Control system and control program

Abstract

To further improve the accuracy of matching the amount of a released object with a target amount. [Solution] The control system 1 includes a gripping mechanism 31, a control device 70, and a second weighing scale 52 or a serving state detection sensor 42. The gripping mechanism 31 grips ingredients and releases the gripped ingredients. The control device 70 controls the operation of the gripping mechanism 31. The second weighing scale 52 or the serving state detection sensor 42 detects the state of the ingredients released by the gripping mechanism 31. The control device 70 determines whether to control the gripping mechanism 31 to grip the released ingredients again, based on the state of the released ingredients detected by the second weighing scale 52 or the serving state detection sensor 42.

Description

[Technical Field]

[0001] The present invention relates to a control system and a control program. [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 technology relating to such a robot is disclosed in, for example, Patent Document 1. In the technology disclosed in Patent Document 1, when a robot holds an object, it detects the amount of the object it is holding. If the detected amount is more than the target amount to be released, the robot drops the excess amount, then moves to the release destination, and releases the object. This allows for highly accurate control of the robot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6978023 Summary of the Invention [Problem to be solved by the invention]

[0005] In the prior art disclosed in the above-mentioned Patent Document 1, control is performed based on the amount of the object being held. However, there may be other objects attached to the holding member in addition to the held object. Also, the amount of held objects may not always be detected with high accuracy. Furthermore, some of the held or attached objects may fall or scatter while being transported to the release destination, causing the amount to fluctuate. Considering such a situation, even if control is performed based on the amount of held objects, the amount of objects released to the release destination does not necessarily match the target amount.

[0006] That is, in the prior art, the accuracy is not sufficient in terms of matching the amount of the target object to be released with the target amount. Furthermore, this problem is not limited to cases where the object is food as disclosed in Patent Document 1, but is common to a wide variety of fields where holding is performed by robots, such as industrial fields. Furthermore, the holding method used by robots is not limited to means for holding an 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.

[0007] An object of the present invention is to further improve the accuracy with which the amount of the target object to be released matches the target amount. [Means for solving the problem]

[0008] In order to solve the above problem, a control system according to one embodiment of the present invention comprises: a holding mechanism that holds an object and releases the held object; a control means for controlling the operation of the holding mechanism; a detection means for detecting a state of the object released by the holding mechanism; Equipped with The control means determining whether to control the holding mechanism to hold the released object again based on the state of the released object detected by the detection means; It is characterized by: [Effects of the Invention]

[0009] According to the present invention, it is possible to further improve the accuracy with which the amount of the target object to be released matches the target amount. [Brief explanation of the drawings]

[0010] [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 mechanism 31. [Figure 3] 10A and 10B are schematic diagrams showing the state of the gripping member 313 when gripping, releasing, and removing an ingredient. [Figure 4] 10A and 10B are schematic diagrams showing the state of the gripping member 313 when gripping, releasing, and removing an ingredient. [Figure 5] FIG. 2 is a schematic diagram showing the hardware configuration of a control device 70. [Figure 6] FIG. 2 is a block diagram showing the functional configuration of a control device 70. [Figure 7] 10A to 10C are schematic diagrams showing the movement of the gripping mechanism 31 when performing a gripping operation, a release operation, and an excess processing operation. [Figure 8] 10A to 10C are schematic diagrams showing the movement of the gripping mechanism 31 when performing a gripping operation, a release operation, and an excess processing operation. [Figure 9] 10 is a flowchart showing the flow of an ingredient plating process executed by the control system 1. [Figure 10] 10 is a schematic diagram showing the floating of the container when the surplus ingredients are grasped. FIG. [Figure 11] 13 is a schematic diagram showing a mechanism for suppressing the floating of a container in Modification 3. FIG. [Figure 12] 13 is a schematic diagram showing a mechanism for suppressing the floating of a container in Modification 3. FIG. [Figure 13] 13 is a schematic diagram showing a mechanism for suppressing the floating of a container in Modification 3. FIG. [Figure 14] FIG. 10 is a schematic diagram showing control in Modification 4 in which only excess serving ingredients are gripped by using some of the gripping members 313. DETAILED DESCRIPTION OF THE INVENTION

[0011] 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.

[0012] 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.

[0013] 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 serving state detection sensor 42, a container detection sensor 43, a first weighing scale 51, a second weighing scale 52, a base 60, casters 61, and a control device 70. Of these, the container supply device 20, the articulated robot 30, the storage state detection sensor 41, the serving state detection sensor 42, the container detection sensor 43, the first weighing scale 51, the second weighing scale 52, and the control device 70 are connected by wire or wireless communication and are able to communicate with each other.

[0014] 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.

[0015] 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.

[0016] 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, fern springs, buttered corn, noodles, croquettes, and fried chicken. 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.

[0017] In the control system 1, the container supplying device 20 supplies containers to a predetermined serving position where ingredients are to be served (here, the position where the second weighing scale 52 in FIG. 1 is located). A large number of containers are stored vertically inside the container supply device 20. When the control system 1 starts operation, the container supply device 20 supplies the containers one by one to the serving position. In response, the articulated robot 30 releases the ingredients, and the released ingredients are placed in the containers supplied to the serving position. Then, the push-out mechanism 21 provided in the container supply device 20 pushes the filled containers onto the conveying surface of the belt conveyor 2. As a result, the filled containers are transported downstream by the belt conveyor 2.

