Machine learning device, machine learning method, and robot control device

Abstract

To provide a machine learning device 1 which learns an algorithm for disposing a soft wire-like workpiece 3 into a predetermined state by using a robot, and to provide a control device 5 for robot.SOLUTION: A machine learning device 1 mechanically learns an algorithm for disposing a soft wire-like workpiece 3 into a predetermined state by using a robot 2, and it includes: an acquisition part 11 for acquiring a state related to the workpiece 3 before starting disposition and a state related to the workpiece 3 during disposition as a state variable; and a learning part 10 for mechanically learning the algorithm for disposing the workpiece 3 based on the state variable acquired in the acquisition part 11.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a machine learning device, a machine learning method, and a robot control device that machine-learn an algorithm for arranging a flexible wire-like workpiece in a predetermined state using a robot. [Background technology]

[0002] Conventionally, the assembly of wire harnesses has been automated using robots. For example, in Patent Document 1, a connector is designed to enable assembly by a robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-95969 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when automating the process using a robot, another problem may occur. That is, when flexible wire-like workpieces are arranged in a predetermined state, it is assumed that the overall shape of each workpiece is different. For example, the position where the robot should grasp the workpiece may differ depending on the placement state of the workpiece, or the orientation may differ depending on the twist of the workpiece.

[0005] In addition, when the overall shape of the workpieces differs, the direction and force applied when moving the workpieces for placement may differ for each workpiece, meaning that pre-programmed operations may not be able to handle the differences. It is not realistic to pre-program or teach operations that can handle all conceivable shapes.

[0006] The present invention has been made in consideration of the above-mentioned situation, and its object is to provide a machine learning device, a machine learning method, and a robot control device that learns an algorithm for arranging a flexible wire-like workpiece in a specified state using a robot. [Means for solving the problem]

[0007] In the invention described in claim 1, the machine learning device learns an algorithm for arranging a flexible wire-like workpiece in a predetermined state using a robot, and the state of the workpiece before the start of the arrangement is and, Status of the workpiece during installation and of 、 As state variables Continue to place the workpiece until the work is completed. The acquisition unit acquires the state variables, and the algorithm for placing the workpiece based on the state variables acquired by the acquisition unit is machine-learned. and obtains a gripping condition for the workpiece that can complete the placement operation and a transport condition for completing the placement operation of the gripped workpiece. A learning unit.

[0008] This allows the machine learning device to learn by machine learning an algorithm for using a robot to arrange a flexible wire-like workpiece in a predetermined state, even if the overall shape of the workpiece, i.e., the manner in which the workpiece is arranged, differs for each workpiece, and without having to pre-program or teach all envisaged patterns.

[0009] In the invention described in claim 2, the machine learning device includes a storage unit in which multiple training data for arranging a workpiece in a predetermined state is stored in advance, and the machine learning device learns an algorithm by classifying state variables with reference to the training data stored in the storage unit. In other words, the machine learning device learns an algorithm that can actually arrange a workpiece correctly based on training data prepared in advance for correctly arranging the workpiece. This makes it possible to operate the robot in a state where conditions that make arrangement difficult are eliminated, and to arrange the workpiece correctly.

[0010] In the invention described in claim 3, the machine learning device regressively learns an algorithm based on state variables acquired when the robot is operated. This allows the algorithm to be learned by machine learning with reduced burden on the user. In addition, by acquiring state variables and learning by machine learning when actually performing the task of placing a workpiece, more correct operations can be learned by machine learning.

[0011] In the invention described in claim 4, the machine learning device includes a storage unit in which multiple training data for arranging a workpiece in a predetermined state is stored in advance, and the machine learning device learns an algorithm by classifying state variables with reference to the training data stored in the storage unit. In other words, the machine learning device learns an algorithm that can actually arrange a workpiece correctly, based on training data prepared in advance for correctly arranging the workpiece.

[0012] At this time, the machine learning device acquires at least the position of the workpiece, the force applied by the workpiece when it is grasped, and the posture of the robot as state variables. By acquiring these data as state variables, it is possible to acquire the conditions that must be satisfied from grasping the workpiece to disposing it in a predetermined state, in other words, the conditions for correct disposing, and by machine learning an algorithm based on the acquired data, it is possible to cause the robot 2 to perform appropriate operations.

