Robot System

Abstract

To appropriately protect an optical sensor in a robot system. [Solution] A robot system is disclosed that includes an optical sensor that acquires optical information of a processing object to be processed using the robot, and a partition means that separates the optical sensor from the processing object. The optical sensor preferably acquires distance information to the processing object as the optical information. The partition means preferably includes a plate-shaped portion that separates the optical sensor from the processing object in the vertical direction. The plate-shaped portion is preferably positioned on the optical axis of the optical sensor and is made of a material that transmits visible light. The processing object preferably includes food ingredients.

Description

[Technical Field]

[0001] The present disclosure relates to robotic systems. [Background technology]

[0002] In a robot system, a technology is known in which an optical sensor is installed above a container and light is shone onto the object to be processed, thereby detecting the height of the object to be processed in the direction in which the robot's gripping claws insert the object placed in the container. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-135305 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the above-described conventional techniques, it is difficult to adequately protect the optical sensor.

[0005] Therefore, in one aspect, an object of the present disclosure is to appropriately protect an optical sensor in a robot system. [Means for solving the problem]

[0006] In one aspect, an optical sensor that acquires optical information of a processing object that is processed using a robot; A robot system is provided that includes a partition means that separates the optical sensor from the object to be processed. [Effects of the Invention]

[0007] According to one aspect, the present disclosure makes it possible to appropriately protect an optical sensor in a robot system. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing an outline of a robot system according to an embodiment of the present invention. [Figure 2] FIG. 10 is a side view showing an outline of a robot system according to a second embodiment. [Figure 2A] FIG. 3 is an enlarged view of part Q2 in FIG. 2. [Figure 3] FIG. 10 is a side view showing an outline of a robot system according to a third embodiment. [Figure 4] FIG. 10 is a side view showing an outline of a robot system according to a fourth embodiment. [Figure 5] FIG. 10 is a diagram illustrating an example of a control system suitable for the third and fourth embodiments. [Figure 6] 10 is a schematic flowchart showing an example of a method for controlling the temperature adjusting means by the control device 8. [Figure 7] FIG. 10 is a side view showing an outline of a robot system according to a fifth embodiment. [Figure 8] FIG. 13 is a perspective view showing the entire robot system of the sixth embodiment. [Figure 9] FIG. 9 is a perspective view of the robot system of FIG. 8 with portions removed to reveal the interior. [Figure 10] 10 is a perspective view showing a part of FIG. 9 where an optical sensor is arranged. FIG. [Figure 11] 11 is a diagram showing a state in which the cylinder forming member is removed from FIG. 10. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Each embodiment will be described in detail below with reference to the accompanying drawings. Note that the dimensional ratios in the drawings are merely examples and are not limiting. Furthermore, shapes and the like in the drawings may be partially exaggerated for the sake of explanation. Furthermore, in the drawings, for ease of viewing, reference symbols may be assigned only to some of the parts that exist with the same attribute.

[0010] Fig. 1 is a side view showing an outline of a robot system 1 according to this embodiment. In Fig. 1, the up and down directions are defined, and hereinafter, terms relating to the up and down directions will follow these definitions. This also applies to Fig. 2 and other figures described later.

[0011] In FIG. 1 (as well as in FIG. 2 and the like described later), the food container 70 is shown in cross section, and the food 7 contained therein is shown schematically.

[0012] The robot system 1 includes a robot 10. The robot 10 may have any configuration, such as an articulated robot. For example, the robot 10 may be capable of grasping and releasing food material 7, and the arm 11 may move up and down and / or left and right while grasping food material 7. The configuration and operation of the robot 10 may be, for example, the configuration described in Japanese Patent Application Laid-Open No. 2024-050513, the contents of which are incorporated herein by reference.

[0013] In this embodiment, as an example, the robot 10 has a hand 12 at the end of the arm 11 for grasping and releasing the food material 7, which is the object to be processed. The shape of the hand 12 may also be arbitrary and may be adapted depending on the object to be processed. In a modified example, the object to be processed may be another object instead of the food material 7.

[0014] In this embodiment, as an example, the food ingredients 7 are contained in a food ingredient container 70 that is open at the top, and are portioned out by the hand 12. For example, the food ingredients 7 are so-called side dishes, and are picked up by the hand 12 in predetermined amounts and transferred to a destination container. In FIG. 1, the small container (destination container) used for portioning is not shown. The food ingredient container 70 is optional, and may be, for example, a food tray. The food ingredient container 70 may be supported by a support stand 77 or the like.

[0015] In the following description, unless otherwise specified, the food ingredients 7 refer to the food ingredients 7 in the food ingredient container 70.

[0016] The robot system 1 further includes an optical sensor 2. The optical sensor 2 is positioned above the food container 70. The optical sensor 2 acquires optical information of the food 7. The optical information acquired by the optical sensor 2 can be any type of information, such as a color image or an infrared image. In this embodiment, the optical information is, for example, a distance image. That is, in this embodiment, the optical sensor 2 is a depth camera that acquires distance information from the optical sensor 2 to the food 7 on the optical axis I. For this purpose, the optical sensor 2 is positioned so that the optical axis I passes through the food 7 (for example, so that it passes near the center of the food container 70). The method for acquiring the distance information is arbitrary, and may be, for example, a stereo camera method or a TOF (Time Of Flight) method. The details of the TOF method are also arbitrary, and may be 1D-ToF, 3D-ToF, or the like.

