Control system and control method

Abstract

Improve the likelihood of the robot holding the desired amount of objects [Solution] The control system 1 includes an articulated robot 30, an ingredient weight scale 50, and a control device 70. The articulated robot 30 has a gripping member 311 that holds ingredients. The ingredient weight scale 50 detects the amount held by the holding member. The control device 70 controls the articulated robot 30. The control device 70 controls the articulated robot 30 so that the holding member holds the ingredients at a target position, and if there is a difference between the amount of ingredients held by the holding member detected by the ingredient weight scale 50 and the target amount to be held, the control device 70 controls the articulated robot 30 so that the holding member releases the ingredients held by the holding member and holds the ingredients again at a new target position.

Description

[Technical Field]

[0001] The present invention relates to a control system and a control method. [Background technology]

[0002] In recent years, robots have been used to process a variety of objects. For example, there are robots that hold objects in a container and release the held objects into another container.

[0003] A technique for controlling such a robot is disclosed in, for example, Patent Document 1. The technology disclosed in Patent Document 1 calculates the insertion depth that is expected to be able to hold a target amount based on the density of the object to be held, etc. Then, the weight of the object actually held at that insertion depth is measured, and if there is a surplus or shortage, the object being held is temporarily released on the spot. After that, if the gripped weight is insufficient, the insertion depth is adjusted to be deeper, or if the gripped weight is excessive, the insertion depth is adjusted to be shallower, and the robot is again held in the same position.This controls the robot so that it can ultimately hold the target weight. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7341550 Summary of the Invention [Problem to be solved by the invention]

[0005] However, it is believed that there is still room for improvement in the conventional technology disclosed in Patent Document 1 in terms of further increasing the possibility of a robot holding a target amount of objects. Furthermore, this problem is not limited to cases where the object is food, but is common to all fields where robots are used to hold objects, such as industrial fields, etc. Furthermore, the holding method used by the robot is not limited to means for holding the object by gripping it with a gripping member, but is also common to cases where the object is held by means of suction or the like.

[0006] The object of the present invention is to further improve the possibility of holding a target amount of objects by a robot. [Means for solving the problem]

[0007] In order to solve the above problem, a control system according to one embodiment of the present invention comprises: a robot having a holding member for holding an object; a detection means for detecting the amount held by the holding member; a control means for controlling the robot; Equipped with The control means causing the holding member to hold the object at the target position; When there is a difference between the amount of the object held by the holding member detected by the detection means and a target amount to be held, the object held by the holding member is released, causing the holding member to hold the object again at a new target position; and controlling the robot so that It is characterized by: [Effects of the Invention]

[0008] According to the present invention, it is possible to further improve the possibility that a target amount of an object can be held by a robot. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing the configuration of a control system 1 according to the present invention. [Figure 2] FIG. 2 is a perspective view showing the configuration of a gripping member 311. [Figure 3] 10A and 10B are schematic diagrams showing the state when the gripping member 311 grips and releases. [Figure 4] FIG. 2 is a schematic diagram showing the hardware configuration of a control device 70. [Figure 5] FIG. 2 is a block diagram showing the functional configuration of a control device 70. [Figure 6] 2 is a schematic diagram showing a control situation regarding the operation of the articulated robot 30. FIG. [Figure 7] 2 is a schematic diagram showing a control situation regarding the operation of the articulated robot 30. FIG. [Figure 8] 10 is a flowchart showing the flow of an ingredient plating process executed by the control system 1. [Figure 9] FIG. 10 is a perspective view showing the configuration of a gripping member 311A, which is an example of another gripping member 311. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [Embodiment] [Overall configuration] FIG. 1 is a schematic diagram showing the configuration of a control system 1 according to the present invention. Here, the control system 1 is assumed to be applied to a system that grips and releases food as an object. Therefore, in the following explanation, an example will be given in which the control system 1 grips ingredients for a side dish or the like and arranges the gripped ingredients in a container.

[0011] However, this is merely an example for the purpose of explanation and is not intended to limit the scope of application of the present invention, and the present invention is applicable to any system that holds any object. For example, it can be applied to a system that processes uncooked vegetables (such as shredded cabbage, carrots, or bean sprouts) instead of prepared dishes.It can also be applied to a system that processes workpieces (such as screws, bolts, or component parts of industrial products such as electronic devices) as objects. Furthermore, the method of holding the object is not limited to gripping the object, and for example, the object may be held by a method other than gripping, such as suction. Furthermore, the method of releasing the objects into the container is not limited to directly releasing them into the container. For example, the robot may release the objects into the discharge chute inlet, and then supply the objects from the discharge chute outlet into the container and arrange them therein. That is, the present invention can be implemented in a variety of control systems in general, regardless of the object to be grasped, 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 container detection sensor 42, an ingredient weight scale 50, a base 60, casters 61, and a control device 70. Of these, the container supply device 20, the articulated robot 30, the storage status detection sensor 41, the container detection sensor 42, the ingredient weight scale 50, and the control device 70 are connected by wire or wireless communication and are able to communicate with each other.

