be placed in the container), as well as parameters that define the operation pattern of the articulated robot 30.

[0042] The history DB172 stores control-related parameters acquired when the control system 1 is operating, as well as measurement data of the weight of the ingredients served by the control system 1, as operation history.

[0043] The information acquisition unit 151 acquires information detected by various sensors and weighing scales installed in the control system 1. For example, the information acquisition unit 151 acquires distance information detected by the storage state detection sensor 41 (i.e., depth information for each pixel across the entire opening surface of the ingredient storage container 10). Also, for example, the information acquisition unit 151 acquires distance information detected by the serving state detection sensor 42 (i.e., depth information for each pixel across the entire opening surface of the container into which the ingredients are served, and depth information of the gripping mechanism 31 regarding the behavior of the gripping mechanism 31). Furthermore, for example, the information acquisition unit 151 sequentially acquires the detection results of other containers on the transport surface (containers already served by other articulated robots 30) by the container detection sensor 43. In addition, for example, the information acquisition unit 151 sequentially acquires data on the total weight of the ingredient container 10 and the ingredients contained therein as detected by the first weighing scale 51, and the total weight of the container and the ingredients placed in the container as measured by the second weighing scale 52. In this way, the sensor information notified to the information acquisition unit 151 is used as appropriate by other functional blocks provided by the control device 70.

[0044] The articulated robot control unit 152 controls the movement of the articulated robot 30 and causes the articulated robot 30 to perform a series of operations for serving ingredients according to the operation patterns defined in the control system 1. For example, the articulated robot control unit 152 causes the articulated robot 30 to perform operations such as gripping the ingredients with the gripping mechanism 31 (gripping operation), releasing the ingredients gripped by the gripping mechanism 31 (release operation), and removing ingredients attached to the gripping mechanism 31 (removal operation).

[0045] For example, when performing a gripping operation, the articulated robot control unit 152 pre-determines the surface height of the ingredients at each position within the ingredient container 10 based on the distance information detected by the storage state detection sensor 41. Therefore, the articulated robot control unit 152 inserts the gripping member 311 into the group of ingredients to a predetermined depth from this height and performs the gripping operation. This predetermined depth can be pre-set based on the density of the ingredients, the characteristics of the ingredients (viscosity, etc.), the number and shape of the gripping members 311 to be used for gripping, and the target amount (in this case, the target weight) to be targeted for gripping and releasing. By pre-setting the insertion depth in this way, the gripping member 311 can grip ingredients of the same weight as the target amount, or a weight close to the target amount. Alternatively, instead of pre-setting the depth, the articulated robot control unit 152 may calculate the insertion depth using the values ​​detected by each sensor and weighing scale as parameters (variables). Or, a learning model may be constructed in advance by performing machine learning based on past gripping performance values, and this learning model may be used to determine the insertion depth.

[0046] Furthermore, the removal operation is the operation of removing the material attached to the gripping member 311 by causing it to fall. The removal operation can be achieved, for example, by moving the gripping mechanism 31 up and down or left and right. Alternatively, the material may be removed by applying a downward inertial force to it by moving it downward and then suddenly stopping it. In addition, the material may be removed by vibrating the gripping mechanism 31 in small increments up and down or left and right. Furthermore, without moving the robot arm 32, the material may be removed by opening and closing the first gripping part 311a and the second gripping part 311b, or by repeatedly opening and closing them, in the same manner as when gripping and releasing.

[0047] The container supply control unit 153 controls the container supply device 20 to supply containers for serving ingredients to the control system 1 to the serving position. The container supply control unit 153 also controls the container supply device 20 to push containers with ingredients already served onto the transport surface when the container detection sensor 43 has not detected any other containers being transported on the transport surface (containers already served by other articulated robots 30).

[0048] The recording control unit 154 stores control-related parameters acquired when the control system 1 performs gripping operations, etc., and measurement data of the weight of the ingredients served by the control system 1 in the history DB 172. This data is used by the administrator of the control system 1, etc., as log data for analyzing the operation of the control system 1.