[0013] In the invention described in claim 5, machine learning is performed by the method performed by the machine learning device described above. This makes it possible to learn by machine learning an algorithm for arranging a flexible wire-like workpiece in a predetermined state using a robot, even if the overall shape of the workpiece, i.e., the manner in which the workpiece is arranged, differs for each workpiece when arranging the flexible wire-like workpiece in a predetermined state, and even if all expected patterns are not programmed or taught in advance.

[0014] In the invention described in claim 6, the control device of the robot includes a control unit that controls the operation of the robot based on an algorithm learned by the machine learning device described above. This makes it possible to use the robot to arrange a flexible wire-like workpiece in a predetermined state even if the overall shape of the workpiece, i.e., the manner in which the workpiece is arranged, differs for each workpiece when arranging the flexible wire-like workpiece in a predetermined state, and even if all expected patterns are not programmed or taught in advance. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram illustrating a configuration example of a machine learning device according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing a schematic configuration of a hand and a contact sensor; [Diagram 3] Diagram showing the flow of machine learning processes [Figure 4] FIG. 1 is a diagram showing an example of a workpiece arrangement; [Diagram 5] A diagram showing the process flow for acquiring state variables [Figure 6] Schematic diagram of training data example 1 [Figure 7] Schematic diagram of training data example 2 [Figure 8] Diagram showing the process flow of other machine learning [Figure 9] FIG. 1 is a diagram illustrating an example of the configuration of a machine learning device according to a second embodiment. [Figure 10] Diagram showing the flow of machine learning processes DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, a number of embodiments will be described with reference to the drawings, in which the same reference numerals are used to designate parts that are substantially common to the embodiments.

[0017] (First embodiment) A first embodiment will be described below. As shown in Fig. 1, a machine learning device 1 of this embodiment learns an algorithm for arranging a flexible wire-like workpiece 3 in a predetermined state using a robot 2. Hereinafter, directions horizontal to the installation surface of the robot 2 are referred to as the X direction and Y direction perpendicular to each other, a direction perpendicular to the X direction and Y direction is referred to as the Z direction, and a plane horizontal to the installation surface is also referred to as the XY plane. In addition, a state viewed from the Z direction is referred to as a planar view, and a state viewed along the XY plane is referred to as a side view.

[0018] The robot 2 has a base 2a placed on an installation surface, a shoulder 2b provided rotatably relative to the base 2a, a lower arm 2c provided rotatably relative to the shoulder 2b, a first upper arm 2d provided rotatably relative to the lower arm 2c, a second upper arm 2e provided coaxially rotatably relative to the first upper arm 2d, and a flange 2f provided at the tip of the second upper arm 2e. That is, in this embodiment, a so-called six-axis robot of a vertical multi-joint type is used. However, a so-called seven-axis robot or a so-called four-axis robot of a horizontal multi-joint type may also be used.

[0019] A hand 4 is attached to the tip of the flange 2f. As shown in Fig. 2, the hand 4 has a fixed part 4a attached to the flange 2f and two movable parts 4b provided so as to be movable relative to the fixed part 4a. The hand 4 can grip, for example, a connector 3b of a workpiece 3 having, for example, a flexible cable 3a and a connector 3b provided at the tip of the cable 3a, by moving the movable parts 4b in a direction approaching each other as shown in a gripping state. In Fig. 2, the imaginary center of the hand 4 in a plan view is shown as a virtual line (CLt), and the imaginary center of the hand 4 in a side view is shown as a virtual line (CLs).

[0020] The robot 2 is connected to a control device 5 including a control unit 5a that controls the posture of the robot 2, and the posture of the robot 2 is changed by driving a motor (not shown) provided on each axis of the robot 2 based on a control command output from the control unit 5a. The control device 5 also outputs a control command for controlling the open / closed state of the hand 4. The control device 5 is also configured to be able to output the posture of the robot 2 and the open / closed state of the hand 4 to the machine learning device 1. A teaching device 6 is also connected to the control device 5 to teach the robot 2 an operation.

[0021] The machine learning device 1 is communicatively connected to the control device 5, and can control the robot 2 by instructing the control device 5 to operate the robot 2. As described above, the posture of the robot 2 and the open / closed state of the hand 4 can be acquired from the control device 5. In this embodiment, a small robot 7 and its control device 8 are connected to the machine learning device 1, and the robot 2 can be operated following the operation of the small robot 7. In other words, the small robot 7 can be used as an input device for operating the robot 2 instead of the teaching device 6 or in combination with the teaching device 6, and a machine learning system including them can be constructed.