[0018] Furthermore, a container detection sensor 43 is disposed near the position where the push-out mechanism 21 pushes out the container onto the belt conveyor 2. The container detection sensor 43 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 43 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] The serving state detection sensor 42 is a sensor that detects the serving state of the container in which the ingredients are served and the operating status of the gripping mechanism 31. Like the storage state detection sensor 41, the serving state detection sensor 42 is realized, for example, by a depth camera that can detect the distance to the subject. In this case, the angle of view of the serving state detection sensor 42 is set to, for example, an angle of view that can capture the entire area of ​​the opening surface of the container in which the ingredients are served and the operating status of the gripping mechanism 31 that serves the ingredients in the container. The control device 70 can analyze the distance information detected by the presentation state detection sensor 42 (i.e., pixel-by-pixel depth information for the entire area of ​​the opening surface of the container in which the ingredients are presented, and depth information of the gripping mechanism 31 regarding the behavior of the gripping mechanism 31) to determine the presentation state of the ingredients in each area within the container in which the ingredients are presented, the operating status of the gripping mechanism 31, etc.

[0023] As described above, the container detection sensor 43 is a sensor that detects containers being transported on the transport surface of the belt conveyor 2. The container detection sensor 43 is realized, for example, by an optical sensor (also referred to as a photodetector). The container detection sensor 43 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 43.

[0024] Both first weighing scale 51 and second weighing scale 52 are devices that detect the weight of an object. First weighing scale 51 and second weighing scale 52 are realized by weighing scales that measure weight using strain gauges, for example. Here, the first weighing scale 51 is placed at a position where the ingredient-storing container 10 is placed. The first weighing scale 51 detects the weight of the ingredient-storing container 10 itself and the weight of the ingredients stored in the ingredient-storing container 10. Based on the detection value of this first weight scale 51, 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.

[0025] Second weighing scale 52 is placed at a predetermined serving position where ingredients are served in control system 1. Second weighing scale 52 detects the weight of the container itself supplied to this serving position and the weight of the ingredients released and served in this container. The control device 70 can determine the total weight of the ingredients released and served in the container based on the detection value of the second weighing scale 52. The control device 70 can also determine, based on the detection value of the second weighing scale 52, whether the container has been supplied to the serving position or not, and whether the container with the ingredients served has been pushed onto the conveying surface of the belt conveyor 2 or not.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] [Configuration of gripping mechanism 31] 2 is a perspective view showing the configuration of the gripping mechanism 31. As shown in FIG. 2, the gripping mechanism 31 includes a connecting portion 311, a plurality of air cylinders 312, and a plurality of gripping members 313. The gripping mechanism 31 having such a configuration is attached to the robot arm 32, whereby it is supported by the robot arm 32 and moves in accordance with the movement of the robot arm 32.

[0032] The connecting portion 311 is a substantially plate-shaped member, and is connected to each of the plurality of air cylinders 312. The top surface of the connecting portion 311 is attached to the robot arm 32. The plurality of air cylinders 312 are drive mechanisms that can move linearly back and forth in the vertical direction (that is, upward and downward). A plurality of gripping members 313 are attached to the plurality of air cylinders 312, respectively.

[0033] The multiple gripping members 313 are parts that grip the ingredients by coming into contact with the ingredients. Here, each of the multiple gripping members 313 can grip (i.e., hold) the ingredients independently. In other words, the configuration of the gripping mechanism 31 is such that multiple gripping members that can grip the ingredients independently are arranged for one gripping mechanism.

[0034] In the drawing, as an example of the configuration of the gripping mechanism 31, four air cylinders 312 are arranged so that their longitudinal directions extend vertically below the connecting portion 311. Four gripping members 313 are arranged so that their longitudinal directions extend vertically downward corresponding to the four air cylinders 312. In other words, the four gripping members 313 are arranged in a single row in the horizontal direction. However, this is just one example of a suitable arrangement, and the arrangement and number of gripping members 313 can be changed as desired depending on the environment in which this embodiment is implemented. In addition, although the gripping members 313 are arranged so that their opening and closing directions are the same in the drawing, this is not limited to this. For example, the gripping members 313 may be arranged so that the opening and closing direction of the first gripping member and the opening and closing direction of the second gripping member intersect. As an example, the multiple gripping members 313 may be arranged so that the opening and closing direction of the first gripping member and the opening and closing direction of the second gripping member are orthogonal in the horizontal plane (i.e., the opening and closing directions of the two gripping members differ by 90 degrees in the horizontal plane).

[0035] In this arrangement, the gripping member 313 includes a first gripping portion 313a and a second gripping portion 313b. The first gripping portion 313a and the second gripping portion 313b are each wire-like and have a closed loop shape at the tip. The gripping member 313 also includes a pin cylinder (not shown) inside. When the pin cylinder is driven, the first gripping portion 313a moves to open and close. In contrast, the second gripping portion 313b does not move and maintains its position. Then, as the tip of first gripping portion 313a and the tip of second gripping portion 313b approach each other, gripping member 313 enters a closed state and can grip the ingredient. On the other hand, as the tip of first gripping portion 313a and the tip of second gripping portion 313b move away from each other, gripping member 313 enters an open state and can release the gripped ingredient.

[0036] Furthermore, the gripping mechanism 31 can move the position of each of the multiple gripping members 313 up and down by controlling the drive of the air cylinder 312. This position is a relative position with respect to the connecting portion 311. In other words, it is possible to control some or all of the gripping members 313 to move to a position closer to the connecting portion 311 (i.e., a raised position), or to control some or all of the gripping members 313 to move to a position farther away from the connecting portion 311 (i.e., a lowered position). Therefore, for example, it is possible to move some of the gripping members 313 to a higher position relative to the connecting portion 311, while moving other gripping members 313 to a lower position relative to the connecting portion 311.