[0049] [Control during operation of the articulated robot 30] Next, the control performed by the articulated robot control unit 152 during the operation of the articulated robot 30, such as gripping and releasing operations, will be described. The state of the gripping member 311 during the execution of each operation is as described above, with reference to Figure 3. Figures 6-9 are schematic diagrams illustrating the control of the articulated robot 30's movements. In these figures, the ingredient container 10 and its walls are shown transparently to clearly illustrate the movements. Furthermore, since the ingredient container 10 contains a large quantity of ingredients, these ingredients will hereafter be referred to as the "group of ingredients."

[0050] First, referring to Figure 6, we will explain the movement of the gripping mechanism 31 (only the gripping member 311 is shown in the figure) during gripping and release operations. As shown in Figure 6(a), the articulated robot control unit 152 lowers the gripping mechanism 31 toward the group of materials. Then, the articulated robot control unit 152 performs the gripping by closing the first gripping part 311a and the second gripping part 311b of the gripping member 311, and then raises the gripping mechanism 31. This completes the gripping operation. Subsequently, the articulated robot control unit 152 moves the gripping mechanism 31 to above the container on which the ingredients will be placed, while still gripping the gripping material.

[0051] Next, as shown in Figure 6(b), the articulated robot control unit 152 performs the release by opening the first gripping portion 311a and the second gripping portion 311b of the gripping member 311. This fills the container with ingredients and completes the release operation. Subsequently, the articulated robot control unit 152 moves the gripping mechanism 31 to a standby position above the ingredient container 10. The above describes the movement of the gripping mechanism 31 during the gripping and releasing operations.

[0052] Next, with reference to Figures 7-9, the details of the release operation in this embodiment will be described. As a premise, in general technology, when filling a container with ingredients, the filling is completed with a single release action. However, in this case, the released ingredients spread throughout the container without any control. Therefore, it is difficult to satisfy requests such as piling the ingredients high up in a mountain shape. Furthermore, the target amount of ingredients to be served (i.e., a large quantity of ingredients) will be released all at once. As a result, there is a risk that the force of the released ingredients as they fall may cause them to scatter outside the container. In particular, the surface area of ​​the container from which the ingredients are released is usually smaller than that of the ingredient container 10. Also, the height of the walls of the container from which the ingredients are released is usually lower than that of the ingredient container 10. Therefore, there is a high possibility that the released ingredients will scatter outside the container.

[0053] In light of these points, in this embodiment, the placement of ingredients is not completed by performing a single release operation, but by performing multiple release operations. That is, the target amount of ingredients to be placed in the container, 1 / N (where N is an integer of 2 or more), is grasped, and this 1 / N amount of ingredients is released into the container, and this process is repeated N times to complete the placement of ingredients. This allows you to add more ingredients on top of the ingredients that are already on the plate. As a result, it becomes possible to pile the ingredients high, creating a mountain-like structure. In this embodiment, the process is not simply repeated within the container. Based on the detection results of the serving state detection sensor 42, the position within the container where the previously released ingredients are located is identified, and the current release is performed so that the ingredients are placed on top of that identified position. As a result, it becomes possible to pile the ingredients higher.

[0054] Furthermore, only 1 / N of the target amount of ingredients to be served (i.e., a small amount of ingredients) is released at once. Therefore, the force with which the released ingredients fall is small, reducing the possibility of them scattering outside the container. Especially in the second and subsequent releases, the ingredients released in previous releases act as a buffer, so to speak, further reducing the possibility of the released ingredients scattering outside the container. The above explains why, in this embodiment, the toppings are arranged by performing multiple release operations.

[0055] In the following explanation, we assume that N=3, but this is merely an example. N can be any integer greater than or equal to 2. Also, in the following explanation, we assume that we grasp and release 1 / N (in this case, 1 / 3) of the target amount of ingredients to be placed in the container, but this is also merely an example. The amount grasped in N grasps does not have to be constant each time. For example, the amount grasped can be gradually increased or gradually decreased. Alternatively, for example, the weight of the ingredients placed in the container after the first release can be detected, and the difference between the detected result and the target amount can be compensated for by performing a second grasp and release. In other words, the total weight grasped in N grasps should ultimately reach the target amount.