[0022] This machine learning device 1 includes a learning unit 10, an acquisition unit 11, a storage unit 12, and a presentation output unit 13. In addition, the machine learning device 1 is connected to a display unit 14 such as a display used when modifying an algorithm as described below, and an operation input unit 15 such as a keyboard or a mouse for inputting operations to modify the algorithm.

[0023] Although details will be described later, the learning unit 10 machine-learns an algorithm for placing the workpiece 3 based on the state variables acquired by the acquisition unit 11. In this embodiment, the learning unit 10 also machine-learns the algorithm by classifying the state variables with reference to training data stored in the storage unit 12.

[0024] The acquisition unit 11 includes a camera input unit 11a, a sensor input unit 11b, a posture input unit 11c, and a hand input unit 11d, and acquires the state of the workpiece 3 before the start of placement and the state of the workpiece 3 during placement as state variables. Specifically, the camera input unit 11a is connected to a camera 16 that is arranged so as to be able to capture the workpiece 3 and the working area when placing the workpiece 3, and an image or video captured by the camera 16 is input. Therefore, the machine learning device 1 can acquire the orientation and position of the workpiece 3 as state variables indicating the state of the workpiece 3 before the start of placement and the state of the workpiece 3 during placement.

[0025] 2, the sensor input unit 11b receives as input a detection value of a contact sensor 17 attached to the hand 4 of the robot 2. This contact sensor 17 is formed in a planar shape, and multiple detection positions are provided within the plane. Therefore, the contact sensor 17 has a detection range (R) substantially in its entirety, and when the workpiece 3 is gripped, the position of the workpiece 3 within the detection range (R), that is, the position of the workpiece 3 in the control coordinates of the robot 2, can be detected. In addition, since the contact sensor 17 has multiple detection positions, it can detect not only the force gripping the workpiece 3, but also the direction of the force when, for example, the workpiece 3 is moved.

[0026] The posture input unit 11c receives data related to the current posture of the robot 2 acquired from the control device 5. The hand input unit 11d receives an input of the open / closed state of the hand 4. This open / closed state also includes the distance between the movable parts 4b of the hand 4.

[0027] Therefore, based on the input to the posture input unit 11c, the input to the sensor input unit 11b, and the input to the hand input unit 11d, the machine learning device 1 can acquire data indicating the posture and force with which the robot 2 is gripping the workpiece 3, and the force that is applied to the workpiece 3 when the robot 2 is operated, as state variables indicating the state of the workpiece 3 before and during placement.

[0028] The storage unit 12 stores a plurality of training data for disposing the workpiece 3 in a predetermined state. This training data indicates a correct operation for disposing the workpiece 3 at a predetermined position. In the case of this embodiment, the training data is stored as a group of state variables acquired during the operation of manually operating the robot 2 to correctly dispose the workpiece 3 at a certain position and orientation.

[0029] In other words, the machine learning device 1 of this embodiment learns an algorithm for placing the flexible wire-like workpiece 3 by machine learning using a so-called supervised method in which training data for correct placement is memorized in advance.

[0030] The presentation output unit 13 presents the learned algorithm to the user, for example, by displaying it on the display unit 14. This allows the user to appropriately modify the presented algorithm, for example, to state variables acquired during operation or the state of the workpiece 3 after placement. The presentation output unit 13 is also capable of outputting the learned algorithm or the presented algorithm to the control device 5. The control device 5 can then control the operation of the robot 2 based on the algorithm learned by the machine learning device 1 by outputting a control command based on the output algorithm from the control unit 5a to the robot 2.

[0031] Next, the operation of the above-mentioned configuration will be described. As described above, when the flexible wire-like workpiece 3 is arranged in a predetermined state using the robot 2, it is assumed that the overall shape of the workpiece 3 before the robot 2 starts working, that is, the manner in which the workpiece 3 is arranged, differs for each workpiece 3. In that case, it is conceivable that the position to be grasped by the robot 2 differs for each workpiece 3, or that the workpiece 3 is twisted and oriented in such a way that it cannot be grasped.