[0017] The optical axis I of the optical sensor 2 may be parallel to the up-down direction (vertical direction). In this case, the optical sensor 2 may be placed directly above the food container 70. Alternatively, the optical sensor 2 may be placed so that the optical axis I is inclined with respect to the up-down direction. In this case, the optical sensor 2 may be placed so that it does not overlap with the food container 70 when viewed in the up-down direction.

[0018] The robot system 1 further includes a partitioning means 3. The partitioning means 3 is provided to separate the optical sensor 2 and the food material 7. The partitioning means 3 may be disposed at a position where the optical axis I of the optical sensor 2 passes through. In this case, the partitioning means 3 may be transparent to the light detected by the optical sensor 2 so as not to impair the sensing function of the optical sensor 2. The partitioning means 3 may be in the form of a plate, or may have another form including a plate-like portion. The plate-like portion may be, for example, an acrylic plate or a glass plate.

[0019] In the robot system 1 that handles food ingredients 7, steam may be generated from the food ingredients 7 (especially when the food ingredients 7 are heated), and parts of the food ingredients 7 (especially sticky substances, oils, etc.) may fly up. If the steam or part of the flying substances adheres to the optical sensor 2, this may result in a decrease in the detection accuracy of the optical sensor 2.

[0020] In this regard, in this embodiment, by providing the partitioning means 3, it is possible to prevent inconveniences such as foreign matter from below the partitioning means 3 (food material 7) adhering to the optical sensor 2. In other words, in this embodiment, the optical sensor 2 can be appropriately protected.

[0021] Furthermore, if optical sensor 2 is positioned so as to overlap food container 70 when viewed from above, there is a risk that foreign matter may fall into food container 70 from the optical sensor 2 side. For example, when an airflow is generated to cool optical sensor 2 as described below, there is a high possibility that foreign matter may enter food container 70.

[0022] In this regard, in this embodiment, by providing the partitioning means 3, it is possible to prevent foreign matter from entering the food container 70 from above the partitioning means 3.

[0023] Next, other embodiments will be described with reference to Figure 2 onwards. In the following, for the sake of distinction, the above-mentioned embodiment will also be referred to as "embodiment 1", and other embodiments will also be referred to as "embodiment 2", "embodiment 3", etc.

[0024] 2 is a side view showing an outline of a robot system 1A of Example 2. FIG. 2A is an enlarged view of a portion Q2 in FIG.

[0025] The robot system 1A of the second embodiment differs from the robot system 1 of the first embodiment in that the optical sensor 2 is disposed inside the upper box 4.

[0026] The upper box 4 is disposed above the food container 70. The upper box 4 may be a sealed container or may be in the form of a box that is open at the top. The upper box 4 may also be a substantially sealed container with only a portion of the top and / or side open. Components other than the upper box 4 (such as a control device 8 and a power supply) may also be disposed in the upper box 4.

[0027] In the second embodiment, the bottom surface 40 of the upper box 4 forms the partition means 3. That is, the partition means 3 is a plate-like portion and forms the bottom surface 40 of the upper box 4. In this case, the bottom surface 40 of the upper box 4 may be formed of a material different from that of the other side surfaces. For example, part or all of the other side surfaces may be formed of a material with high heat dissipation (heat conductivity), such as metal. Fins or the like may also be formed. In this case, when a heat-generating component (e.g., an optical sensor 2 or a control device 8) is disposed inside the upper box 4, heat dissipation from the heat-generating component can be promoted. Alternatively, part or all of the other side surfaces may be formed of a material with high heat insulation properties, or may be covered with a material with high heat insulation properties (e.g., polystyrene foam, urethane, etc.). In this case, the influence of the external thermal environment on the upper box 4 can be reduced. Furthermore, it is possible to prevent heat from being trapped inside the upper box 4, which would otherwise cause the temperature to drop more than necessary.

[0028] 2A, the optical sensor 2 includes a housing 22 housed in the upper box 4, a sensing unit 24 in the housing 22, and a lens 26 supported by the housing 22. In this case, the optical sensor 2 may be disposed with the lens 26 facing the bottom surface 40 of the upper box 4 (i.e., the partition means 3).

[0029] The second embodiment also provides the same effects as the first embodiment. In particular, the second embodiment accommodates the optical sensor 2 in the upper box 4, which increases the degree of isolation between the optical sensor 2 and the food material 7. This enhances the effects of the first embodiment.

[0030] Fig. 3 is a side view showing an outline of a robot system 1B according to Example 3. In Fig. 3, the flow of air generated by the cooling fan 60 is schematically shown by arrows R3.

[0031] The robot system 1B of the third embodiment is the same as the robot system 1A of the second embodiment described above in that the optical sensor 2 is arranged inside the upper box 4B, but differs in that a cooling fan 60 is provided in the upper box 4B.