[0056] Specifically, as shown in Figure 7(a), the articulated robot control unit 152 first causes the gripping member 311 to grip one-third of the target amount of ingredients from the ingredient container 10, and then releases the gripped ingredients into the container. The ingredients released in this instance will be referred to as the "first released ingredients" below. In this case, it is generally desirable that the top of the ingredients be at the center of the container, so the ingredients are released so that they are released towards the center of the container. However, this is not always the case depending on the user's request. Also, from the viewpoint of preventing the ingredients from scattering outside the container, it is desirable to release them after they have descended close to the bottom of the container. Such control can be achieved by using information on the position and height of the container, which is determined based on the detection results of the serving state detection sensor 42, before releasing the first released ingredients.

[0057] As a result, the container is filled with the first open ingredient, as shown in Figure 7(b). In this case, the articulated robot control unit 152 identifies the position of the filled first open ingredient within the container based on the detection result of the filling state detection sensor 42. Furthermore, the articulated robot control unit 152 also identifies the state in which the first open ingredient exists (in this case, the height of the first open ingredient and the center of gravity of the first open ingredient, which can be determined in relation to the distribution of this height).

[0058] Next, as shown in Figure 8(c), the articulated robot control unit 152 causes the gripping member 311 to grip one-third of the target amount of ingredients from the ingredient container 10, and then releases the gripped ingredients into the container. The ingredients released in this instance will be referred to as the "second released ingredients" below. In this case, from the viewpoint of piling the ingredients high, it is desirable to release the ingredients so that the center of gravity of the first released ingredients is at the release point. This ensures that the center of gravity of the first released ingredients and the center of gravity of the second released ingredients are at the same position (i.e., the same position on the vertical axis in the vertical direction), allowing the ingredients to be piled higher and more stably.

[0059] Furthermore, if the tip of the gripping member 311 comes into contact with the location where the first release ingredient is present, the first release ingredient will spread out inside the container, reducing the height of the first release ingredient that has been placed inside. Moreover, there is a risk that the first release ingredient may spill out of the container as a result of the contact. Therefore, the articulated robot control unit 152 releases the material by ensuring that the tip of the gripping member 311 is higher than the position where the first release material is located. In this case, from the viewpoint of preventing the material from scattering outside the container, it is desirable to lower the gripping member 311 to near the top of the first release material (for example, to a position just before the tip of the gripping member 311 contacts the first release material) before releasing it. This type of control can be achieved by using information identified based on the detection results of the serving state detection sensor 42 when the first open ingredient is placed on the plate.

[0060] In this way, as shown in Figure 8(d), the second released ingredient is not scattered outside the container and is served more stably and at a higher level than when the first released ingredient is released. In this case, similar to when the first open ingredient was placed on the plate, the articulated robot control unit 152 determines the position, height, and center of gravity of the placed second open ingredient (including the first open ingredient located beneath it) based on the detection results of the plated state detection sensor 42.

[0061] Next, as shown in Figure 9(e), the articulated robot control unit 152 causes the gripping member 311 to grip one-third of the target amount of ingredients from the ingredient container 10, and then releases the gripped ingredients into the container. The ingredients released in this instance will be referred to as the "third released ingredients" below. In this case, as with the release of the second released ingredients, it is desirable to release the ingredients so that the center of gravity of the second released ingredients (including the first released ingredients located beneath them) becomes the release destination. Furthermore, just as with releasing the second ingredient, it is desirable to release it at a position that takes into account the height of the second ingredient (including the first ingredient underneath it) that has been served. This type of control can be achieved by using information identified based on the detection results of the serving state detection sensor 42 when the second open ingredient (including the first open ingredient located beneath it) is served, similar to when the first open ingredient is served.

[0062] In this way, as shown in Figure 9(f), the third open ingredient is not scattered outside the container and is served even higher and more stably than when the second open ingredient is opened.

[0063] As explained above, according to this embodiment, the toppings are not arranged by performing a single release operation, but rather by performing multiple release operations. Therefore, as described at the beginning of the explanation under [Control during operation of the multi-joint robot 30], it is possible to pile the ingredients high in a mountain-like shape. Furthermore, by controlling the release position based on the detection results of the serving state detection sensor 42, the ingredients can be piled higher and more stably. In addition, by adjusting the height of the release position based on the detection results of the serving state detection sensor 42, it is possible to suppress the scattering of ingredients outside the container. In other words, according to this embodiment, the problem that the present invention aims to solve, which is to "control the robot so that the robot's work of releasing the object is further improved," can be solved.