[0013] In addition, a belt conveyor 2 is installed adjacent to the control system 1, which automatically transports containers of prepared foods from upstream to downstream. The belt conveyor 2 has a conveying surface for transporting the containers, and the containers are transported while placed on this conveying surface. In Figure 1, as shown by the dashed arrow, the left side of the paper is the upstream of the conveyance on the belt conveyor 2, and the right side of the paper is the downstream of the conveyance.

[0014] 1 shows only one control system 1, but the present invention is not limited to this. In this embodiment, it is assumed that multiple control systems 1 are installed along the conveying direction of one belt conveyor 2, and multiple articulated robots 30 work in cooperation with each other.

[0015] The ingredient storage container 10 has a storage space for storing ingredients such as prepared dishes to be served by the control system 1. The ingredient storage container 10 is realized by, for example, a general-purpose container such as a large tray or a large tray. The storage space of the ingredient storage container 10 stores various ingredients that can be grasped by the articulated robot 30, such as paste salads such as potato salad (i.e., prepared dishes containing viscous or sticky ingredients), udon (soybean curd refuse), dried strips of daikon radish, pickled vegetables, hijiki seaweed, boiled beans, royal fern, buttered corn, noodles, croquettes, fried chicken, and broccoli. In this embodiment, the ingredient storage container 10 stores multiple servings (e.g., tens to hundreds of servings) of one type of ingredient. The ingredient storage container 10 can be replaced manually by an operator or automatically by the articulated robot 30 when the remaining amount of the stored ingredient becomes low.

[0016] In the control system 1, the container supply device 20 supplies the container to a predetermined serving position P1 where ingredients are to be served. A large number of containers are stored vertically inside container supply device 20. When control system 1 starts operation, container supply device 20 supplies containers one by one to serving position P1. In response, articulated robot 30 releases the ingredients, and the released ingredients are placed in the containers supplied to serving position P1. Then, a push-out mechanism 21 provided in container supply device 20 pushes the filled containers onto the conveying surface of belt conveyor 2. As a result, the filled containers are transported downstream by belt conveyor 2.

[0017] Furthermore, a container detection sensor 42 is disposed near the position where the push-out mechanism 21 pushes out the container onto the belt conveyor 2. The container detection sensor 42 is a sensor that detects containers being transported on the transport surface of the belt conveyor 2. The container supply device 20 pushes out the container filled with ingredients onto the transport surface at a timing when the container detection sensor 42 has not detected other containers being transported on the transport surface (containers that have already been filled by other articulated robots 30). This makes it possible to prevent containers from colliding with each other on the transport surface. The reason why the other containers are transported from upstream is that, as described above, a plurality of control systems 1 are installed in this embodiment.

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

[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 move to any position within its movable range 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 has an axis that rotates the gripping mechanism 31 in a torsional direction relative to the robot arm 32. Therefore, when the gripping mechanism 31 grips an ingredient, the gripping direction of the gripping mechanism 31 can be adjusted by changing the orientation of the gripping mechanism 31. This makes it possible to change the orientation of the gripping mechanism 31 to a direction parallel to the inner wall surface of the ingredient-accommodating container 10 when the gripping mechanism 31 reaches the vicinity of the inner wall surface of the ingredient-accommodating 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 stored in the ingredient storage container 10. The storage state detection sensor 41 is realized by, for example, a depth camera that can detect the distance to a subject. In this case, the angle of view of the storage state detection sensor 41 is set to, for example, an angle of view that can capture the entire area of ​​the opening surface of the ingredient storage container 10. The control device 70 can analyze the distance information detected by the storage status detection sensor 41 (i.e., depth information for each pixel across the entire area of ​​the opening surface of the ingredient storage container 10) to determine the remaining amount of ingredients in each area within the ingredient storage container 10, the roughness (unevenness) of the surface, etc.

[0021] As described above, the container detection sensor 42 is a sensor that detects containers being transported on the transport surface of the belt conveyor 2. The container detection sensor 42 is realized, for example, by an optical sensor (also referred to as a photodetector). The container detection sensor 42 detects containers being transported upstream of the position where the push-out mechanism 21 pushes the container onto the belt conveyor 2. The control device 70 can identify the timing at which the push-out mechanism 21 pushes out the container onto the belt conveyor 2 based on the detection result of the container detection sensor 42.

[0022] The ingredient weight scale 50 is a device that detects the weight of an object. The ingredient weight scale 50 is realized, for example, by a weighing scale that measures weight using a strain gauge. The ingredient weight meter 50 is placed at a position where the ingredient storage container 10 is placed. The ingredient weight meter 50 detects the weight of the ingredient storage container 10 itself and the weight of the ingredients stored in the ingredient storage container 10. Based on the detection value of this ingredient weight meter 50, the control device 70 can determine the total weight of the ingredients contained therein (i.e., the remaining amount) and the increase or decrease in the total weight (i.e., the change in the remaining amount) due to the grasping of the ingredients contained therein, etc.

[0023] The base 60 is a base for placing the ingredient storage container 10, the container supply device 20, the articulated robot 30, etc. These articulated robots 30, etc. have a total weight of several hundred kg (for example, more than 300 kg). Therefore, the base 60 has a structure with enough rigidity to support these items even when they are placed on the top surface.