[0037] In other words, this corresponds to the relative movement of the position of one gripping member 313 with the position of another gripping member 313. Hereinafter, this movement of the position of at least some of the gripping members 313 relative to the connecting portion 311 or the other gripping members 313 will be simply referred to as "relative movement." In this embodiment, by moving the gripping members 313 relative to one another, it is possible to increase the degree of freedom in operation in a configuration in which multiple gripping members 313 are arranged relative to one gripping mechanism 31.

[0038] 3 and 4 are schematic diagrams showing the state of the gripping member 313 when gripping, releasing, and removing an ingredient. 3 and 4 show the gripping member 313 as viewed from a direction perpendicular to the opening and closing direction of the gripping member 313. When viewed from this direction, the second gripping portion 313b has a shape that extends vertically downward in a straight line. On the other hand, the first gripping portion 313a has a shape that is bent such that its central portion is away from the second gripping portion 313b. This bent shape allows the gripping member 313 to grip more ingredients than a shape that extends straight.

[0039] However, this is merely one example. Alternatively, depending on the specific shape and characteristics, first gripping portion 313a may have a shape that extends vertically downward in a straight line, similar to second gripping portion 313b. Alternatively, second gripping portion 313b may have a shape in which its central portion is bent so as to move away from first gripping portion 313a, similar to first gripping portion 313a. In other words, the central portions of both second gripping portion 313b and first gripping portion 313a may have shapes that are bent so as to move away from each other.

[0040] When a gripping operation is performed, first, as shown in Fig. 3(a), the gripping member 313 descends toward the ingredient-accommodating container 10 and penetrates into the group of ingredients accommodated in the ingredient-accommodating container 10. Then, the gripping member 313 attempts to grip the ingredients by pinching them between the first gripping portion 313a and the second gripping portion 313b. In this case, no reaction force from the ingredients acts on the first gripping portion 313a and the second gripping portion 313b, and the shape is maintained.

[0041] Next, as shown in FIG. 3(b), the first gripping portion 313a and the second gripping portion 313b approach each other, and then these two gripping portions close together, thereby performing a gripping operation. At this time, a reaction force from the ingredients acts on these gripping portions. In response, the first gripping portion 313a and the second gripping portion 313b elastically deform into a shape suitable for gripping the ingredients. For example, they elastically deform into a shape that matches the shape of the ingredient to be gripped or a shape that encloses multiple ingredients. This makes it possible to grip the ingredients securely.

[0042] The gripping mechanism 31 grips the ingredients with the gripping members 313 and moves to the position of the container to which the ingredients are to be released (the serving position) to release the ingredients. Then, as shown in Fig. 4(c), the first gripping part 313a and the second gripping part 313b move away from each other, and the two gripping parts open, thereby executing the release operation. The released ingredients fall straight down and are placed in a container. The first gripping portion 313a and the second gripping portion 313b are formed of an elastically deformable material such as spring steel. Spring steel has the property of returning to its original shape before elastic deformation when it is not subjected to a reaction force. Therefore, after the ingredients are released, the container returns to its original shape before elastic deformation, as shown in FIG. 3(a), making it possible to use it repeatedly.

[0043] Furthermore, when the ingredients are released, there is a risk that some of the ingredients will adhere to the first gripping portion 313a and the second gripping portion 313b due to their properties. In particular, ingredients with properties such as viscous or sticky ingredients, ingredients with a lot of oil or water, and long ingredients that tend to cling to the food are prone to adhesion. Examples of viscous or sticky ingredients include paste salads such as potato salad. Examples of ingredients with a lot of oil or water include vegetables tossed in dressing and noodles with sauce. Examples of long ingredients that tend to cling to the food include bean sprouts, stir-fried burdock root, and noodles such as spaghetti. In this case, even if the target amount to be served is grasped at the grasping stage, the amount actually served after release will be less than the target amount. In such a case, as shown in Figure 4(d), it is preferable to perform a removal operation by moving the first gripping part 313a and the second gripping part 313b to remove the adhering ingredients and drop them onto the container.

[0044] One possible method for performing this removal operation is to move the gripping mechanism 31 using the robot arm 32, for example. In this case, removal may be performed by moving the gripping mechanism 31 up and down or left and right. Alternatively, removal may be performed by moving the gripping mechanism 31 downward and then suddenly stopping it to apply a downward inertial force to the ingredient. Alternatively, removal may be performed by vibrating the gripping mechanism 31 slightly up and down or left and right. Alternatively, the robot arm 32 may be gripped and released without moving, and the first gripping portion 313a and the second gripping portion 313b may be repeatedly opened and closed to remove the object. Alternatively, as described above, removal may be performed by driving the air cylinder 312 to move the first gripping portion 313a and the second gripping portion 313b up and down or by vibrating them.

[0045] In this embodiment, the articulated robot 30 is controlled more appropriately by having the gripping mechanism 31 perform the operations described with reference to FIGS.

[0046] [Hardware configuration of the control device 70] FIG. 5 is a schematic diagram showing the hardware configuration of the control device 70. As shown in FIG. As shown in FIG. 5, 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] [Functional configuration] Next, the functional configuration of the control device 70 will be described. FIG. 6 is a block diagram showing the functional configuration of the control device 70. 6, 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.

[0052] 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.

[0053] 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.