[0064] Furthermore, this embodiment can be universally applied to various ingredients (or even electronic components, etc., rather than food ingredients), and the above-mentioned effects can be achieved even when various ingredients are used. In this case, it is particularly preferable that the ingredients released in the Nth cycle are all of the same type. This is because ingredients of the same type have identical properties and high affinity, making it easier for the ingredients released in the previous cycles to blend with those released in the current cycle, resulting in a more uniform spread within the container.

[0065] Furthermore, if the ingredients being released are sticky (for example, potato salad or other paste-like salads), the ingredients released this time will stick together with the ingredients released previously, making it less likely for the ingredients released this time to scatter. Additionally, if the ingredients being released are porous (for example, okara), the impact of the released ingredients falling can be suppressed or mitigated, thus preventing them from bouncing back. In other words, the released ingredients can be served in a stable state without scattering.

[0066] Additionally, if the ingredients being released are low-flowing, they are less likely to flow alongside the ingredients released previously. Therefore, even if multiple releases are made, there is a lower chance of spillage over the edge of the container. Furthermore, because the ingredients do not flow sideways easily, the ingredients can be piled higher. Examples of low-flowing ingredients include kinpira gobo (braised burdock root) and hijiki seaweed, which have low water and oil content in each individual ingredient and between individual ingredients, resulting in less deformation of the group of ingredients as a whole.

[0067] Thus, this embodiment can be generally applied to various ingredients, but even more significant effects can be expected depending on the characteristics of the ingredients being opened. From this perspective as well, according to this embodiment, it becomes possible to "control the robot in a way that further improves the robot's ability to release objects."

[0068] [Overall Operation] Next, the overall operation of control system 1 will be explained. Figure 10 is a flowchart showing the flow of the ingredient plating process performed by the control system 1. The ingredient plating process is initiated, for example, when an operator initiates the ingredient plating process.

[0069] When the ingredient placement process begins, in step S11, the articulated robot control unit 152 reads operation data (for example, operation pattern data, position and shape data of the ingredient container 10, etc.) from the parameter storage unit 171 to perform a series of operations in the ingredient placement process. This prepares the robot for the gripping, releasing, and removal operations described above.

[0070] In step S12, the container supply control unit 153 controls the container supply device 20 to supply containers for serving ingredients to the serving position. In step S13, the articulated robot control unit 152 moves the gripping mechanism 31 to a standby position above the ingredient container 10.

[0071] In step S14, the articulated robot control unit 152 performs a gripping operation on the group of ingredients in the ingredient container 10 by closing the first gripping portion 311a and the second gripping portion 311b of the gripping member 311. In step S15, the articulated robot control unit 152 moves the gripping mechanism 31 above the container on which the ingredients are placed. Furthermore, the articulated robot control unit 152 can determine the weight of the material currently being gripped by the gripping member 311 based on the change in weight before and after gripping detected by the material weight meter 50. The articulated robot control unit 152 then compares the weight of the gripped material with the target amount to be gripped. If the two do not match, it performs a release operation without moving the gripping mechanism 31, and then performs the gripping operation again. It is preferable to repeat this release and re-gripping process until the weight of the gripped material matches the target amount.

[0072] In step S16, the articulated robot control unit 152 determines the release position using the information identified based on the detection result of the plating state detection sensor 42. In step S17, the articulated robot control unit 152 performs the operation to release the contents from the container by opening the first gripping portion 311a and the second gripping portion 311b of the gripping member 311 at the release position identified in step S16.

[0073] In step S18, the articulated robot control unit 152 determines whether or not it has performed a predetermined number of release operations (i.e., N times) on the container to be released. If the predetermined number of release operations have been performed, the determination in step S18 is Yes, and the process proceeds to step S19. On the other hand, if the predetermined number of release operations have not yet been performed, the determination in step S18 is No, and the process returns to step S13, where the gripping and release operations are repeated on the same container.

[0074] In step S19, the container supply control unit 153 controls the container supply device 20 to push the container with the ingredients already added onto it onto the transport surface when the container detection sensor 43 has not detected any other containers being transported on the transport surface. This prevents containers from colliding with each other on the transport surface.

[0075] In step S20, the recording control unit 154 stores the control parameters acquired during the ingredient plating process and the measured weight data (history data) of the plated ingredients in the history DB 172.