[0032] Furthermore, when the overall shapes of the workpieces 3 are different, the direction and force applied when moving the workpieces 3 for placement may differ for each workpiece 3, meaning that pre-programmed operations may not be able to handle the different shapes. It is not realistic to pre-program or teach operations that can handle all possible shapes. Therefore, the machine learning device 1 performs the processes shown in Figs. 3 and 5 to machine-learn an algorithm for placing the flexible wire-like workpiece 3 in a predetermined state.

[0033] The machine learning device 1 coaches the robot 2 on its behavior (A1), as shown as batch training in Fig. 3. In this embodiment, the coaching of the behavior is performed by a user manually operating the robot 2. Specifically, when the user changes the posture of the small robot 7, data indicating the change in posture is input to the machine learning device 1, and instructions for operating the control device 5 are output from the machine learning device 1 based on the input data, and a control command for making the robot 2 follow the change in posture of the small robot 7 is output from the control device 5 based on the output instruction.

[0034] For example, as shown in Fig. 4 as an arrangement mode 1, assume that the work is to insert the connector 3b of the work 3 into an insertion hole 18a provided in an object 18. At this time, the work 3 is placed with the cable 3a hanging from a hook 19. At this time, the operating conditions are to coach a series of operations from gripping the connector 3b and transporting it to a target position above the insertion hole 18a to inserting the terminal 3c protruding from the connector 3b into the insertion hole 18a.

[0035] When coaching starts, the machine learning device 1 acquires state variables (A2). At this time, as shown in Fig. 5 as state variable acquisition, when the robot 2 starts operating (B1), the machine learning device 1 acquires various data (B2). The data acquired at this time corresponds to state variables, and includes, for example, an image captured by the camera 16, coordinates indicating the gripping position when the workpiece 3 is gripped, the posture of the robot 2 when gripping, and the gripping force when gripping, as shown in Fig. 3. Note that in Fig. 3, the position of the workpiece 3, that is, the X-direction coordinate (x0), Y-direction coordinate (y0), and Z-direction coordinate (z0) of the position of the hand 4, and the posture (S0) of the robot 2 are shown as (x0, y0, z0, S0).

[0036] Then, the machine learning device 1 repeats acquiring data until the operation is completed (B3: NO). At this time, when transporting from the gripping position to the target position, the machine learning device 1 acquires an image of the workpiece 3, the trajectory of the position of the hand 4, the magnitude and direction of the force (F1a) detected by the contact sensor 17, the gripping force, and the posture of the robot 2. In addition, when inserting the connector 3b, the machine learning device 1 acquires an image of the workpiece 3, the position of the hand 4, the magnitude and direction of the force (F2a) detected by the contact sensor 17, the gripping force, and the posture of the robot 2 at the time of insertion and when the insertion is completed. Then, when the operation is completed (B2: YES), the machine learning device 1 returns.

[0037] As described above, this embodiment uses a supervised method of storing correct movements and performing machine learning. In this case, it is necessary to store multiple patterns of correct movements. Therefore, the machine learning device 1 determines whether or not the designated number of coachings have been completed (A3), and if the designated number of coachings have not been completed (A3: NO), it proceeds to step A1 and performs coaching for other patterns with different arrangements.

[0038] In this case, as another possible pattern, as shown in the second arrangement pattern in Fig. 4, the orientation of the connector 3b may change due to the twisting of the work 3, or the length to the hook 19 may be different. Note that, although Fig. 4 shows two arrangement patterns as examples, in reality, coaching is performed in many more arrangement patterns, for example, 50 patterns.

[0039] Similarly, for other patterns, state variables such as an image of the workpiece 3, the position of the hand 4, the posture of the robot 2, the change in position and force (F1b) and posture during grasping and transport, and the change in position and force (F2b) during insertion are acquired.

[0040] Then, when the designated number of coachings have been completed (A3: YES), the machine learning device 1 modifies the algorithm (A4). This algorithm represents the operation of the robot 2 for appropriately arranging the workpieces 3. The machine learning device 1 modifies the algorithm for the arrangement mode of each pattern based on the state variables acquired during coaching.

[0041] This correction is performed to improve the cycle time by correcting the direction in which the robot 2 changes its posture. Note that it is also possible to configure the system so that the algorithm is presented to the user, who then corrects the algorithm. Of course, cases are also envisioned in which the algorithm does not need to be corrected.

[0042] The machine learning device 1 determines whether the specified number of corrections have been completed (A5), and if not completed (A5: NO), it corrects the algorithms in other patterns that have proceeded to step A4, whereas if completed (A5: YES), it terminates the processing.