[0024] The casters 61 are casters attached to the pedestal 60. The casters 61 come into contact with the ground, allowing the pedestal 60 to support the articulated robot 30 and the like. Furthermore, the casters 61 function as wheels, making it possible for the pedestal 60 to be moved by human power even when the articulated robot 30 and the like are placed on it.

[0025] The control device 70 is configured by an information processing device such as a PC (Personal Computer) or a programmable controller, and executes various programs to control the entire control system 1. For example, the control device 70 controls the operation of the container supply device 20 to supply containers and push out containers containing ingredients, and the operation of the articulated robot 30 to grasp ingredients from the ingredient storage containers 10 and release them into the containers to place the ingredients.

[0026] For example, the control device 70 controls the operation of the robot arm 32 to move the gripping mechanism 31 to a predetermined position via a predetermined route at a predetermined speed, and controls the operation of the actuator of the gripping mechanism 31 to grip and release ingredients using the gripping mechanism.

[0027] The above describes the components that make up the control system 1. In addition to these components, plate-like members may be further placed around or above the locations where the components are installed. This plate-like member shields each component from the external space, preventing ingredients grasped 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, ensuring the safety of workers and preventing breakdowns in the articulated robot 30. In this case, the plate-like member is preferably made of a transparent material such as glass or resin so that the operating status of the control system 1 can be visually confirmed from the external space. Furthermore, an openable door may be provided on a part of the side wall using this plate-like member, so that when replacing the ingredient storage container 10, replenishing ingredients, adding containers to the container supply device 20, or performing maintenance on the control system 1, an operator can open this door and perform various tasks.

[0028] [Configuration of gripping member 311] Fig. 2 is a perspective view showing the configuration of gripping member 311. As shown in Fig. 2, gripping member 311 includes first gripping portion 311a and second gripping portion 311b. The gripping member 311 configured as described above comes into contact with the ingredient while attached to the gripping mechanism 31. Then, while in contact with the ingredient, the first gripping portion 311a and the second gripping portion 311b open and close to grip and release the ingredient. The ingredient to be gripped by the gripping member 313 is not particularly limited, but in this embodiment, as an example, it is assumed that broccoli cut into small florets is gripped. The gripping member 313 is suitable for gripping solid ingredients that maintain a certain size, such as broccoli or fried chicken. In addition, when holding a paste salad such as potato salad or a finely shaped ingredient such as udon, the holding member 313A described later as Modification 1 is suitable.

[0029] The first gripping portion 311a and the second gripping portion 311b have a shape with a plate-like portion, and when they close together (i.e., when their ends come into contact), a gripping space for gripping ingredients is formed inside. The first gripping portion 311a and the second gripping portion 311b are also provided with slits (i.e., narrow gaps) large enough to prevent the gripped ingredients from spilling out. By providing such slits, it is possible to prevent sticky ingredients, such as those that are viscous or sticky or contain a lot of oil or moisture, from adhering to the first gripping portion 311a or the second gripping portion 311b (for example, the ingredients sticking to them). Furthermore, the lower end portions of the first gripping portion 311a and the second gripping portion 311b are formed in an acute angled shape. Therefore, when the first gripping portion 311a and the second gripping portion 311b grip the ingredients, they can suppress the reaction force acting from the group of ingredients in the ingredient-accommodating container 10. This makes it easier to insert the first gripping portion 311a and the second gripping portion 311b into the group of ingredients.

[0030] 3 is a schematic diagram showing the state of the gripping member 311 when gripping and releasing. The first gripping portion 311a of the gripping member 311 is connected to a pin cylinder (not shown) provided inside the gripping mechanism 31. Then, in response to the driving of this pin cylinder, the first gripping portion 311a moves to open and close. In contrast, the second gripping portion 311b does not move and maintains its position. 3(a), the tip of the first gripping portion 311a and the tip of the second gripping portion 311b approach each other, thereby closing the gripping member 311. In this case, a gripping space is formed inside, and ingredients can be gripped by this gripping space. On the other hand, as shown in FIG. 3(b), when the tip of the first gripping portion 311a and the tip of the second gripping portion 311b move away from each other, the gripping member 311 opens and can release the gripped ingredient. In this embodiment, the gripping operation and the releasing operation are realized by the gripping member 313 shown in FIGS.

[0031] [Hardware configuration of the control device 70] FIG. 4 is a schematic diagram showing the hardware configuration of the control device 70. As shown in FIG. As shown in FIG. 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 memory unit 717, a communication unit 718, and a drive 719.

[0032] The CPU 711 executes various processes according to a program recorded in the ROM 712 or a program loaded from the storage unit 717 into the RAM 713 . The RAM 713 also stores data and the like necessary for the CPU 711 to execute various processes.

[0033] The CPU 711, ROM 712, and RAM 713 are connected to one another via a bus 714. To the bus 714, an input unit 715, an output unit 716, a storage unit 717, a communication unit 718, and a drive 719 are connected.

[0034] The input unit 715 includes an input device such as a mouse or a keyboard, and receives input of various information to the control device 70. The input unit 715 may also include a microphone, and receive input of various information by voice input from the worker. The output unit 716 is composed of a display, a speaker, etc., and outputs images and sounds. The storage unit 717 is configured with a solid state drive (SSD), a hard disk drive (HDD), a dynamic random access memory (DRAM), or the like, and stores various data managed by each server. The communication unit 718 controls communication with other devices via the network.