[0054] 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). Also, for example, the information acquiring unit 151 acquires distance information detected by the serving state detection sensor 42 (i.e., depth information for each pixel across the entire area of ​​the opening surface of the container in which ingredients are served, and depth information of the gripping mechanism 31 relating to the behavior of the gripping mechanism 31). Furthermore, for example, the information acquiring unit 151 sequentially acquires the detection results of other containers (containers that have been served by other articulated robots 30) on the conveyance surface by the container detection sensor 43. Additionally, for example, the information acquisition unit 151 sequentially acquires data on the weight of the ingredient storage container 10 and the stored ingredients detected by the first weighing scale 51, and the weight of the container and the ingredients served in the container measured by the second weighing scale 52. In this way, the sensor information notified to the information acquisition unit 151 is used as appropriate by other functional blocks included in the control device 70.

[0055] The articulated robot control unit 152 controls the operation of the articulated robot 30, and causes the articulated robot 30 to execute a series of operations for plating ingredients in accordance with an operation pattern defined in the control system 1. For example, the articulated robot control unit 152 causes the articulated robot 30 to execute an operation of gripping ingredients with the gripping mechanism 31 of the articulated robot 30 (gripping operation), an operation of releasing the ingredients gripped by the gripping mechanism 31 (releasing operation), an operation of removing ingredients adhering to the gripping mechanism 31 (removing operation), an operation of relatively moving the multiple gripping members 313 (relative movement operation), and, if the amount of ingredients plated in a container after release is more than the target amount, an operation of processing the surplus (surplus processing operation).

[0056] For example, when performing grasping, the articulated robot control unit 152 determines in advance the height of the surface of the ingredients at each position in 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 313 into the group of ingredients a predetermined depth from this height to perform grasping. 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 313 that will perform grasping, the target amount (here, the target weight) to be targeted for grasping and releasing, etc. By setting the insertion depth in advance in this way, the gripping members 313 can grasp 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.

[0057] The container supply control unit 153 controls the container supply device 20 to supply, to the serving position, 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 in which ingredients have been served onto the conveying surface at a timing when the container detection sensor 43 has not detected other containers being conveyed on the conveying surface (containers in which other articulated robots 30 have served).

[0058] 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.

[0059] [Control of the Articulated Robot 30 During Operation] Next, the control of the articulated robot 30 during operation by the articulated robot control unit 152 will be described.

[0060] First, as a premise, as mentioned above in the sections "Background Art" and "Problem to be Solved by the Invention," common technologies perform control based on the amount of an object being grasped. However, in reality, there may be ingredients attached to the object, the amount detected may be low in accuracy, or ingredients may fall off during movement, causing the amount to fluctuate. Considering such a situation, even if control is performed based on the amount of gripped ingredients, the amount of ingredients released to the release destination does not necessarily match the target amount.

[0061] Therefore, in this embodiment, control is performed from a different perspective than that of such general techniques. Specifically, the amount of ingredients placed in the container by the release is detected by the second weighing scale 52. If the amount of ingredients placed in the container is more than the target amount, the articulated robot control unit 152 causes the gripping mechanism 31 to execute an operation to process the excess (excess processing operation). By disposing of the excess in this manner, it is possible to match the amount of ingredients served in the container with the target amount. That is, in this embodiment, control is performed based on the amount of ingredients actually released, rather than the amount of ingredients grasped, which makes it possible to further improve the accuracy of matching the amount of the released target object with the target amount.

[0062] 7 and 8 are schematic diagrams showing the movement of the gripping mechanism 31 when performing the gripping operation, the release operation, and the surplus disposal operation. In Fig. 7 and Fig. 8, the ingredient storage container 10 and the wall surface of the container are shown in a see-through manner to clarify the situation. Furthermore, since a large amount of ingredients are accommodated in the accommodation space of the ingredient accommodation container 10, these large amounts of ingredients will be referred to as a "group of ingredients" hereinafter.

[0063] First, as shown in Fig. 7(a), the articulated robot control unit 152 lowers the gripping mechanism 31 toward the group of ingredients. Then, the articulated robot control unit 152 closes the first gripping portion 313a and the second gripping portion 313b of the gripping member 313 to perform gripping, and then raises the gripping mechanism 31. This achieves the gripping operation. Thereafter, the articulated robot control unit 152 moves the gripping mechanism 31, while still gripping the ingredient, to above the container in which the ingredient will be placed.

[0064] 7(b), the articulated robot control unit 152 executes release by opening the first gripping portion 313a and the second gripping portion 313b of the gripping member 313. As a result, the ingredients are placed in the container, and the release operation is realized. However, as described above, due to various factors such as adhesion of ingredients, the amount of ingredients released to the release destination may exceed the target amount. Therefore, the articulated robot control unit 152 determines whether the amount (here, weight) of ingredients served in the container detected by the second weighing scale 52 matches the target amount. If the amount of ingredients served in the container matches the target amount, the articulated robot control unit 152 moves the gripping mechanism 31 to a standby position above the ingredient storage container 10. This completes the series of operations.

[0065] On the other hand, if the amount of ingredients placed in the container is more than the target amount (that is, if it exceeds the target amount), an operation to process the excess is carried out. In this case, as shown in Fig. 8(c), the articulated robot control unit 152 lowers the gripping mechanism 31 toward the ingredients (served ingredients) placed in the container. Then, the articulated robot control unit 152 closes the first gripping portion 313a and the second gripping portion 313b of the gripping member 313 to perform gripping, and then raises the gripping mechanism 31. This allows the excess to be gripped and removed from the container.

