Control system and control program

Abstract

To control a robot so as to improve the robot's work of releasing an object. [Solution] The control system 1 includes a gripping mechanism 31 and a control device 70. The gripping mechanism 31 holds ingredients and releases the held ingredients. The control device 70 controls the operation of the gripping mechanism 31. The control device 70 causes the gripping mechanism 31 to perform a first release. Then, the control device 70 controls the gripping mechanism 31 to perform a second release at the position where the ingredient released by the first release is located.

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 technique for controlling such a robot is disclosed in, for example, Patent Document 1. In the technology disclosed in Patent Document 1, the robot places the object in the container by releasing the held object above the container. This reduces the labor required for workers to place the object in the container. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7442225 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 work of releasing an object by a robot, such as the technology disclosed in the above-mentioned Patent Document 1. Furthermore, this problem is not limited to cases where the object is food as disclosed in Patent Document 1, but is common to a variety of fields in which holding is performed by robots, such as industrial fields. Furthermore, the holding method used by the robot is not limited to means for holding the object by gripping it with a gripper, but is also common to cases where the object is held by means of suction or the like.

[0006] An object of the present invention is to control a robot so as to improve the robot's task of releasing an object. [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 holding mechanism that holds an object and releases the held object; a control means for controlling the operation of the holding mechanism; Equipped with The control means causing the retention mechanism to perform a first release; controlling the holding mechanism to execute a second release at a position where the object released by the execution of the first release is present; It is characterized by: [Effects of the Invention]

[0008] According to the present invention, it is possible to control a robot so as to improve the robot's work of releasing an object. [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 states when the gripping member 311 performs a gripping operation and a releasing operation. [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]2 is a schematic diagram showing a control situation regarding the operation of the articulated robot 30. FIG. [Figure 9] 2 is a schematic diagram showing a control situation regarding the operation of the articulated robot 30. FIG. [Figure 10] 10 is a flowchart showing the flow of an ingredient plating process executed by the control system 1. [Figure 11] 10 is a schematic diagram showing a control situation regarding a release operation of the articulated robot 30 in Modification 3. FIG. [Figure 12] 10 is a schematic diagram showing a control situation regarding a release operation of the articulated robot 30 in Modification 4. FIG. [Figure 13] 10 is a schematic diagram showing a control situation regarding a release operation of the articulated robot 30 in Modification 4. FIG. 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 serving state detection sensor 42, a container detection sensor 43, a first weighing scale, 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, 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.

[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 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.

[0017] 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.

[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] 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.

[0022] 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.

[0023] Both the first weighing scale 51 and the second weighing scale 52 are devices that detect the weight of an object. The first weighing scale 51 and the 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 due to the grasping of the ingredients contained therein, etc. (i.e., the change in the remaining amount).

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] [Configuration of gripping member 311] Fig. 2 is a perspective view showing the configuration of the gripping member 311. As shown in Fig. 2, the gripping member 311 includes a first gripping portion 311a and a second gripping portion 311b. The gripping member 311 is coupled to a gripping mechanism 31 attached to the robot arm 32, whereby the gripping member 311 is supported by the robot arm 32 and moves in accordance with the movement of the robot arm 32. The gripping member 311 configured as described above comes into contact with the ingredients while coupled to the gripping mechanism 31. Then, while in contact with the ingredients, the first gripping portion 311a and the second gripping portion 311b open and close to grip and release the ingredients. The ingredients gripped by the gripping member 311 are not particularly limited, but in this embodiment, as an example, it is assumed that the gripping member 311 grips ingredients having a fine shape, such as a paste salad such as potato salad or udon noodles.

[0031] The first gripping portion 311a and the second gripping portion 311b are each formed of a plate-like member. The first gripping portion 311a is connected to a pin cylinder (not shown) provided inside the gripping mechanism 31. The first gripping portion 311a moves to open and close in response to the driving of this pin cylinder. In contrast, the second gripping portion 311b does not move and maintains its position.