[0076] In step S21, the articulated robot control unit 152 determines whether the conditions for terminating the ingredient placement process have been met. In this case, the conditions for terminating the ingredient placement process are that the ingredients have been placed in the planned number of containers, or that the operator has performed an operation to terminate the ingredient placement process. If the conditions for terminating the ingredient plating process are not met, step S21 is determined to be No, and the process returns to step S12, a new container is supplied, and the process is repeated for this new container. On the other hand, if the conditions for terminating the ingredient plating process are met, step S21 is determined to be Yes, and the ingredient plating process is terminated.

[0077] As described above, the ingredient plating process yields the various advantageous effects mentioned above, as shown in Figures 7-9.

[0078] [Differentiation] Although embodiments of the present invention have been described above, these embodiments are merely illustrative and do not limit the technical scope of the present invention. The present invention can take various other forms without departing from the spirit of the invention, and various modifications such as omissions and substitutions can be made. For example, it is possible not only to apply any of the modifications described below to the embodiments of the present invention, but also to combine some or all of the modifications described below as appropriate and apply them to the embodiments of the present invention.

[0079] [Example 1] In the embodiment described above, gripping and releasing were performed using a gripping member 311 with the shape shown in Figure 2. However, the embodiment is not limited to this, and gripping members 311 of other shapes may also be used. For example, instead of constructing the first gripping portion 311a and the second gripping portion 311b from plate-shaped members, they may be constructed from mesh-like members (and members forming a frame or framework). This ensures that the flat portion supporting the ingredients during gripping is formed from the mesh-like member. As a result, ingredients gripped by this flat portion become easier to detach. Consequently, it is possible to suppress ingredients that tend to adhere to the first gripping portion 311a and the second gripping portion 311b (for example, ingredients sticking to them). This makes it possible to further facilitate the dropping of the release tool during the release operation.

[0080] Furthermore, in the embodiment described above, the gripping member 311 performed gripping with two gripping parts, a first gripping part 311a and a second gripping part 311b. However, the gripping member 311 may be provided with three or more gripping parts, and gripping may be performed by these three or more gripping parts. In addition to the above, other shapes of gripping members can also be used as gripping members 311. For example, a gripping member 311 can be made that comprises multiple members, such as plate-shaped members, rod-shaped members, or wire-like linear members, and grips the object by sandwiching it between these multiple members. In this case, the multiple members may each have the same shape or may have different shapes. In other words, the shape of the gripping member 311 in the above-described embodiment is illustrative, and gripping members of various shapes can be used instead of the gripping member 311 described above. Alternatively, a single gripping mechanism 31 may be configured to accommodate multiple gripping members 311, which may grip simultaneously or at different timings.

[0081] [Differentiation 2] In the above-described embodiment, the articulated robot control unit 152 identified the position and height of the container, or the position, height, and center of gravity of the opened ingredients (including those underneath) based on the detection results of the serving state detection sensor 42. These are not limited to this; they may also be identified based on other information. For example, the articulated robot control unit 152 identifies them based on operation data for performing a series of operations in the ingredient placement process. This operation data includes data showing the trajectory of the gripping mechanism 31 during various operations. For example, it includes data showing the trajectory or path the gripping mechanism 31 moved during various operations, or data showing the coordinates of the position where the gripping mechanism 31 performed the release. It also includes data showing the position and height of the container, and data on the amount of ingredients released in a single release operation. Based on this data, the articulated robot control unit 152 can determine the position and height of the container, as well as the position, height, and center of gravity of the pre-packaged ingredients (including ingredients located beneath them).

[0082] [Difference 3] In the embodiment described above, the release operation was performed by causing the material to fall from the gripping member 311 into the air, but the invention is not limited to this. The release may also be performed in a manner in which the gripping member 311 and the release material remain in contact, without the material completely falling from the gripping member 311. Figure 11 is a schematic diagram showing the control of the release operation of the articulated robot 30 in this modified example. In this figure, as an example, the situation in which the second release ingredient is released while the first release ingredient is placed in the container is shown. However, this modification is applicable to any state in which the third release ingredient is released while the second release ingredient (including the first release ingredient located beneath it) is placed in the container, or to the state in which the Nth release is performed thereafter.