[0066] In this case, the articulated robot control unit 152 needs to perform control so that only the excess amount (i.e., only a small amount) is grasped. Therefore, the depth to which the grasping member 313 is inserted into the ingredients to be served is adjusted in the same way as when grasping only the target amount of ingredients in the ingredient storage container 10. To this end, the articulated robot control unit 152 identifies the height of the surface of the ingredients in the container based on the distance information detected by the storage state detection sensor 41. Then, the articulated robot control unit 152 determines the depth to which the robot should insert the fingers into the ingredients based on the density of the ingredients, the properties of the ingredients (viscosity, etc.), the number and shape of the gripping members 313 that will grip the ingredients, the amount of excess to be gripped, etc. By determining the insertion depth in this manner, the articulated robot control unit 152 can perform control so that only the excess amount is grasped.

[0067] In this case, it is advisable to identify the surface height of the serving ingredients at each position in the container and determine the position in the container where the serving ingredients will be grasped based on this. For example, the position with the highest surface height may be the target for grasping. This ensures that the surface height of the serving ingredients after grasping is uniform overall, improving the appearance of the serving ingredients.

[0068] 8(d), the articulated robot control unit 152 moves the gripping mechanism 31 to a standby position above the ingredient storage container 10. Then, the articulated robot control unit 152 executes release by opening the first gripping portion 313a and the second gripping portion 313b of the gripping member 313. As a result, the excess ingredients are returned to the group of ingredients in the ingredient storage container 10, and the series of operations including the excess processing operation is completed.

[0069] As described above, according to this embodiment, when there is an excess of serving ingredients compared to the target amount, the amount of serving ingredients can be made to match the target amount by performing an operation to process the excess. That is, according to this embodiment, it is possible to solve the problem to be solved by the present invention, which is to "further improve the accuracy of matching the amount of the target object to be released with the target amount."

[0070] Moreover, since the surplus ingredients are returned to the group of ingredients in the ingredient storage container 10, it is possible to prevent ingredients from being wasted (that is, the occurrence of ingredient loss). However, the present invention is not limited to this, and the excess ingredients may be discarded by being released to another location without being returned to ingredient storage container 10. In other words, it is possible to select whether to return the ingredients to ingredient storage container 10 or to discard them depending on the hygiene standards of the food factory using this embodiment, the characteristics of the ingredients to be grasped, and the like.

[0071] In the above explanation, we have assumed that the amount of serving ingredients is in excess of the target amount, but there may also be cases where the amount of serving ingredients is less than the target amount. In such a case, only the missing amount can be grasped from the ingredient storage container 10 and released into the container. This makes it possible to ultimately match the amount of serving ingredients to the target amount even if the amount of serving ingredients is less than the target amount. In this case, the depth to which the gripping member 313 is inserted into the group of ingredients can be adjusted according to the amount of ingredients that is insufficient, in the same way as when gripping excess ingredients from a container.

[0072] [Overall operation] Next, the overall operation of the control system 1 will be described. 9 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.

[0073] 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 above-mentioned gripping operation, release operation, and surplus processing operation. In step S12, the articulated robot control unit 152 moves the gripping mechanism 31 to a standby position above the ingredient-accommodating container 10.

[0074] In step S13, the articulated robot control unit 152 closes the first gripping portion 313a and the second gripping portion 313b of the gripping member 313, thereby causing the gripping member 313 to perform a gripping operation on the group of ingredients in the ingredient-accommodating container 10. The articulated robot control unit 152 can identify the weight of the ingredient currently being held by the gripping member 313 based on the change in weight before and after gripping detected by the ingredient weight meter 50. Therefore, the articulated robot control unit 152 compares the weight of the ingredient being held with the target amount to be gripped, and if the two do not match, executes a release operation without moving the gripping mechanism 31, and then performs a gripping operation again. It is preferable to repeat this release and re-gripping until the weight of the ingredient being held matches the target amount.

[0075] In step S14, the articulated robot control unit 152 moves the gripping mechanism 31 to above the container in which the ingredients are to be placed. In step S15, the articulated robot control unit 152 performs the action of releasing the ingredients from the container by opening the first gripping portion 313a and the second gripping portion 313b of the gripping member 313 at the release position identified in step S16.

[0076] In step S16, the articulated robot control unit 152 determines whether the amount of ingredients placed in the container detected by the second weighing scale 52 is in excess of the target amount. In this case, if the error between the amount of ingredients placed in the container and the target amount is small (for example, a difference of a few percent), this may be tolerated and it may be determined that the amount is not in excess. If the amount is not in excess of the target amount, the determination in step S16 is Yes, and the process proceeds to step S 18. On the other hand, if the amount is in excess of the target amount, the determination in step S16 is No, and the process proceeds to step S17. In step S17, the articulated robot control unit 152 controls the gripping mechanism 31 as described above with reference to FIG. 8, thereby executing the surplus processing operation.

[0077] In step S18, 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.

[0078] In step S19, 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 operation to end the ingredient plating process has been performed by the worker. If the condition for terminating the ingredient plating process is not met, step S19 is judged as No, the process returns to step S12, a new container is supplied, and the process is performed again for this new container.On the other hand, if the condition for terminating the ingredient plating process is met, step S19 is judged as Yes, and the ingredient plating process ends.

[0079] According to the ingredient plating process described above, the surplus processing operation described above with reference to FIG. 8 and the like is performed, and therefore the various advantageous effects described above are achieved.

[0080] [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.