[0032] Then, the first gripping portion 311a moves closer to the second gripping portion 311b, and the edges of the two close (i.e., the extensions that make up the edges of each of the two come into contact with each other), thereby forming a gripping space inside for gripping ingredients. The gripping space thus formed is a closed space by the first gripping portion 311a and the second gripping portion 311b, which are plate-like members, and does not spill ingredients to the outside. Therefore, it is suitable for gripping ingredients with fine shapes, such as paste salads such as the potato salad described above, or udon noodles. 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 inside the ingredient-accommodating container 10. This makes it easy to insert the first gripping portion 311a and the second gripping portion 311b into the group of ingredients.

[0033] FIG. 3 is a schematic diagram showing the state when the gripping member 311 performs a gripping operation and a releasing operation. First, as shown in Figure 3(a), the first gripping portion 311a moves toward the second gripping portion 311b, causing the gripping member 311 to close. In this case, a gripping space is formed inside, and this gripping space can grip an ingredient, as shown in the figure as a "gripped ingredient." Then, with the ingredient gripped, the gripping member 311 moves above the container to be released.

[0034] Thereafter, as shown in FIG. 3(b), the first gripping portion 311a moves away from the second gripping portion 311b, causing the gripping member 311 to open, and the gripped ingredients can be released into a destination container, as shown as "released ingredients," so that the ingredients can be served. In this embodiment, the gripping operation, the releasing operation, and the removing operation are realized as shown in FIG.

[0035] [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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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 include additional hardware, or to change the implementation form of the hardware.

[0040] [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.

[0041] The parameter storage unit 171 stores various parameters used when the control system 1 operates. For example, the parameter storage unit 171 stores data that 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., ingredient density) and the target amount of the ingredient to be gripped and released (i.e., the ingredient to be arranged in the container), parameters that define the operation pattern of the articulated robot 30, and the like.

[0042] 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.

[0043] 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 total weight of the ingredient storage container 10 and the stored ingredients detected by the first weighing scale 51, and the total 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.

[0044] 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.

[0045] For example, when performing gripping, 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 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, etc. By setting the insertion depth in advance in this way, 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] 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 opening and closing the first gripping part 311a and the second gripping part 311b, or by repeatedly opening and closing them, in the same way as when gripping and releasing, without moving the robot arm 32.

[0047] 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).

[0048] 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.

[0049] [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 to 9 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 wall surface of the container are shown in a see-through manner to clarify the operation. Furthermore, since a large amount of ingredients are stored in the storage space of the ingredient storage container 10, these large amounts of ingredients will be referred to as a "group of ingredients" hereinafter.

[0050] First, with reference to FIG. 6, the movement of the gripping mechanism 31 (only the gripping member 311 is shown in the drawing) when performing the gripping operation and the release operation will be described. 6(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 311a and the second gripping portion 311b of the gripping member 311 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.

[0051] Next, as shown in Fig. 6(b), the articulated robot control unit 152 executes release by opening the first gripping portion 311a and the second gripping portion 311b of the gripping member 311. As a result, the ingredients are placed in the container, and the release operation is realized. Thereafter, the articulated robot control unit 152 moves the gripping mechanism 31 to a standby position above the ingredient-accommodating container 10. The above is the state of movement of the gripping mechanism 31 when performing the gripping operation and the release operation.

[0052] Next, the release operation in this embodiment will be described in detail with reference to FIGS. As a premise, in a general technology, when filling one container with ingredients, the ingredients are filled by performing a single release action. However, in this case, the ingredients are poured without any control over the spread of the released ingredients over the entire container. Therefore, it is difficult to fulfill a request, for example, to pile the ingredients high in a mountain shape. Furthermore, the target amount of ingredients to be served (i.e., a large amount of ingredients) will be released at once. Therefore, there is a risk that the released ingredients will scatter outside the container due to the force of the large amount of ingredients falling. In particular, the area of ​​the container from which ingredients are released is usually smaller than that of ingredient storage container 10. Furthermore, with regard to the height of the walls, the height of the walls of the container from which ingredients are released is usually lower than that of ingredient storage container 10. Therefore, there is a high possibility that the ingredients released from the container from which ingredients are released will scatter outside the container.