[0043] As a result, data showing the operation for correctly placing the workpiece 3 is collected, that is, training data for machine learning is collected, as shown in Fig. 6 etc. Note that Fig. 6 shows a schematic model for easy visual understanding of the explanation, but in reality the training data is composed of numerical data, image data, etc.

[0044] For example, as shown in FIG. 6, a set of orientations of the connector 3b relative to the virtual line (CLt) in a plan view may be considered as training data during gripping. This training data allows for correct placement as described above, and indicates that the connector 3b can be gripped correctly when the longitudinal direction of the connector 3b is in the range of, for example, -55° to 50° relative to the virtual line (CLt). Therefore, if the orientation of the connector 3b acquired during work is, for example, 30°, the machine learning device 1 can classify the value and machine learn that the connector can be gripped correctly even if there is no data matching the training data. In other words, the gripping conditions for gripping the workpiece 3 can be acquired.

[0045] The training data may be a set of positions of the connector 3b in a side view when gripped. For example, the detection range (Rd) is set as a detection range in which a force is detected when the connector 3b is gripped in the detection range (R). In FIG. 6, the distances between the upper end of Rd and the upper end of R are L1, the distance between the lower end of Rd and the lower end of R are L2, the distance between the left end of Rd and the left end of R is L3, and the distance between the right end of Rd and the right end of R is L4. The machine learning device 1 can then learn by machine learning that the connector 3b can be gripped correctly even if there is no data matching the training data, by classifying the position of the gripped connector 3b. In other words, the gripping conditions for gripping the workpiece 3 can be acquired.

[0046] In addition, as shown in FIG. 7, the training data may be a collection of forces applied during transportation and insertion. This allows, for example, machine learning of the force allowed during transportation, and allows the workpiece 3 to be appropriately disposed while preventing excessive tension from being applied to the cable 3a and causing damage thereto. In other words, it is possible to acquire the transportation conditions for transporting the workpiece 3 and the insertion conditions for inserting the workpiece 3. Note that the training data shown in FIG. 6 and FIG. 7 are merely examples, and are not limited thereto, and different training data may be used or may be combined with other training data.

[0047] According to the embodiment described above, the following effects can be obtained. The machine learning device 1 learns by machine learning an algorithm for arranging a flexible wire-like workpiece 3 in a predetermined state using a robot 2, and is equipped with an acquisition unit 11 that acquires the state of the workpiece 3 before arrangement begins and the state of the workpiece 3 during arrangement as state variables, and a learning unit 10 that learns by machine learning an algorithm for arranging the workpiece 3 based on the state variables acquired by the acquisition unit 11.

[0048] As a result, the machine learning device 1 can learn by machine learning an algorithm for arranging a flexible wire-like workpiece 3 in a predetermined state using the robot 2, even if the overall shape of the workpiece 3, i.e., the manner in which the workpiece 3 is arranged, differs for each workpiece 3, and even if all envisaged patterns do not have to be programmed or taught in advance.

[0049] The machine learning device 1 also includes a storage unit 12 in which multiple pieces of training data for placing the workpiece 3 in a predetermined state are stored in advance, and the machine learning device 1 learns an algorithm by classifying state variables with reference to the training data stored in the storage unit 12. In other words, the machine learning device 1 learns an algorithm that can actually place the workpiece 3 correctly, based on training data that has been prepared in advance for correctly placing the workpiece 3. This allows the robot 2 to operate based on data acquired by an appropriate operation, and the workpiece 3 can be correctly placed.

[0050] At this time, the machine learning device 1 acquires, as state variables, at least the position of the workpiece 3, the force applied from the workpiece 3 when the workpiece 3 is grasped, and the posture of the robot 2. By acquiring these data as state variables, it is possible to acquire the conditions that must be satisfied from grasping the workpiece 3 to arranging it in a predetermined state, in other words, the conditions for correct arrangement, and by machine learning an algorithm based on the acquired data, it is possible to cause the robot 2 to perform appropriate operations.

[0051] Furthermore, according to the machine learning method for performing machine learning using the technique performed by the above-mentioned machine learning device 1, even if the overall shape of the workpiece 3, i.e., the manner in which the workpiece 3 is arranged, differs for each workpiece 3 when arranging the flexible wire-like workpiece 3 in a predetermined state, it is possible to machine learn an algorithm for arranging the flexible wire-like workpiece 3 in a predetermined state using the robot 2, even if all envisaged patterns do not have to be programmed or taught in advance.