[0035] Removable media 731, such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, is appropriately attached to the drive 719. A program read from the removable media 731 by the drive 719 is 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 configure the control device 70 without some of the hardware, to configure the control device 70 with additional hardware, or to change the implementation form of the hardware.

[0036] [Functional configuration] Next, the functional configuration of the control device 70 will be described. FIG. 5 is a block diagram showing the functional configuration of the control device 70. 5, by executing a program for controlling the operation of the control system 1, an information acquisition unit 151, an articulated robot control unit 152, a container supply control unit 153, and a recording control unit 154 function in the CPU 711 of the control device 70. In addition, a parameter storage unit 171 and a history database (history DB) 172 are formed in the storage unit 717.

[0037] 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 serve as control standards for the gripping operation, such as the position and shape of the ingredient storage container 10, the position and shape of the containers supplied from the container supply device 20, the position of the area in the container where the ingredients are provided and arranged, the weight per volume of the ingredient (i.e., the density of the ingredient) and the target amount of the ingredient to be gripped and released, parameters that define the operation pattern of the articulated robot 30, and the like.

[0038] The history DB 172 stores control-related parameters acquired when the control system 1 operates and measurement data of the weight of ingredients plated by the control system 1 as operation history.

[0039] The information acquiring unit 151 acquires information detected by various sensors and various weighing scales installed in the control system 1. For example, the information acquiring unit 151 acquires distance information detected by the storage state detection sensor 41 (i.e., depth information for each pixel across the entire area of ​​the opening surface of the ingredient storage container 10). In addition, for example, the information acquiring unit 151 sequentially acquires the detection results of other containers (containers that have been filled by other articulated robots 30) on the conveyance surface by the container detection sensor 42. In addition, for example, the information acquisition unit 151 sequentially acquires data on the weight of the ingredient storage container 10 and the stored ingredient detected by the ingredient weight meter 50. In this way, the sensor information notified to the information acquisition unit 151 is used as appropriate by other functional blocks included in the control device 70.

[0040] The articulated robot control unit 152 controls the operation of the articulated robot 30, and causes the articulated robot 30 to perform a series of operations for arranging ingredients in accordance with the operation patterns defined in the control system 1. For example, the articulated robot control unit 152 causes the articulated robot 30 to perform an operation of gripping an ingredient with the gripping mechanism 31 of the articulated robot 30 (a gripping operation), an operation of releasing the ingredient gripped by the gripping mechanism 31 (a releasing operation), an operation of removing the ingredient attached to the gripping mechanism 31 (a removing operation), and the like. The removing operation is an operation of removing ingredients adhering to the gripping member 311 by dropping them. The removing operation is realized, for example, by moving the gripping mechanism 31 up and down or left and right. Alternatively, the ingredients may be removed by suddenly stopping the gripping mechanism 31 while moving it downward, thereby applying a downward inertial force to the ingredients. Alternatively, the ingredients may be removed by vibrating the gripping mechanism 31 slightly up and down or left and right. Alternatively, the ingredients may be removed by repeatedly opening and closing the first gripping part 311a and the second gripping part 311b so as to grip and release the ingredients without moving the robot arm 32.

[0041] The container supply control unit 153 controls the container supply device 20 to supply, to the serving position P1, containers for serving ingredients to be served in the control system 1. The container supply control unit 153 also controls the container supply device 20 to push out the containers that have already been served with ingredients onto the conveying surface at a timing when the container detection sensor 42 has not detected other containers (containers that have already been served by other articulated robots 30) being conveyed on the conveying surface.

[0042] The recording control unit 154 stores, in the history DB 172, parameters related to control acquired when the control system 1 performs a gripping operation or the like, and measurement data such as the weight of ingredients arranged by the control system 1. This data is used as log data or the like for the administrator of the control system 1 to analyze the operation of the control system 1.

[0043] [Control of the Articulated Robot 30 During Operation] Next, we will explain the control during the operation of the articulated robot 30, such as the gripping operation and release operation, performed by the articulated robot control unit 152. Note that the state of the gripping member 311 during each operation is as described above with reference to FIG. 6 and 7 are schematic diagrams showing the control status regarding the operation of the articulated robot 30. In these figures, the ingredient storage container 10 and the container wall are shown in a see-through manner to clarify the operation. Furthermore, since a large amount of ingredients is stored in the storage space of the ingredient storage container 10, this large amount of ingredients will be referred to as a "group of ingredients" hereinafter. As described above, in this embodiment, as an example, broccoli cut into small florets is stored in the ingredient storage container 10.

[0044] 6(a), the articulated robot control unit 152 first moves the gripping mechanism 31 (only the gripping member 311 is shown in the figure) to the target position where the current gripping will be performed, and then lowers it toward the group of ingredients. Then, the articulated robot control unit 152 causes the gripping member 311 to perform the gripping.