[0053] In consideration of this, in this embodiment, the placement of ingredients is completed not by performing a single releasing action, but by performing multiple releasing actions. That is, the placement of ingredients is completed by gripping 1 / N (here, N is an integer of 2 or more) of the target amount of ingredients to be placed in the container and releasing this 1 / N amount of ingredients into the container N times. This allows ingredients to be piled on top of the other ingredients, making it possible to pile up the ingredients in a mountain-like formation. In particular, in this embodiment, the ingredients are not simply repeatedly released from the container. In this embodiment, the position in the container where the ingredients released in the previous release are located is identified based on the detection result of the serving state detection sensor 42, and the current release is performed so that the ingredients are placed above that identified position. This makes it possible to pile the ingredients higher.

[0054] Also, only 1 / N of the target amount of ingredients to be served (i.e., a small amount of ingredients) is released at one time. Therefore, the released ingredients fall with little force, reducing the possibility of the ingredients scattering outside the container. In particular, when releasing ingredients from the second time onwards, the ingredients released in the previous releases function as a sort of buffer, further reducing the possibility of the released ingredients scattering outside the container. This is the reason why in this embodiment, the placement of ingredients is completed by performing multiple release operations.

[0055] In the following description, it is assumed that N=3, but this is merely an example. N may be any integer equal to or greater than 2. In the following description, it is assumed that 1 / N (here, 1 / 3) of the target amount of ingredients to be placed in the container is grasped and released, but this is also merely an example. The amount grasped in the N graspings does not have to be constant each time. For example, the amount grasped may gradually increase or decrease. Alternatively, for example, the weight of the ingredients placed in the container in the first release may be detected, and the difference between the detection result and the target amount may be compensated for by performing a second grasping and release. In other words, it is sufficient that the total weight grasped in the N attempts ultimately reaches the target amount.

[0056] 7(a), the articulated robot control unit 152 first causes the gripping member 311 to grip one-third of the target amount of ingredients from the ingredient storage container 10 and releases the gripped ingredients into the container. The ingredient released this time is hereinafter referred to as the "first released ingredient." In this case, it is generally desirable for the center of the container to be the top of the ingredients, so the ingredients are released so that the center of the container is the release destination. However, this is not always the case depending on the user's wishes. Also, from the perspective of preventing the ingredients from scattering outside the container, it is desirable to release the ingredients after they have descended to near the bottom of the container. This control can be achieved by using information on the position and height of the container determined based on the detection results of the serving state detection sensor 42 before releasing the first released ingredient.

[0057] As a result, the first release ingredient is placed in the container as shown in Fig. 7(b). In this case, the articulated robot control unit 152 identifies the position of the placed first release ingredient in the container based on the detection result of the placement state detection sensor 42. Furthermore, the articulated robot control unit 152 also identifies the state of the first release ingredient (here, the height of the first release ingredient and the center of gravity of the first release ingredient, which can be determined based on the distribution of this height).

[0058] Next, as shown in FIG. 8(c), the articulated robot control unit 152 causes the gripping member 311 to grip one-third of the target amount of ingredients from the ingredient storage container 10 and release the gripped ingredients into the container. The ingredient released this time is hereinafter referred to as the "second released ingredient." In this case, from the perspective of piling the ingredients high, it is desirable to release the ingredients so that the center of gravity of the first released ingredient is the release destination. This causes the center of gravity of the first released ingredient and the center of gravity of the second released ingredient to be in the same position (i.e., the same position on the vertical axis in the vertical direction), allowing the ingredients to be piled high and in a more stable state.

[0059] Furthermore, if the tip of the gripping member 311 comes into contact with the position where the first release ingredient is present, the first release ingredient will spread out in the container, lowering the height of the first release ingredient that has been placed.Furthermore, there is a risk that the first release ingredient will spill out of the container due to the contact. Therefore, the articulated robot control unit 152 releases the first released ingredient by positioning the tip of the gripping member 311 higher than the position where the first released ingredient is located. In this case, from the viewpoint of preventing the ingredient from scattering outside the container, it is desirable to release the first released ingredient after lowering the gripping member 311 to near the top of the first released ingredient (for example, a position just before the tip of the gripping member 311 comes into contact with the first released ingredient). Such control can be realized by using information determined based on the detection result of the serving state detection sensor 42 when the first release ingredient is served.