[0081] [Variation 1] In the above-described embodiment, the target amount and the weight of the serving ingredients are compared to determine whether there is excess or not. However, the target amount may also be compared to the amount of the serving ingredients in other respects to make the determination. For example, the target amount may be compared to the volume of the serving ingredients to make the determination. Alternatively, the target amount may be compared to the number of serving ingredients to make the determination. The volume of the serving ingredients and the number of serving ingredients can be determined, for example, by detecting the state of the released serving ingredients with the serving state detection sensor 42 and analyzing the detection results.

[0082] [Variation 2] In the above-described embodiment and variant 1, whether or not there is excess is determined from the perspective of "quantity," i.e., the target amount and the amount of the serving ingredients (weight, volume, number). However, the determination may be made from the perspective of whether the serving ingredients are arranged beyond the serving area in the container, to an excess "position." For example, if the serving ingredients are contained within the area of ​​the opening of the container where the ingredients are to be served, it is determined that there is no excess. On the other hand, if the serving ingredients are scattered outside this area of ​​the opening (for example, the edge of the container where the lid should fit, or an area other than the container), it is determined that there is excess. For example, this occurs when a long item such as bean sprouts or kinpira burdock root protrudes from the released position. Such scattered serving ingredients are then grasped as excess and disposed of by returning them to the ingredient storage container 10 or discarding them. This allows for appropriate measures to be taken even if the serving ingredients scatter, and also prevents the lid from being unable to be fitted properly in the subsequent process of fitting the lid. It is also possible to combine processing based on the position of the serving ingredients as in this modified example with processing based on the position as in the above-mentioned embodiment and modified example 1, and perform both types of processing.

[0083] [Variation 3] When gripping the surplus ingredients in the surplus disposal operation, the container may float up depending on the properties of the ingredients. Fig. 10 is a schematic diagram showing the floating of the container when the remaining ingredients are gripped, and Figs. 11 to 13 are schematic diagrams showing a mechanism for suppressing the floating of the container in this modified example. 10(a), 11(a), 12(a) to 12(c), and 13(a) show the vicinity of the push-out mechanism 21 and the belt conveyor 2 as viewed from above. On the other hand, (b) and (c) of each of Figs. 10, 11, and 13 show the vicinity of the push-out mechanism 21 and the belt conveyor 2 as viewed from the horizontal direction. In each figure, the direction parallel to the belt conveyor 2 in the horizontal plane is defined as the X direction, the direction perpendicular to the X direction in the horizontal plane is defined as the Y direction, and the vertical direction is defined as the Z direction.

[0084] As shown in FIG. 10(a), first, the container supplying device 20 supplies the container to a position near the extrusion mechanism 21 where the ingredients are to be placed. Next, the ingredients are released into the container by the articulated robot 30, and the ingredients are arranged in the container as shown in Fig. 10(b). Then, when the amount of the arranged ingredients matches the target amount, the container is pushed out onto the conveying surface of the belt conveyor 2 by the pushing mechanism 21a. However, if the amount of ingredients to be served exceeds the target amount, the excess ingredients are grasped by the gripping members 313. Then, the gripping members 313, having grasped the excess ingredients, rise while maintaining their grasp. In this case, as shown in FIG. 10(c), the excess ingredients may become integrated with the serving ingredients, causing the container to float up. This may cause the serving ingredients to scatter. It may also cause the container to tip over. In this modification, assuming such a case, the pushing mechanism 21 is provided with a function to prevent the container from floating up.

[0085] Specifically, as shown in Fig. 11(a), first, container supplying device 20 supplies containers to a serving position for ingredients near extrusion mechanism 21A in this modified example. Here, extrusion mechanism 21A includes extrusion members 21Aa and 21Ab. Then, as shown in Fig. 11(b), at the serving position, extrusion members 21Aa and 21Ab are positioned on the left and right sides of the container, and their upper ends are folded back toward the center of the container so as to cover the container. Therefore, even if the excess ingredients being held and the serving ingredients become one and the container floats up, as shown in Figure 11(c), the folded portion can prevent the container from moving upward. In other words, the container can be prevented from floating up any further. This prevents the problem shown in Figure 10(c). After the ingredients have been placed on the container, the push-out members 21Aa and 21Ab move together with the container to the conveying surface of the belt conveyor 2 while holding the left and right sides of the container, as shown in FIG. 12(d). Thereafter, as shown in Fig. 12(d), the container is transported by the belt conveyor 2. Then, as shown in Fig. 12(f), the pushing members 21Aa and 21Ab return to their original standby positions.

[0086] Other configuration examples of this modified example will also be described. 13(a), first, container supplying device 20 supplies containers to a serving position for ingredients near extrusion mechanism 21B in this modified example. Extrusion mechanism 21B here includes extrusion members 21Ba, 21Bb, and 21Bc. 13(b), at the serving position, the push-out members 21Ba and 21Bb are positioned above the left and right side edges of the container and descend when the container moves in. This allows them to press both ends of the edge of the container from above. Therefore, as shown in Figure 13(c), even if the excess ingredients being held and the serving ingredients become one and a force is applied that would cause the container to float up, the pressure of the edge prevents the upward movement, so the container does not float up. This prevents the occurrence of the problem shown in Figure 10(c). After the ingredients are placed on the container, the pushing member 21Bc pushes the container onto the conveying surface of the belt conveyor 2, similar to the pushing mechanism 21a.

[0087] In this modified example, the container can be prevented from floating up in this way. In particular, the structure shown in FIG. 11 can not only prevent the container from floating upward, but also prevent the container from moving laterally (left and right). 13, the container is pressed from above, which further prevents the container from floating upward. Furthermore, by applying pressure, the container can be prevented from moving laterally (left and right), at least to a certain extent. In addition, examples of ingredients that are likely to cause the container to float as described in this modification include ingredients that are viscous or sticky, and ingredients that are long and tend to tangle. Specific examples of such ingredients are as described above in the description of the adhering operation with reference to Figure 4(d).