[0045] When performing gripping in this manner, the articulated robot control unit 152 determines in advance the height of the surface of the ingredients at each position within the ingredient storage container 10 based on distance information detected by the storage state detection sensor 41. Therefore, the articulated robot control unit 152 inserts the gripping members 311 into the group of ingredients a predetermined depth from this height to perform gripping. This predetermined depth can be set in advance based on the density of the ingredients, the properties of the ingredients (viscosity, etc.), the number and shape of the gripping members 311 that will perform gripping, the target amount (here, the target weight) to be targeted for gripping and releasing, and the like. By setting the insertion depth in this manner in advance, the gripping members 311 can grip ingredients of a weight equal to or close to the target amount. Instead of setting the depth in advance, the articulated robot control unit 152 may calculate the depth of insertion using the values ​​detected by each sensor and each weighing scale as parameters (variables). Alternatively, a learning model may be constructed in advance by performing machine learning based on past gripping performance values, etc., and the depth of insertion may be determined using this learning model.

[0046] When the gripping member 311 grips an ingredient, the articulated robot control unit 152 determines the weight of the ingredient currently being gripped by the gripping member 311 based on the change in weight before and after gripping detected by the ingredient weight meter 50. The articulated robot control unit 152 then compares the weight of the ingredient being held with the target amount to determine whether they match. Note that even if the weight of the ingredient being held does not perfectly match the target amount, it may be treated as matching as long as it is within an error range of a few percent.

[0047] If the amount matches the target amount, the ingredients are released into the container and the process ends. However, as shown in Figure 6(b), if the amount does not match the target amount (here, an example is when there is an insufficient amount, but there could also be an excess), the ingredients must be grasped again. For this reason, as shown in FIG. 6(c), the articulated robot control unit 152 releases the gripped ingredients at that position without moving the gripping member 313. As a result, the released ingredients return to the ingredient storage container 10 and are stored again as part of the group of ingredients. However, even if gripping and releasing are performed at the same position in this way, the state of the group of ingredients (for example, the amount of ingredients remaining in each area, the roughness (unevenness) of the surface, etc.) generally returns to the original state before gripping. In particular, in the case of solid ingredients that maintain a certain size, such as broccoli cut into small florets, as in this embodiment, it is thought that there is a strong tendency for them to return to their original state.

[0048] Therefore, even if the same target position is grasped again as in the prior art, there is a high possibility that the amount will not match the target amount, just like the first time the grasping is performed. As a result, the grasping process will be repeated many times until the grasping is finally successful. Or, even if the grasping is repeated, the same ingredient will be grasped over and over again, and as a result, the target amount will not be grasped. Therefore, in this embodiment, a position different from the target position where grasping was performed in FIG. 6(a) is set as a new target position, and grasping is performed again. For this purpose, the articulated robot control unit 152 moves the gripping member 311 to a new target position after the release and lowers it toward the group of ingredients, as shown in Fig. 7(d). Then, the articulated robot control unit 152 causes the gripping member 311 to perform gripping.

[0049] Then, as shown in Figure 7(e), when the ingredient is grasped by the grasping member 311, the articulated robot control unit 152 determines the weight of the ingredient currently being grasped by the grasping member 311 based on the change in weight before and after grasping detected by the ingredient weight meter 50. Furthermore, the articulated robot control unit 152 compares the weight of the ingredient being held with the target amount to determine whether or not the two match.

[0050] If the amount matches the target amount, the articulated robot control unit 152 moves the gripping mechanism 31 above the container and releases the gripped ingredients into the container, completing the series of operations, as shown in Fig. 7(f). On the other hand, if the amount does not match the target amount (here, as an example, if there is an insufficient amount), the new target position is changed to a different position and the operations of Fig. 6(c), Fig. 7(d), and Fig. 7(e) are repeated. By operating in this manner, the weight of the gripped ingredient finally matches the target amount. Then, as shown in Fig. 7(f), the articulated robot control unit 152 moves the gripping mechanism 31 above the container and releases the gripped ingredient into the container, thereby completing the series of operations.

[0051] According to the control of this embodiment described above, the gripping member 311 is caused to hold the ingredient at the target position, and if the amount of ingredient held by the gripping member 311 detected by the ingredient weight meter 50 does not match the target amount to be held, the ingredient held by the gripping member 311 is released and the gripping member 311 is caused to hold the ingredient again at a new target position. In other words, according to this embodiment, the target position is changed each time gripping is redone. In this regard, as shown in FIG. 7(c), even if the grasped ingredient is released at the target position, it is highly likely that it will return to its original state. In particular, ingredients that have maintained a certain size are likely to return to their original state. Therefore, even if attempting to grasp at the same target position, there may be a small amount of ingredients remaining in the group to begin with, and even if the insertion depth of the grasping member 311 is adjusted, it is unlikely that the ingredient that matches the target amount can be grasped. Furthermore, in the case of solid ingredients, even if the insertion depth is adjusted, it is difficult to precisely adjust or finely adjust the amount of ingredients to be grasped. This is because solid ingredients are difficult to cut by the grasping action of the grasping member 311, so they are grasped in units of a certain number. In view of this situation, in this embodiment, the target position is changed to a new target position each time a grip is performed, as described above. This allows the grip to be performed at a position that is likely to match the target amount, rather than a position that is unlikely to match the target amount, when a grip is performed again. Therefore, according to this embodiment, the problem to be solved by the present invention, which is to "further increase the possibility that a target amount of objects can be held by a robot," can be solved.