[0060] By doing this, as shown in FIG. 8(d), the second release ingredient does not scatter outside the container and can be arranged higher and more stably than when the first release ingredient is released. In this case, in the same way as when the first release ingredient is arranged, the articulated robot control unit 152 determines the position, height, and center of gravity of the arranged second release ingredient (including the first release ingredient located below it) based on the detection results of the arrangement state detection sensor 42.

[0061] Next, as shown in FIG. 9(e), the articulated robot control unit 152 causes the gripping member 311 to grip one-third of the target amount of ingredients from the ingredient storage container 10 and release the gripped ingredients into the container. The ingredient released this time is hereinafter referred to as the "third released ingredient." In this case, it is desirable to release the second released ingredient so that the center of gravity of the second released ingredient (including the first released ingredient below it) is the release destination, just as when the second released ingredient was released. Also, as with the release of the second release ingredient, it is desirable to release it at a position that takes into consideration the height of the second release ingredient (including the first release ingredient that is underneath it) that has been placed. In addition, such control can be achieved by using information identified based on the detection results of the presentation state detection sensor 42 when the second release ingredient (including the first release ingredient located below it) is presented, just as when the first release ingredient is presented.

[0062] By doing this, as shown in FIG. 9(f), the third release ingredient does not scatter outside the container and can be arranged higher and more stably than when the second release ingredient is released.

[0063] As described above, according to this embodiment, the placement of ingredients is not completed by performing a single release action, but by performing multiple release actions. Therefore, as described at the beginning of the explanation of "Control during operation of articulated robot 30," it is possible to pile up the ingredients in a high mound. Also, by controlling the release position based on the detection results of the serving state detection sensor 42, the ingredients can be piled up higher and more stably. Furthermore, by adjusting the height of the release position based on the detection results of the serving state detection sensor 42, it is possible to prevent the ingredients from scattering outside the container. That is, according to this embodiment, it is possible to solve the problem to be solved by the present invention, which is to "control a robot so as to improve the work of releasing an object by the robot."

[0064] Furthermore, this embodiment can be generally applied to various ingredients (or even electronic components, etc., in addition to ingredients), and can achieve the above-mentioned effects even when releasing various ingredients. In this case, it is particularly preferable that all ingredients released N times are the same type of ingredients. If ingredients are of the same type, their properties are the same and they have a high affinity, so the ingredients released up to that point and the ingredients released this time tend to be the same, and the way they spread in the container will also be uniform.

[0065] Furthermore, for example, if the ingredient to be released is a sticky ingredient (for example, a paste salad such as potato salad), the ingredients released this time will be stuck together with the ingredients released previously, making it less likely for the ingredient released this time to scatter. In addition, if the ingredient to be released is a porous ingredient (such as udon noodles (okara)), the impact of the dropped ingredient can be reduced or softened, preventing the ingredient from bouncing back. In other words, the released ingredient can be arranged in a stable state without scattering.

[0066] In addition, for example, if the ingredient to be released is low-fluidity, the ingredient released this time is less likely to flow to the side of the ingredients released previously. Therefore, even if multiple releases are performed, there is little chance of the ingredients spilling over the edge of the container. Furthermore, since the ingredients are less likely to flow sideways, the ingredients can be piled higher. Note that examples of low-fluidity ingredients include kinpira burdock and hijiki seaweed, which have low moisture and oil contents in each individual piece and between pieces, and which cause little deformation as a group of ingredients as a whole.

[0067] In this way, this embodiment can be generally applied to a variety of ingredients, but even more remarkable effects can be expected depending on the characteristics of the ingredient to be released. From this perspective, according to this embodiment, it is possible to "control the robot so as to further improve the robot's work of releasing an object."

[0068] [Overall operation] Next, the overall operation of the control system 1 will be described. 10 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.

[0069] 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.

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

[0071] In step S14, the articulated robot control unit 152 closes the first gripping portion 311a and the second gripping portion 311b of the gripping member 311, thereby causing the gripping member 311 to perform a gripping operation on the group of ingredients in the ingredient-accommodating container 10. In step S15, the articulated robot control unit 152 moves the gripping mechanism 31 to above the container in which the ingredients are to be placed. The articulated robot control unit 152 can identify the weight of the ingredient currently being held by the gripping member 311 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 gripped 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 gripped matches the target amount.