[0083] First, as shown in Figure 11(a), the articulated robot control unit 152 causes the gripping member 311 to release the second release tool at a position where the second release tool does not fall into the air and contacts the first release tool. Furthermore, the articulated robot control unit 152 does not raise the gripping mechanism 31 that has released the tool for a predetermined period of time. As a result, the gripping member 311 maintains a state in which it supports the second release tool without completely dropping it. This prevents the second release material from flowing laterally or from scattering. Furthermore, over time, the second release material adheres to the first release material.

[0084] Then, as shown in Figure 11(b), when a predetermined period of time has elapsed, the articulated robot control unit 152 raises the gripping member 311. According to this modified version, the second serving of ingredients can be served in a higher and more stable position.

[0085] In this modification, the predetermined interval refers, for example, to the time elapsed from the start of the release until a predetermined length of time has been set in advance. Alternatively, the predetermined period may be defined as the time until, based on the detection results of the serving state detection sensor 42, it can be determined that the change in the state of the released ingredient (for example, the change in the height of the released ingredient) has converged and the second released ingredient has stopped flowing laterally. In other words, based on the detection results of the serving state detection sensor 42, the second released ingredient may be supported until the state of the released ingredient has actually stabilized.

[0086] [Differentiation Example 4] In the embodiment described above, the gripping mechanism 31 had a single gripping member 311. This can be modified to include multiple gripping members 311. Figures 12 and 13 are schematic diagrams showing the control of the release operation of the articulated robot 30 in this modified example. In these figures, as an example, a gripping mechanism 31A, which is a modified version of the gripping mechanism 31, is shown to have four gripping members 311A ​​(each of which is the same as gripping member 311). The front and back directions of the paper represent the opening and closing directions of the gripping members 311A.

[0087] First, the articulated robot control unit 152 causes each of the four gripping members 311A ​​in the ingredient container 10 to grip the ingredients. Then, as shown in Figure 12(a), the articulated robot control unit 152 moves the gripping mechanism 31A so that one of the four gripping members 311A ​​(in this case, the first gripping member 313A from the right in the image) is positioned above the container. Then, it causes this gripping member 311A ​​(in this case, the first gripping member 313A from the right in the image) to release. Then, as shown in Figure 12(b), the released ingredients are placed in the container as the first released ingredients.

[0088] Next, as shown in Figure 13(c), the articulated robot control unit 152 moves the gripping mechanism 31A so that one of the other gripping members 311A ​​(in this case, the second gripping member 313A from the right on the page), other than the gripping member 311A ​​that released the first release tool, is positioned above the container. Then, the gripping member 311A ​​(in this case, the second gripping member 313A from the right on the page) is made to release. Then, as shown in Figure 13(d), the released ingredients are placed on top of the first released ingredients as second released ingredients. The method for controlling the height of the released position is the same as in the embodiment described above.

[0089] Thus, by sequentially releasing the multiple gripping members 311A ​​in a staggered manner, as in this modification, the same effects as in the embodiment described above can be achieved. Furthermore, with this modification, it becomes unnecessary to re-grip each time the gripping is released. Therefore, the number of times the container for ingredients 10 is moved between the container for ingredients and the container for serving the ingredients can be reduced. This shortens the time required to complete the serving and improves the cycle time.

[0090] [Difference 5] In the embodiment described above, plating was completed by releasing the valve N times, but this is not limited to this. In control system 1, a second weighing scale 52 is placed below the container, and this second weighing scale 52 can detect the total weight of the ingredients placed in the container. Therefore, even if the articulated robot control unit 152 has not yet released the arms N times (for example, after N-1 releases), if the total weight of the ingredients placed in the container is close to or exceeds the target amount, it may be configured to complete the placement at that point. Alternatively, if the total weight of the ingredients placed in the container is still less than the target amount even after N releases, it may be configured to release the arms N+1 or more times. For example, this modification is suitable when a certain degree of error in the target quantity is acceptable, such as when serving ingredients for variable weight (sold by weight).

[0091] In addition to using the target quantity as a guideline, for example, the height of the plated ingredients may be detected by the plated state detection sensor 42, and the plated portion may be completed when this height exceeds the target height. By doing this, it is possible to prevent problems such as the lid not being able to be properly closed in the later stage of closing the lid due to piling the ingredients too high.