[0052] In addition, in this embodiment, the remaining amount of ingredients in each area of ​​the ingredient storage container 10 and the roughness (unevenness) of the surface are previously determined based on the distance information detected by the storage state detection sensor 41. Then, by selecting the target position to be grasped based on the determined state of the ingredients, the possibility of holding the target amount of ingredients can be improved. However, when repeatedly grasping the same target position as in the conventional technology, the surface of the ingredient is roughened by the first grasping on the second and subsequent graspings. In addition, the second and subsequent graspings are performed without depth information being recognized in advance, rather than in a state where depth information has been recognized in advance. Therefore, the possibility of holding the target amount of ingredient is likely to be lower than the first grasping. In contrast, in this embodiment, by changing the target position each time the object is grasped again, a position where the depth information has already been recognized and where there is a high possibility that the target amount of ingredients will be held can be selected as the new target position, thereby more significantly improving the possibility of holding the target amount of ingredients.

[0053] As another method, the storage state detection sensor 41 can acquire depth information again before gripping again. However, the storage state detection sensor 41 is a device that optically captures images from above the gripping mechanism 31 and the ingredient storage container 10. Therefore, in order to acquire depth information again, the gripping mechanism 31 must be temporarily retracted from the target position where gripping failed, and the storage state detection sensor 41 must capture images again. In this case, time is required for moving the gripping mechanism 31 and for the storage state detection sensor 41 to capture images, reducing work efficiency. For this reason, it is beneficial to change the target position each time gripping is performed, as in the present embodiment, so that gripping can be performed from a more reliable position where depth information can already be recognized. From the above various perspectives, it is clearer that this embodiment can solve the problem to be solved by the present invention, which is to "further improve the possibility of a robot holding a target amount of objects."

[0054] [Overall operation] Next, the overall operation of the control system 1 will be described. 8 is a flowchart showing the flow of the ingredient plating process executed by the control system 1. The ingredient plating process is started, for example, when an operator performs an operation to start the ingredient plating process.

[0055] When the ingredient plating process is started, in step S11, the articulated robot control unit 152 reads operation data for executing a series of operations in the ingredient plating process (for example, operation pattern data, data on the position and shape of the ingredient storage container 10, etc.) from the parameter storage unit 171. This makes preparations for carrying out the gripping operation, release operation, and removal operation described above.

[0056] In step S12, the articulated robot control unit 152 moves the gripping mechanism 31 to a standby position above the target position of the ingredient-accommodating container 10. In step S13, the articulated robot control unit 152 causes the gripping member 311 to grip the group of ingredients in the ingredient-accommodating container 10.

[0057] In step S14, the articulated robot control unit 152 determines whether the weight of the ingredient being held matches the target amount. If it matches the target amount, step S14 returns Yes, and the process proceeds to step S17. On the other hand, if it does not match the target amount, step S14 returns No, and the process proceeds to step S15.

[0058] In step S15, the articulated robot control unit 152 causes the gripping mechanism 31 to release the gripped ingredient without moving it. In step S16, the articulated robot control unit 152 sets a position different from the target position where the gripping was performed in this step S13 as a new target position, and moves the gripping mechanism 31 to this new target position. Thereafter, the process returns to step S13, and the articulated robot control unit 152 causes the gripping member 311 to grip the group of ingredients in the ingredient-storing container 10 at this new target position, and the process is repeated.

[0059] In step S17, the articulated robot control unit 152 moves the gripping mechanism 31 above the container. In step S18, the articulated robot control unit 152 causes the gripping mechanism 31 to release the ingredients into the container.

[0060] In step S19, the articulated robot control section 152 moves the gripping mechanism 31 to a standby position above the ingredient-accommodating container 10, and keeps it on standby there. In step S20, the record control unit 154 stores in the history DB 172 the control-related parameters acquired in the ingredient plating process and the measurement data (history data) of the weight of the plated ingredients.

[0061] In step S21, the articulated robot control unit 152 determines whether or not a condition for ending the ingredient plating process has been met. In this case, the condition for ending the ingredient plating process is that ingredients have been plated into the planned number of containers or that an operator has performed an operation to end the ingredient plating process. If the conditions for terminating the ingredient plating process are not met, the determination in step S21 is No, and the process is repeated from step S13. On the other hand, if the conditions for terminating the ingredient plating process are met, the determination in step S21 is Yes, and the ingredient plating process ends.

[0062] According to the ingredient plating process described above, it is possible to realize the operations described above with reference to Figures 6 and 7. Furthermore, the various advantageous effects described above with reference to Figures 6 and 7 are achieved.

[0063] [Variations] Although the embodiments of the present invention have been described above, these embodiments are merely examples and do not limit the technical scope of the present invention. The present invention can be embodied in various other embodiments without departing from the spirit of the present invention, and various modifications such as omissions and substitutions can be made. For example, not only can any of the modifications described below be applied to the embodiments of the present invention, but also some or all of the modifications described below can be appropriately combined and applied to the embodiments of the present invention.