[0072] In step S16, the articulated robot control unit 152 uses information determined based on the detection result of the serving state detection sensor 42 to determine the release position. In step S17, the articulated robot control unit 152 performs the action of releasing the ingredients from the container by opening the first gripping portion 311a and the second gripping portion 311b of the gripping member 311 at the release position identified in step S16.

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

[0074] In step S19, container supply control unit 153 controls container supply device 20 to push the container filled with ingredients onto the conveying surface at a timing when container detection sensor 43 has not detected other containers being conveyed on the conveying surface, thereby preventing containers from colliding with each other on the conveying surface.

[0075] 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.

[0076] 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 condition for terminating the ingredient plating process is not met, step S21 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 S21 is judged as Yes, and the ingredient plating process ends.

[0077] According to the ingredient plating process described above, the various advantageous effects described above with reference to Figs.

[0078] [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.

[0079] [Variation 1] In the above-described embodiment, gripping and releasing are performed using the gripping member 311 having the shape shown in Fig. 2. However, the present invention is not limited to this, and gripping members 311 having other shapes may also be used. For example, the first gripping portion 311a and the second gripping portion 311b may be made of a mesh-like member (and a frame or framework member) instead of a plate-like member. This allows the flat portion that supports the ingredients when gripping to be formed by the mesh-like member. Therefore, the ingredients gripped by this flat portion can be easily detached. This makes it possible to prevent sticky ingredients from adhering to the first gripping portion 311a and the second gripping portion 311b (for example, the ingredients sticking). This makes it possible to further encourage the release material to fall during the release action.

[0080] In the above-described embodiment, the gripping member 311 performs gripping using two gripping portions, the first gripping portion 311a and the second gripping portion 311b. However, the present invention is not limited to this, and the gripping member 311 may be provided with three or more gripping portions, and gripping may be performed using these three or more gripping portions. Gripping members of other shapes can also be used as gripping member 311. For example, gripping members that include not only plate-shaped members but also a plurality of members such as rod-shaped members and linear members such as wire, and that grip an ingredient by sandwiching it between these members, can be used as gripping member 311. In this case, the plurality of members may each have the same shape or different shapes. That is, the shape and the like of the gripping member 311 in the above-described embodiment are merely examples, and gripping members of various shapes can be used in place of the gripping member 311 described above. 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.

[0081] [Variation 2] In the above-described embodiment, the articulated robot control unit 152 determined the position and height of the container, or the position, height, and center of gravity of the released ingredients that had already been served (including the released ingredients present below them), based on the detection results of the serving state detection sensor 42. Without being limited to this, these may be identified based on other information. For example, the articulated robot control unit 152 identifies these based on operation data for executing a series of operations in the ingredient placement process. This operation data includes data indicating the trajectory of the gripping mechanism 31 during various operations. For example, it includes data indicating the trajectory or path traveled by the gripping mechanism 31 during various operations, or data indicating the coordinates of the position where the gripping mechanism 31 executed release. It also includes data indicating the position and height of the container, and data on the amount of ingredients released in one release operation. Based on such data, the articulated robot control unit 152 can identify the position and height of the container, or the position, height, and center of gravity of the released ingredients that have already been served (including the released ingredients that are underneath).

[0082] [Variation 3] In the above-described embodiment, the releasing operation is performed by causing the ingredient to fall in the air from the gripping member 311, but this is not limited to this. The ingredient may be released by maintaining contact between the gripping member 311 and the released ingredient without completely falling from the gripping member 311. 11 is a schematic diagram showing the control status of the release operation of the articulated robot 30 in this modified example. This diagram shows, as an example, a situation in which a second release ingredient is released when a first release ingredient is placed in a container. However, this modified example can also be applied to a situation in which a third release ingredient is released when a second release ingredient (including the first release ingredient below it) is placed in a container, or to any situation up to the Nth release thereafter.

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

[0084] Then, as shown in FIG. 11(b), when a predetermined time has passed, the articulated robot control unit 152 raises the gripping member 311. According to this modification, the second release ingredient can be arranged higher and more stably.