[0092] [Modification 6] In the embodiment described above, the gripping member 311 identified the weight of the ingredients it gripped or the ingredients it served based on the weight changes detected by the first weighing scale 51 and the second weighing scale 52, and performed control based on this. However, it is not limited to this, and a load cell or force sensor may be placed on the gripping member 311. Then, the gripping member 311 may identify the weight of the ingredients it gripped or the ingredients it serves based on the weight changes detected by the load cell or force sensor, and perform control based on this. This makes it possible to omit the first weighing scale 51 and the second weighing scale 52. In addition, this increases the degree of freedom in the placement of the ingredient container 10 and the container.

[0093] [Difference 7] In the embodiment described above, the determination was made by comparing the target amount with the weight of the ingredients. However, the determination may be made by comparing the target amount with the quantity of the ingredients from other perspectives. For example, the determination may be made by comparing the target amount with the volume of the ingredients. Alternatively, the determination may be made by comparing the target amount with the number of ingredients. The volume of the ingredients and the number of ingredients can be determined, for example, by taking pictures of the grasped and released ingredients with a camera and analyzing the captured images using machine learning or other image analysis techniques.

[0094] [Example Configuration] As described above, the control system 1 in this embodiment comprises a gripping mechanism 31 and a control device 70. The gripping mechanism 31 holds the ingredients and also releases the ingredients it is holding. The control device 70 controls the operation of the gripping mechanism 31. The control device 70 causes the gripping mechanism 31 to perform the first release. The control device 70 then controls the gripping mechanism 31 to perform a second release at the position where the material released by the first release is located.

[0095] The control system 1 further includes a serving state detection sensor 42. The serving state detection sensor 42 optically detects the location of the ingredients that have been released by the execution of the first release. The control device 70 controls the second release by identifying the location of the ingredients released by the first release, based on the detection result of the serving state detection sensor 42.

[0096] The control device 70 determines the state in which the ingredients released by the first release are present, based on the detection result of the serving state detection sensor 42. Then, the control device 70 determines the height of the position where the second release will be performed based on the result of the determination.

[0097] The control device 70 acquires data indicating the trajectory of the gripping mechanism 31 as it moves to the position where it performs the first release. Then, based on the acquired trajectory data, the location of the ingredients released by the first release is identified, and the second release is controlled accordingly.

[0098] The ingredients released in the first release and the ingredients released in the second release are the same ingredients.

[0099] The ingredients are those that have a sticky texture.

[0100] The control device 70 controls the gripping mechanism 31 to support the material released by the second release for a predetermined period of time after the material released by the first release and the material released by the second release come into contact.

[0101] The gripping mechanism 31 comprises a plurality of gripping members 311A. The control device 70 causes the gripping mechanism 31 to perform holding using the first gripping member 311A ​​and the second gripping member 311A. Then, after causing the first gripping member 311A ​​to perform the first release, the control device 70 controls the second gripping member 311A ​​to perform the second release without performing another hold.

[0102] The embodiments and modifications described above are merely examples of embodiments of the present invention, and various embodiments that realize the functions of the present invention are included within the scope of the present invention. For example, in the embodiments and modifications described above, the present invention was explained using the application of the present invention to a control system for serving prepared food as an example, but the present invention can be applied to systems for gripping various objects. For example, the present invention can be applied to systems for gripping materials with high viscosity or adhesiveness, such as mixed mortar, concrete, plaster, and clay. The present invention is suitable for gripping objects having a viscosity of medium viscosity or higher (5000 mPa·s) or higher at working temperature or room temperature. Furthermore, the present invention can be implemented by appropriately combining the examples described in the above embodiments. The series of processes described above can be executed by hardware or by software. In other words, the functional configuration shown in Figure 5 is merely illustrative and not particularly limiting. That is, it is sufficient for the control system 1 to be equipped with a function that can execute the series of processes described above as a whole, and the type of functional block used to realize this function is not particularly limited to the example in Figure 5. Furthermore, a single functional block may consist of hardware alone, software alone, or a combination of both.

[0103] When a series of processes are executed by software, the programs that make up that software are installed on a computer or other device from a network or storage medium. A computer may be a computer built into dedicated hardware. Alternatively, a computer may be a computer capable of performing various functions by installing various programs, such as a general-purpose personal computer.