[0088] [Variation 4] In the above-described embodiment, the insertion depth is adjusted to grip only an excess amount (i.e., only a small amount) of the serving ingredients. However, this is not limiting, and other methods may be used to grip only an excess amount of the serving ingredients.

[0089] Fig. 14 is a schematic diagram showing the control of gripping only excess serving ingredients in this modified example by using some of the gripping members 313. Fig. 14 shows the state of the multiple gripping members 313 observed from the front in the opening and closing direction. As described above, the gripping mechanism 31 controls the driving of the air cylinder 312, thereby allowing the plurality of gripping members 313 to move relative to one another. Therefore, when it is desired to grip an appropriate amount of ingredients corresponding to a target amount (that is, a large amount of ingredients), gripping and releasing are performed using all of the gripping members 313, as shown in FIG. 14(A).

[0090] On the other hand, if it is desired to grip only an excess amount (i.e., only a small amount) of the serving ingredients, gripping is performed using some of the gripping members 313 (here, the first gripping member 313 from the left on the paper), as shown in Figure 14(B). Meanwhile, the other gripping members 313 (here, the second, third, and fourth gripping members 313 from the left on the paper) are raised, causing relative movement. As a result, these other gripping members 313 are not inserted into the serving ingredients in the container, and therefore do not grip the ingredients. That is, by relatively moving the gripping members 313, it is possible to grip only an excess amount (that is, only a small amount) of the serving ingredients.

[0091] It is also possible to arrange gripping members 313 with a relatively large capacity to grip and release, and gripping members 313 with a relatively small capacity to grip and release, in the same gripping mechanism 31. When an excess amount (i.e., only a small amount) of serving ingredients is to be gripped, only the gripping members 313 with the relatively small capacity are used for gripping. This allows a smaller amount of serving ingredients to be gripped than usual.

[0092] Additionally, by adjusting the opening width of the first gripping portion 313a and the second gripping portion 313b of the gripping member 313, it is possible to grip only the excess serving ingredients. For example, the width of the container is detected by the serving state detection sensor 42. Then, the serving ingredients are gripped by making the opening width of the first gripping portion 313a and the second gripping portion 313b narrower than the width of the container. In this way, by gripping the first gripping portion 313a and the second gripping portion 313b with a narrower opening width than when gripping the ingredient storage container 10, it is possible to grip only an excess amount (i.e., only a small amount) of the serving ingredients. If the width of the container is predetermined, this predetermined value can be set in the operation parameters. Even in this case, the serving ingredients can be gripped by making the opening width of the first gripping portion 313a and the second gripping portion 313b narrower than the width of the container.

[0093] Alternatively, for example, the opening width of the first gripping portion 313a and the second gripping portion 313b when gripping only the excess serving ingredients may be set in advance to be narrower than the opening width of the first gripping portion 313a and the second gripping portion 313b when releasing the excess ingredients into the ingredient storage container 10. In other words, even if the structure of the gripping member 313 allows it to open up to the maximum opening width when opened, it is intentionally gripped at a width narrower than this. This also makes it possible to grip only the excess (i.e., only a small amount) of serving ingredients.

[0094] [Variation 5] In the above-described embodiment, gripping and releasing are performed using the gripping member 313 having the shape shown in Fig. 2. However, the present invention is not limited to this, and gripping members 313 having other shapes may also be used. For example, as in the above-described embodiment, not only linear members such as wires but also a plurality of members such as plate-like members or rod-like members, which sandwich and hold the ingredient, can be used as the gripping member 313. In this case, the plurality of members may each have the same shape or different shapes.

[0095] Additionally, for example, in the above-described embodiment, it was assumed that ingredients that maintain solidity were used as the target to be grasped and released. However, the target may be an ingredient that cannot be grasped (or is difficult to grasp), such as a liquid or gel. In this case, instead of the grasping member 313, a ladle-shaped or spoon-shaped member may be used to scoop up the target object from the ingredient-storing container 10 rather than grasp it, and then release it into the container. Alternatively, a cylindrical member such as a tube may be used to suck up the target object from the ingredient-storing container 10, and then release it into the container. In this case, the target object is not limited to ingredients (i.e., food ingredients), but may also be liquid or gel-like medicines or other industrial products.

[0096] Additionally, for example, in the above-described embodiment, four gripping members 313 are arranged in the gripping mechanism 31. However, the present invention is not limited to this, and any number of gripping members 313 may be arranged in the gripping mechanism 31. In the above-described embodiment, the gripping member 313 performs gripping using two gripping portions, the first gripping portion 313a and the second gripping portion 313b. However, the present invention is not limited to this, and the gripping member 313 may be provided with three or more gripping portions, and gripping may be performed using these three or more gripping portions.

[0097] [Variation 6] In the above-described embodiment, the weight of the ingredients held by the gripping member 313 or the ingredients placed on the gripping member 313 is determined based on the change in weight detected by the first weighing scale 51 or the second weighing scale 52, and control is performed based on this. However, this is not limited to this, and a load cell or force sensor may be provided on the gripping member 313. Then, the weight of the ingredients held by the gripping member 313 or the ingredients placed on the gripping member 313 may be determined based on the change in weight detected by this load cell or force sensor, and control may be performed based on this. This makes it possible to omit the first weighing scale 51 or the second weighing scale 52. This also increases the degree of freedom in the location where the ingredient storage container 10 or the container is installed.