[0085] It should be noted that the predetermined period in this modification is, for example, from the start of release until a predetermined period of time has elapsed. Alternatively, the predetermined period may be the period until it can be determined that the change in the state of the release ingredient (for example, the change in the height of the release ingredient) has converged and the second release ingredient has stopped moving sideways, based on the detection results of the presentation state detection sensor 42. In other words, the second release ingredient may be supported until the state of the release ingredient actually stabilizes, based on the detection results of the presentation state detection sensor 42.

[0086] [Variation 4] In the above-described embodiment, the gripping mechanism 31 includes a single gripping member 311. However, this may be modified so that a plurality of gripping members 311 are included. 12 and 13 are schematic diagrams showing the control status regarding the release operation of the articulated robot 30 in this modified example. In these figures, as an example, a gripping mechanism 31A, which is a modification of the gripping mechanism 31, is shown equipped with four gripping members 311A ​​(each of which is the same as the gripping member 311). The front and back directions of the paper correspond to the opening and closing directions of the gripping members 311A.

[0087] First, the articulated robot control unit 152 causes each of the four gripping members 311A ​​to grip an ingredient in the ingredient-accommodating container 10. 12(a), the articulated robot control unit 152 moves the gripping mechanism 31A so that one of the four gripping members 311A ​​(here, the first gripping member 313A from the right on the paper) is positioned above the container, and then causes this gripping member 311A ​​(here, the first gripping member 313A from the right on the paper) to release the container. Then, as shown in FIG. 12(b), the released ingredient is placed in the container as the first released ingredient.

[0088] Next, as shown in Figure 13(c), the articulated robot control unit 152 moves the gripping mechanism 31A so that one of the gripping members 311A ​​other than the gripping member 311A ​​that released the first release ingredient (here, the second gripping member 313A from the right on the paper) is positioned above the container. Then, this gripping member 311A ​​(here, the second gripping member 313A from the right on the paper) is caused to release. Then, as shown in Figure 13(d), the released ingredient is placed above the first released ingredient as the second released ingredient. At this time, the method of controlling the height of the released position, etc. is the same as in the above-mentioned embodiment.

[0089] In this way, even if the multiple gripping members 311A ​​are shifted and released sequentially as in this modification, the same effect as in the above-described embodiment can be achieved. Furthermore, this modification eliminates the need for re-gripping each time the ingredients are released. Therefore, the number of times the ingredients need to be moved between the ingredient storage container 10 and the container in which the ingredients are to be served can be reduced. This shortens the time required to complete the serving process, improving the takt time.

[0090] [Variation 5] In the above-described embodiment, the serving is completed by performing N releases, but the present invention is not limited to this. In control system 1, second weighing scale 52 is disposed below the container, and second weighing scale 52 can detect the total weight of the ingredients placed in the container. Therefore, articulated robot control unit 152 may be configured to complete the placement at that point if the total weight of the ingredients placed in the container approaches or exceeds the target amount even when N releases have not yet been performed (for example, when N-1 releases have been performed). Alternatively, if the total weight of the ingredients placed in the container has not yet reached the target amount even after N releases have been performed, N+1 or more releases may be performed. For example, this modification is suitable when a certain degree of error in the target amount is acceptable, such as when plating ingredients in variable amounts (sold by weight).

[0091] In addition to using the target amount as a reference, for example, the height of the ingredients plated may be detected by the plated state detection sensor 42, and the plating may be completed when this height exceeds the target height. By doing this, problems such as the lid not being able to be closed properly in the subsequent process due to ingredients being piled too high can be prevented.

[0092] [Variation 6] In the above-described embodiment, the weight of the ingredients held by the gripping member 311 or the ingredients placed on the gripping member 311 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 a force sensor may be provided in the gripping member 311. Then, the weight of the ingredients held by the gripping member 311 or the ingredients placed on the gripping member 311 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.

[0093] [Variation 7] 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.

[0094] [Configuration example] As described above, the control system 1 in this embodiment includes the gripping mechanism 31 and the control device 70. The gripping mechanism 31 holds ingredients and releases the held ingredients. The control device 70 controls the operation of the gripping mechanism 31 . The control device 70 causes the gripping mechanism 31 to perform the first release. Then, the control device 70 controls the gripping mechanism 31 to perform a second release at the position where the ingredient released by the execution of the first release is present.