[0064] [Variation 1] In the above-described embodiment, gripping and releasing are performed using gripping member 311 having the shape shown in Fig. 2. However, gripping member 311 having another shape may be used. Fig. 9 is a perspective view showing the configuration of gripping member 311A, which is an example of another gripping member 311. As shown in Fig. 9, gripping member 311A ​​includes first gripping portion 311Aa and second gripping portion 311Ab. The gripping member 311A ​​has roughly the same shape as the gripping member 311 of the above-described embodiment, and the opening and closing mechanism is also the same. However, unlike the gripping member 311 of the above-described embodiment, the gripping member 311A ​​does not have a slit (i.e., a narrow gap). Therefore, the gripping space formed by the gripping member 311A ​​is a closed space by the first gripping portion 311Aa and the second gripping portion 311Ab, which are plate-like members, and the ingredients do not spill out. Such a gripping member 311A ​​is suitable for gripping a paste salad such as potato salad, or a small ingredient such as udon noodles that may spill out of the slits.

[0065] Furthermore, gripping member 311A ​​is merely one example. Grip members of other shapes can also be used as gripping member 311. For example, gripping member 311 can be a gripping member that includes a plurality of members, such as plate-shaped members, rod-shaped members, or linear members such as wire, and that grips an ingredient by sandwiching the ingredient between the plurality of members. In this case, the plurality of members may each have the same shape or different shapes. Furthermore, for example, a member that attracts an object by suction or a member that attracts an object by electromagnetism can be used instead of the gripping member 311. That is, various members capable of realizing holding can be used in place of the gripping member 311. Furthermore, a plurality of gripping members 311 may be arranged in one gripping mechanism 31, and these gripping members 311 may grip simultaneously or at different times. In such a configuration, if the gripping amount does not match the target amount, some or all of the gripping members 311 may perform a gripping operation again while changing the new target position to a different position.

[0066] [Variation 2] In the above-described embodiment, as shown in FIG. 7(d), the target position is moved to a new position and then gripping is performed again. This new target position is, for example, a position adjacent to the target position where gripping failed. That is, the new target position can be determined by shifting the opening surface of the ingredient-accommodating container 10. In this case, the direction of shifting can be determined arbitrarily. For example, if the opening surface of the ingredient-accommodating container 10 is rectangular, the direction of shifting may be the longitudinal direction, the lateral direction, or a diagonal direction intersecting both the longitudinal and lateral directions. In either case, once the shift reaches the edge region of the container, it is preferable to shift in a different direction thereafter. Furthermore, instead of shifting uniformly based on a certain rule in this way, the depth information acquired by the storage state detection sensor 41 may be analyzed, and a position determined to have a high possibility of being grasped may be set as the new target position. Alternatively, the shift is basically based on a certain rule, but the depth information acquired by the storage state detection sensor 41 may be analyzed, and a shift may be made by skipping positions determined to have a low possibility of being grasped. In either case, the direction of displacement may be the same as the opening and closing direction of the gripping member 311, or may be a direction different from the opening and closing direction of the gripping member 311.

[0067] [Variation 3] In the above-described embodiment, the weight of the ingredient held by the gripping member 311 is determined based on the change in weight detected by the ingredient weight meter 50, and compared to determine whether it matches the target amount. However, this is not limiting, and a load cell or force sensor may be disposed in the gripping member 313. The load cell or force sensor may then be used to determine the weight of the ingredient held by the gripping member 311, and compared to determine whether it matches the target amount. This makes it possible to omit the ingredient weight meter 50. This also increases the degree of freedom in the location where the ingredient storage container 10 is installed.

[0068] [Variation 4] In the above-described embodiment, the determination is made by comparing the target amount with the weight of the ingredients. However, the determination is not limited to this, and the target amount may be compared with the amount of the ingredients from another perspective. 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 and number of ingredients can be determined, for example, by photographing the ingredients that are grasped or released with a camera and analyzing the photographed image using a technique such as machine learning.

[0069] [Configuration example] As described above, the control system 1 in this embodiment includes the articulated robot 30, the ingredient weight scale 50, and the control device . The articulated robot 30 has a gripping member 311 that holds the ingredient. The ingredient weight meter 50 detects the amount held by the gripping member 311. The control device 70 controls the articulated robot 30 . The control device 70 The gripping member 311 is caused to hold the ingredient at the target position, When there is a difference between the amount of ingredients held by the gripping member 311 detected by the ingredient weight meter 50 and the target amount to be held, the ingredient held by the gripping member 311 is released, causing the gripping member 311 to hold the ingredient again at a new target position; The articulated robot 30 is controlled in this manner.

[0070] The control device 70 When the gripping member 311 is made to hold the ingredient again at a new target position, if there is a difference between the amount of ingredient held by the gripping member 311 detected by the ingredient weight meter 50 and the target amount, A position different from the new target position is set as a new target position, and control is repeated to cause the gripping members 311 to hold the ingredient again at the new target position.

[0071] The ingredients are solids.

[0072] The control device 70 determines the depth of the group of ingredients, and determines the position of the new target position based on the determination result.

[0073] The control system 1 further includes a storage state detection sensor 41 . The storage state detection sensor 41 optically detects the state of the ingredients at the target position and the new target position. The storage state detection sensor 41 is disposed above the storage position of the ingredients and the position where the articulated robot 30 is disposed. The control device 70 controls the articulated robot 30 based on the detection result of the storage state detection sensor 41.

[0074] The control device 70 Based on the detection result of the storage state detection sensor 41, a position where the amount of ingredients is greater than a predetermined amount is determined as a new target position, and a position where the amount of ingredients is less than the predetermined amount is not determined as a new target position.