[0098] [Configuration example] As described above, the control system 1 in this embodiment includes the gripping mechanism 31, the control device 70, and the second weighing scale 52 or the serving state detection sensor 42. The gripping mechanism 31 grips ingredients and releases the gripped ingredients. The control device 70 controls the operation of the gripping mechanism 31 . The second weighing scale 52 or the serving state detection sensor 42 detects the state of the ingredients released by the gripping mechanism 31. The control device 70 determines whether or not to control the gripping mechanism 31 to grip the released ingredient again, based on the state of the released ingredient detected by the second weight scale 52 or the serving state detection sensor 42.

[0099] The state of the released ingredients detected by second weighing scale 52 or serving state detection sensor 42 is the amount of the released ingredients. When the amount of ingredients detected by the second weight scale 52 or the serving state detection sensor 42 is in excess of the target amount to be released, the control device 70 determines that it should control the gripping mechanism 31 to grip the released ingredients again.

[0100] The control device 70 controls the re-gripping by the gripping mechanism 31 so that the amount of ingredients that the gripping mechanism 31 re-gripping is made smaller than the amount of ingredients that were released.

[0101] The state of the released ingredients detected by the serving state detection sensor 42 is the position of the released ingredients. The control device 70 detects the placement state of the ingredients detected by the placement state detection sensor 42. position However, if the released ingredient is outside the range of the position where it should be released, it is determined that control is performed to make the gripping mechanism 31 grip the ingredient again, which has been released outside the range of the position where it should be released.

[0102] The control device 70 controls the gripping mechanism 31 to release the ingredient that has been gripped again to the position where the ingredient was first gripped.

[0103] The gripping mechanism 31 releases the ingredients into a container. The control system 1 further includes a movement suppression mechanism 80 . The movement suppression mechanism 80 suppresses the movement of the container. The control device 70 controls the movement suppression mechanism 80 to suppress the movement of the container when executing control to make the gripping mechanism 31 grip the ingredient again.

[0104] 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. 6 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. 6. Furthermore, one functional block may be configured as a single piece of hardware, a single piece of software, or a combination thereof.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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]

[0109] 1 Control system, 2 Belt conveyor, 10 Ingredient storage container, 20 Container supply device, 21, 21A, 21B Extrusion mechanism, 21a, 21Aa, 21Ab, 21Ba, 21Bb, 21Bc Extrusion member, 30 Articulated robot, 31 Grip mechanism, 311 Connection part, 312 Air cylinder, 313 Grip member, 313a First gripping part, 313b Second gripping part, 32 Robot arm, 41 Storage state detection sensor, 42 Serving state detection sensor, 43 Container detection sensor, 51 First weighing scale, 52 Second weighing scale, 60 Base part, 61 Caster, 70 Control device, 151 Information acquisition part, 152 Articulated robot control part, 153 Container supply control part, 154 Recording control part, 171 Parameter storage part, 172 History database (history DB), 711 CPU, 712 ROM, 713 RAM, 714 bus, 715 input section, 716 output section, 717 memory section, 718 communication section, 719 drive, 731 removable media

Claims

1. a holding mechanism that holds an object and releases the held object into a container; a movement suppressing means for suppressing movement of the container; a control means for controlling the operation of the holding mechanism and the movement suppressing means; a detection means for detecting a state of the object released into the container by the holding mechanism; Equipped with The control means determining whether to control the holding mechanism to hold the object released into the container again based on the state of the object released into the container detected by the detection means; When executing control to cause the holding mechanism to hold the container again, the movement suppressing means is brought into contact with the container, thereby suppressing up and down movement of the container. A control system comprising:

2. The holding mechanism holds an object and releases the held object into a container by performing an opening and closing operation; the detecting means detects the amount of the object released into the container by the holding mechanism; The control means When the amount of the object detected by the detection means is in excess of the target amount to be released, control is performed to cause the holding mechanism to hold the object released into the container again, and By controlling the opening width when the holding mechanism holds the object again, the amount of the object held again by the holding mechanism is made smaller than the amount of the released object.

2. The control system of claim 1.

3. The holding mechanism includes a plurality of holding members each holding an object and releasing the held object into a container; the detecting means detects the amount of the object released into the container by the holding mechanism; The control means When the amount of the object detected by the detection means is in excess of the target amount to be released, control is performed to cause the holding mechanism to hold the object released into the container again, and By controlling the number of the plurality of holding members used for re-holding by the holding mechanism, the amount of objects to be re-held by the holding mechanism is made smaller than the amount of the released objects.

2. The control system of claim 1.

4. The detection means detects the position of the object released into the container by the holding mechanism, The control means When the position of the object detected by the detection means is outside the range of positions to be released, control is performed to make the holding mechanism hold the object released outside the range of positions to be released again.

2. The control system of claim 1.

5. The control means The object that was held again by the holding mechanism is released to the position where the object was first held. Controlling the 5. A control system according to any one of claims 1 to 4.

6. a holding mechanism that holds an object and releases the held object into a container; a movement suppressing means for suppressing movement of the container; a detection means for detecting a state of the object released into the container by the holding mechanism; A computer controlling a system comprising: controlling the operation of the holding mechanism and the movement suppressing means, and determining whether or not to control the holding mechanism to hold the object released into the container again based on the state of the object released into the container; a control function for controlling the movement suppression means to contact the container when executing control for the holding mechanism to hold the container again, thereby suppressing the up and down movement of the container; A control program that realizes the above.

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