[0052] Furthermore, the control device 5 of the robot 2 includes a control unit 5a that controls the operation of the robot 2 based on an algorithm learned by machine learning by the above-described machine learning device 1. As a result, when arranging the flexible wire-like workpieces 3 in a predetermined state, even if the overall shape of the workpieces 3, that is, the manner in which the workpieces 3 are arranged, differs for each workpiece 3, and even if all expected patterns are not programmed or taught in advance, the flexible wire-like workpieces 3 can be arranged in a predetermined state using the robot 2.

[0053] In this embodiment, the small robot 7 is used to coach the robot 2. This allows the robot 2 to easily assume a desired posture and perform a desired movement. When coaching in multiple patterns is performed, the ease of operating the robot 2 can significantly improve the efficiency of the coaching process.

[0054] In the present embodiment, an example has been shown in which multiple patterns of teaching are performed at once and then each algorithm is modified, but it is also possible to configure the system so that the acquisition of state variables and the modification of the algorithm are repeated sequentially for each teaching.

[0055] 8 shows the flow of sequential training, for example, after starting an operation manually (C1), the machine learning device 1 acquires state variables (C2), continues acquiring state variables until the operation is completed (C3:N), and modifies the algorithm (C4) when the operation is completed (C3:YES). After that, if the machine learning is to be continued (C4:YES), the machine learning device 1 proceeds to step C1 and repeats the same process for different patterns of work 3 to repeat learning while collecting training data.

[0056] With this configuration, even when the overall shape of the workpiece 3, i.e., the manner in which the workpiece 3 is arranged, differs for each workpiece 3 when the flexible wire-like workpiece 3 is arranged in a predetermined state, it is possible to obtain the same effects as in the embodiment, such as being able to use the robot 2 to machine-learn an algorithm for arranging the flexible wire-like workpiece 3 in a predetermined state, without having to pre-program or teach all conceivable patterns.

[0057] Also, the state variables can be acquired when the workpiece 3 is actually placed, and the state variables when the workpiece is placed correctly can be stored as training data.

[0058] Second embodiment The second embodiment will be described below. The second embodiment is different from the first embodiment in that the machine learning device 1 learns an algorithm by machine learning by itself without providing training data. Note that the same reference numerals are used to designate the same components as those in the first embodiment.

[0059] 9, the machine learning device 1 of the second embodiment includes a judgment unit 20. The judgment unit 20 judges whether or not the workpiece 3 has been correctly placed based on the acquired state variables. The learning unit 10 then regressively learns an algorithm by machine learning based on the state variables acquired when the robot 2 is operated, more specifically, based on the judgment result of the judgment unit 20.

[0060] Specifically, the machine learning device 1 starts operation (D1) as shown in Fig. 10. In this case, the machine learning device 1 operates the robot 2 to grip the connector 3b while referring to an image captured by the camera 16, for example, grips the workpiece 3, transports the workpiece 3 to a target position, and inserts the terminal 3c of the workpiece 3 into the insertion hole 18a. At this time, a rough position can be taught in advance, and the position can be finely adjusted based on the image captured by the camera 16.

[0061] Then, the machine learning device 1 acquires state variables during operation (D2). Note that the acquisition of state variables is performed in a similar manner to the flow in Fig. 5 described in the first embodiment. Next, the machine learning device 1 determines whether the operation has been completed a specified number of times (D3), and if the operation has not been completed the specified number of times (D3: NO), the machine learning device 1 proceeds to step D1 and starts the next operation.

[0062] On the other hand, if the specified number of times has been completed (D3: YES), the machine learning device 1 determines the operation (D4). At this time, the machine learning device 1 determines the operation based on the acquired state variables, for example, on whether the gripping position of the workpiece 3 detected by the contact sensor 17 and the force applied during transportation match the shape and strength of the workpiece 3 or the position and size of the insertion hole 18a, and whether the cycle time until the installation work is completed is as required.

[0063] Then, when the machine learning device 1 determines that the movement is correct (D4: OK), it increases the reward, whereas when it determines that the movement is incorrect (D4: NG), it decreases the reward. This reward corresponds to the evaluation value of the movement, and it means that a movement with an increased reward is more appropriate, and a movement with a decreased reward is inappropriate.