[0104] The storage medium for storing programs consists of removable media distributed separately from the main unit, or storage media pre-installed in the main unit. Removable media consists of, for example, magnetic disks, optical disks, magneto-optical disks, or flash memory. Optical disks consist of, for example, CD-ROM (Compact Disk-Read Only Memory), DVD (Digital Versatile Disk), Blu-ray Disc (registered trademark), etc. Magneto-optical disks consist of, for example, MD (Mini-Disk). Flash memory consists of, for example, USB (Universal Serial Bus) memory or SD cards. Furthermore, storage media pre-installed in the main unit consists of, for example, ROM, SSD, HDD, etc., on which programs are stored.

[0105] In this specification, the step of describing a program to be recorded on a recording medium includes not only processes that are performed chronologically in that order, but also processes that are not necessarily performed chronologically, but are executed in parallel or individually. Furthermore, in this specification, the term "system" refers to an overall system composed of multiple devices, means, etc.

[0106] The above embodiments illustrate one example of applying the present invention and do not limit the technical scope of the present invention. That is, the present invention can be modified in various ways, such as by omitting or substituting, without departing from the spirit of the invention, and various embodiments other than those described above are possible. Various embodiments that the present invention can take and their variations are included in the scope of the invention described in the claims and its equivalents. [Explanation of Symbols]

[0107] 1 Control system, 2 Belt conveyor, 10 Ingredient container, 20 Container supply device, 21 Extrusion mechanism, 30 Articulated robot, 31, 31A Gripping mechanism, 311, 311A ​​Gripping member, 311a First gripping part, 311b Second gripping part, 32 Robot arm, 41 Storage state detection sensor, 42 Serving state detection sensor, 43 Container detection sensor, 51 First weighing scale, 52 Second weighing scale, 60 Base unit, 61 Caster, 70 Control device, 151 Information acquisition unit, 152 Articulated robot control unit, 153 Container supply control unit, 154 Recording control unit, 171 Parameter storage unit, 172 History database (History DB), 711 CPU, 712 ROM, 713 RAM, 714 Bus, 715 Input unit, 716 Output unit, 717 Storage unit, 718 Communications section, 719 Drive, 731 Removable media

Claims

1. A holding mechanism that holds an object and releases the object being held, Control means for controlling the operation of the holding mechanism, Equipped with, The control means is The holding mechanism is made to perform the first release, Control is given to cause the holding mechanism to perform a second release at the position where the object released by the first release is located. A control system characterized by the following:

2. The system further includes detection means for optically detecting the location of the object that was released by the execution of the first release, The control means controls the second release by identifying the location where the object released by the first release is located, based on the detection result of the detection means. The control system according to claim 1, characterized in that it is as described above.

3. The control means is Based on the detection result of the detection means, the state in which the object released by the first release is present is determined. Based on the result of the above determination, the height of the position where the second release is performed is determined. The control system according to claim 2, characterized in that it is as described above.

4. The control means is Data is obtained showing the trajectory of the holding mechanism as it moves to the position where the first release is performed. Based on the acquired trajectory data, the second release is controlled by identifying the location of the object released by the first release. The control system according to claim 1, characterized in that it is as described above.

5. The object released in the first release and the object released in the second release are the same food ingredient. The control system according to any one of claims 1 to 4.

6. The aforementioned food ingredient is a sticky food ingredient. The control system according to claim 5, characterized in that it is as described above.

7. The control means is For a predetermined period of time after the object released by the first release and the object released by the second release come into contact, the holding mechanism is controlled to support the object released by the second release. The control system according to any one of claims 1 to 4.

8. The holding mechanism comprises a plurality of holding members, The control means is The holding mechanism is provided with a first holding member and a second holding member to perform the holding action. After causing the first holding member to perform the first release, the control is performed so that the second holding member performs the second release without performing the holding again. The control system according to any one of claims 1 to 4.

9. A holding mechanism that holds an object and releases the object being held, Control means for controlling the operation of the holding mechanism, A computer that controls a system equipped with the following: The holding mechanism is made to perform the first release, A control function that controls the holding mechanism to perform a second release at the position where the object released by the first release is located. A control program characterized by achieving this.

Images