[0075] The above-described embodiment and modifications are merely examples of embodiments of the present invention, and various embodiments that realize the functions of the present invention are included in the scope of the present invention. For example, in the above-described embodiment and modified examples, the present invention has been described as being applied to a control system for serving prepared foods, but the present invention can also be applied to systems for gripping various objects. For example, the present invention can be applied to systems for gripping highly viscous or adhesive materials such as kneaded mortar, concrete, plaster, and clay. The present invention is suitable for gripping objects with a viscosity of at least medium (5000 mPa·s) at working temperature or room temperature. Furthermore, the examples described in the above-described embodiments can be combined as appropriate to implement the present invention. The above-described series of processes can be executed by hardware or software. In other words, the functional configuration in Fig. 5 is merely an example and is not particularly limited. That is, it is sufficient for the control system 1 to be provided with a function that can execute the above-described series of processes as a whole, and the type of functional block used to realize this function is not particularly limited to the example in Fig. 5. Furthermore, one functional block may be configured as a single piece of hardware, a single piece of software, or a combination thereof.

[0076] When a series of processes is executed by software, the programs that make up the software are installed into a computer or the like from a network or a recording medium. The computer may be a computer built into dedicated hardware, or may be a computer capable of executing various functions by installing various programs, such as a general-purpose personal computer.

[0077] The storage medium for storing the program may be a removable medium distributed separately from the device itself, or may be a storage medium pre-installed in the device itself. Removable media may be, for example, a magnetic disk, an optical disk, a magneto-optical disk, or a flash memory. Optical disks may be, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), or Blu-ray Discs (registered trademarks). Magneto-optical disks may be, for example, MDs (Mini-Disks). Flash memories may be, for example, USB (Universal Serial Bus) memories or SD cards. Storage media pre-installed in the device itself may be, for example, a ROM, SSD, HDD, or the like in which the program is stored.

[0078] In this specification, the steps describing the program to be recorded on the recording medium include not only processes that are performed in chronological order, but also processes that are not necessarily performed in chronological order but are performed in parallel or individually. In addition, in this specification, the term "system" refers to an overall device that is made up of a plurality of devices, a plurality of means, etc.

[0079] The above-described embodiment shows an example of application of the present invention and does not limit the technical scope of the present invention. In other words, the present invention can be modified in various ways, such as by omission or substitution, without departing from the spirit of the present invention, and various embodiments other than the above-described embodiment can be adopted. The various embodiments and modifications that the present invention can adopt are included in the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0080] 1 Control system, 2 Belt conveyor, 10 Ingredient storage container, 20 Container supply device, 21 Extrusion mechanism, 30 Articulated robot, 31 Grip mechanism, 311 Grip member, 311a First gripping unit, 311b Second gripping unit, 32 Robot arm, 41 Storage state detection sensor, 42 Container detection sensor, 50 Ingredient weight 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 memory unit, 172 History database (history DB), 711 CPU, 712 ROM, 713 RAM, 714 Bus, 715 Input unit, 716 Output unit, 717 Memory unit, 718 Communication unit, 719 Drive, 731 Removable media

Claims

1. A robot having a holding member that holds an object at a target position in a location where the object exists; a detection means for detecting the amount held by the holding member; a control means for controlling the robot; Equipped with The control means causing the holding member to hold the object at the target position; when there is a difference between the amount of the object held by the holding member detected by the detection means and a target amount to be held, the object held by the holding member is released at a location where the object is present without moving the holding member to a location where a release position is present, causing the holding member to hold the object again at a new target position; and controlling the robot so that A control system comprising:

2. The control means When the amount of the object held by the holding member detected by the detection means is within a range of a target amount to be held, the holding member is moved from a location where the object exists to a location where the release position exists, and the object held by the holding member is released at the release position.

2. The control system of claim 1.

3. The control means When the holding member is made to hold the object again at the new target position, if there is a difference between the amount of the object held by the holding member detected by the detection means and the target amount, a position different from the new target position is set as a new target position, and control is repeated to cause the holding member to hold the object again at the new target position.

3. A control system according to claim 1 or 2.

4. the control means determines the height of the group of objects, and determines the position of the new object position according to the determination result; 3. A control system according to claim 1 or 2.

5. a state detection means for optically detecting a state of the object at the target position and the new target position; the state detection means is disposed above a storage position of the object and an arrangement position of the robot, the control means controls the robot based on the detection result of the state detection means.

3. A control system according to claim 1 or 2.

6. The control means a position where the amount of the object is greater than a predetermined amount based on the detection result of the state detection means, is determined as the new target position, and a position where the amount of the object is less than the predetermined amount is not determined as the new target position.

6. The control system of claim 5.

7. A control method performed by a computer that controls a system including a robot having a holding member that holds an object at any target position in a location where the object exists, and a detection means that detects the amount held by the holding member, comprising: causing the holding member to hold the object at the target position; when there is a difference between the amount of the object held by the holding member detected by the detection means and a target amount to be held, the object held by the holding member is released at a location where the object is present without moving the holding member to a location where a release position is present, causing the holding member to hold the object again at a new target position; A control method comprising:

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