[0064] Then, the machine learning device 1 modifies the algorithm as necessary for each operation, taking into account the increase or decrease in reward and the acquired state variables. Note that the algorithm may be presented to a user, who may then modify the algorithm. Of course, cases are also assumed in which modification of the algorithm is not necessary.

[0065] Then, when the specified number of times is completed, that is, when the verification of each operation is completed, the machine learning device 1 determines whether or not to continue learning (D9). In this case, the machine learning device 1 presents the user with, for example, a query as to whether or not to continue learning together with the learning result, and if the user inputs an operation to continue, determines to continue learning (D9: YES), proceeds to step D1, and starts the next operation. On the other hand, if the user inputs an operation to not continue because, for example, sufficient learning results have been obtained, the machine learning device 1 determines not to continue (D9: YES), and ends the process.

[0066] In this way, the machine learning device 1 of the present embodiment autonomously and recursively learns an algorithm by machine learning, based on the state variables acquired when operating the robot 2. This makes it possible to learn an algorithm by machine learning with reduced burden on the user.

[0067] As a result, when arranging a flexible wire-like workpiece 3 in a predetermined state, even if the overall shape of the workpiece 3, i.e., the manner in which the workpiece 3 is arranged, differs for each workpiece 3, and even if all envisaged patterns do not have to be programmed or taught in advance, it is possible to obtain effects similar to those of the first embodiment, such as being able to machine-learn an algorithm for arranging a flexible wire-like workpiece 3 in a predetermined state using the robot 2.

[0068] In addition, the state variables can be acquired when the workpiece 3 is actually placed, and machine learning can be performed during the operation of the actual machine by determining whether the operation is correct or not. This allows for machine learning of more correct operations.

[0069] The present invention is not limited to the embodiments described above or shown in the drawings, and can be modified, expanded, or combined with the configurations of the various embodiments without departing from the spirit of the present invention. [Explanation of symbols]

[0070] In the drawing, 1 indicates a machine learning device, 2 indicates a robot, 3 indicates a workpiece, 5 indicates a control device, 5a indicates a control unit, 10 indicates a learning unit, 11 indicates an acquisition unit, 12 indicates a memory unit, 13 indicates a presentation output unit, and 20 indicates a judgment unit.

Claims

1. A machine learning device that machine-learns an algorithm for arranging a flexible wire-like workpiece in a predetermined state using a robot, an acquisition unit that continuously acquires a state of the work before starting placement and a state of the work during placement as state variables until the placement work of placing the work is completed; A learning unit that performs machine learning on an algorithm for placing the workpiece based on the state variables acquired by the acquisition unit, and acquires gripping conditions for the workpiece that can complete the placement work and transport conditions for completing the placement work of the gripped workpiece; A machine learning device comprising:

2. A storage unit is provided in which a plurality of training data for disposing the workpiece in a predetermined state is stored in advance, The machine learning device according to claim 1 , wherein the learning unit performs machine learning to learn an algorithm by classifying the state variables with reference to the training data stored in the storage unit.

3. The machine learning device according to claim 1 , wherein the learning unit regressively learns an algorithm by machine learning based on the state variables acquired when the robot is operated.

4. The machine learning device according to any one of claims 1 to 3, wherein the acquisition unit acquires at least the position of the workpiece, the force applied from the workpiece when the workpiece is grasped, the direction of the force that changes when the workpiece is moved, and the posture of the robot as the state variables.

5. A machine learning method for machine learning an algorithm for arranging a flexible wire-like workpiece in a predetermined state using a robot, comprising: A process of continuously acquiring a state of the workpiece before starting placement and a state of the workpiece during placement as state variables until the placement operation of placing the workpiece is completed; A machine learning method including: machine learning an algorithm for placing the workpiece based on the acquired state variables; and a process for acquiring gripping conditions for the workpiece that can complete the placement work and transport conditions that can complete the placement work of the gripped workpiece.

6. A robot control device having a control unit that controls the operation of the robot based on an algorithm learned by a machine learning device having an acquisition unit that continuously acquires the state of a flexible wire-like workpiece before placement begins and the state of the workpiece during placement as state variables until the placement work of placing the workpiece is completed, and a learning unit that machine-learns an algorithm for placing the workpiece based on the state variables acquired by the acquisition unit, and acquires the gripping conditions for the workpiece that can complete the placement work and the transport conditions that can complete the placement work of the gripped workpiece.

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