[0095] The control system 1 further includes a serving state detection sensor 42 . The serving state detection sensor 42 optically detects the position where the ingredient released by the execution of the first release is present. The control device 70 controls the second release by identifying the position where the ingredient released by the first release is located based on the detection result of the serving state detection sensor 42.

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

[0097] The control device 70 acquires data indicating the trajectory of the gripping mechanism 31 as it moves to the position where the first release is performed. Then, based on the acquired data indicating the trajectory, the position where the ingredient released by the execution of the first release is located is identified, thereby controlling the second release.

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

[0099] The food material is a sticky food material.

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

[0101] The gripping mechanism 31 includes a plurality of gripping members 311A. The control device 70 causes the first gripping member 311A ​​and the second gripping member 311A ​​included in the gripping mechanism 31 to perform holding. Then, after causing the first gripping member 311A ​​to execute the first release, the control device 70 controls the second gripping member 311A ​​to execute the second release without executing holding again.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] In this specification, the steps describing the program to be recorded on the recording medium include not only processes that are performed chronologically in accordance with the order, but also processes that are not necessarily performed chronologically 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.

[0106] 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]

[0107] 1 Control system, 2 Belt conveyor, 10 Ingredient storage container, 20 Container supply device, 21 Extrusion mechanism, 30 Articulated robot, 31, 31A Grip mechanism, 311, 311A ​​Grip member, 311a First gripping unit, 311b Second gripping unit, 32 Robot arm, 41 Storage state detection sensor, 42 Serving state detection sensor, 43 Container detection sensor, 51 First weighing scale, 52 Second weighing scale, 60 Base unit, 61 Caster, 70 Control device, 151 Information acquisition unit, 152 Articulated robot control unit, 153 Container supply control unit, 154 Recording control unit, 171 Parameter 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 Communications, 719 Drive, 731 Removable Media

Claims

1. A holding mechanism that holds objects having at least one of adhesive, porous, and low fluidity properties and releases all of the held objects at once; a control means for controlling the operation of the holding mechanism; Equipped with The control means After causing the holding mechanism to perform a first holding, causing the holding mechanism to perform a first release at a first position where a container that is to be a release destination of the object to be released by the holding mechanism is present; Furthermore, the holding mechanism is moved to a second position where the object that has undergone the first release is not present and where a container that contains the object to be held by the holding mechanism is present, and a second holding is performed on a new object that does not include the object that has undergone the first release at the second position; Further, the holding mechanism is moved to the first position where the object subjected to the first release is present, and the second release is performed at the first position. A control system comprising:

2. A holding mechanism that holds objects having at least one of adhesive, porous, and low fluidity properties and simultaneously releases all of the held objects; a control means for controlling the operation of the holding mechanism; a detection means for optically detecting a position where the object released by the execution of the first release is present; Equipped with The control means causing the retention mechanism to perform a first retention and then perform the first release at a first position; Furthermore, the holding mechanism is moved to a second position where the object that has been released in the first step is not present, and a second holding operation is performed on a new object that does not include the object that has been released in the first step at the second position; Furthermore, the holding mechanism is moved to the first position where the object that has undergone the first release is present, and a second release is performed at the first position; determining a height at which the object released at the first position by the execution of the first release is present based on the detection result of the detection means; causing the holding mechanism to execute a second release in a state where the height of the lower end of the holding mechanism is higher than the height of the determined object; A control system comprising:

3. A holding mechanism that holds objects having at least one of adhesive, porous, and low fluidity properties and simultaneously releases all of the held objects; a control means for controlling the operation of the holding mechanism; Equipped with The control means causing the retention mechanism to perform a first retention and then a first release at a first position; Furthermore, the holding mechanism is moved to a second position where the object that has been released in the first step is not present, and a second holding operation is performed on a new object that does not include the object that has been released in the first step at the second position; Furthermore, the holding mechanism is moved to the first position where the object that has undergone the first release is present, and a second release is performed at the first position; controlling the holding mechanism to support the object released by the second release for a predetermined time after the object released by the execution of the first release comes into contact with the object released by the second release; A control system comprising:

Images