[0032] The cooling fan 60 has the function of cooling the optical sensor 2 by generating an air current that hits the optical sensor 2. The cooling fan 60 may be provided, for example, on a side surface of the upper box 4B. In this case, a vent may be provided in the side surface of the upper box 4B that faces the side surface on which the cooling fan 60 is provided, and a filter or the like may be provided in the vent. In the illustrated example, the cooling fan 60 exhausts air inside the upper box 4B to the outside, but it may also function to introduce air into the upper box 4B.

[0033] The third embodiment also provides the same effects as the first embodiment. In particular, the optical sensor 2 is housed in the upper box 4B in the third embodiment, which increases the degree of isolation between the optical sensor 2 and the food material 7. This further enhances the effects of the first embodiment.

[0034] In addition, in the third embodiment, the cooling fan 60 is provided as a cooling means, so that the optical sensor 2 can be cooled.

[0035] FIG. 4 is a side view showing an outline of a robot system 1C according to a fourth embodiment.

[0036] The robot system 1C of the third embodiment differs from the robot system 1B of the second embodiment in that the cooling means is a refrigerant circulation system 60C instead of the cooling fan 60.

[0037] The refrigerant circulation system 60C has a refrigerant flow path 62C thermally connected to the optical sensor 2 and functions to cool the optical sensor 2 via the refrigerant. Any refrigerant may be used, for example, cooling water. In this case, the cooling water in the refrigerant flow path 62C may be circulated by driving a water pump (not shown), and the cooling capacity may be varied according to the flow rate. The refrigerant circulation system 60C may also include a means for cooling the cooling water, such as a heat exchanger (not shown). The refrigerant flow path 62C may be provided adjacent to the housing 22 of the optical sensor 2, for example. Alternatively, in a modified example, the refrigerant flow path 62C may be incorporated within the housing 22.

[0038] The fourth embodiment also provides the same effects as the first embodiment. In particular, the fourth embodiment accommodates the optical sensor 2 in the upper box 4, which increases the degree of isolation between the optical sensor 2 and the food material 7. This enhances the effects of the first embodiment.

[0039] Furthermore, in Example 4, a refrigerant circulation system 60C is provided as a cooling means, so that the optical sensor 2 can be cooled. Furthermore, the refrigerant circulation system 60C does not generate an air current, so it is possible to eliminate the possibility of dust and the like being blown into the surrounding area by the air current. The inclusion of dust and the like is undesirable in a robot system 1 that handles food ingredients 7, and measures are important from the standpoint of food hygiene as well. Such an effect is similarly achieved when the cooling fan 3 is housed in the sealed upper box 4 in Example 3. When the cooling fan 3 is housed in the sealed upper box 4, dust and the like will not be introduced into the upper box 4, and dust and the like will not be discharged from the upper box 4.

[0040] In a modified example, the cooling means may be a combination of the cooling fan 60 and the refrigerant circulation system 60C. Also, a refrigerant flow path such as the refrigerant flow path 62C may be formed in the upper box 4.

[0041] FIG. 5 is a diagram showing an example of a control system suitable for the third and fourth embodiments described above.

[0042] The control system includes a control device 8. The control device 8 includes a computer. The control device 8 may be a general-purpose computer used to control the robot 10, or may be a dedicated computer. The control device 8 may also be formed by multiple computers. The control device 8 may also be formed by including an external server computer.

[0043] A temperature sensor 9 is electrically connected to the control device 8. The temperature sensor 9 supplies temperature information (sensor information) indicating the temperature of the optical sensor 2 to the control device 8. The temperature sensor 9 may be provided inside the upper box 4B. In this case, the temperature sensor 9 is provided near the optical sensor 2, but may also be built into the optical sensor 2.

[0044] In addition to the robot 10, a temperature adjustment means 6 is connected to the control device 8 as a control target. The temperature adjustment means 6 may include the cooling fan 60 and the refrigerant circulation system 60C described above. The temperature adjustment means 6 may also include a heating means instead of or in addition to the cooling means. The heating means may include, for example, a hot wire, a coil, a heater, etc. The heating means may also be thermally connected to a heat source (for example, a drive actuator, etc.) of the robot system 1.

[0045] The control device 8 controls the robot 10 based on the distance information from the optical sensor 2. The method for controlling the robot 10 based on the distance information is arbitrary. For example, the control device 8 may calculate the position (target position) for grasping the food material 7 based on the distance information, and control the robot 10 so that the hand 12 reaches the target position. In this case, the target position may be calculated so that the food material 7 can be grasped from the highest position. More specifically, it is possible to estimate how far the hand 12 must be lowered to grasp a predetermined amount of food material 7. This is because there is a correlation between the penetration depth of the hand 12 into the food material 7 and the amount of food material 7 that can be grasped. Therefore, the target position (particularly the vertical position) may be calculated using this correlation. This makes it possible to prioritize grasping the higher portions (portions with remaining food material) of the "pile" of food material 7 in the food material container 70.

[0046] Furthermore, the control device 8 controls the temperature adjusting means 6 based on the temperature information of the optical sensor 2 (sensor information from the temperature sensor 9).

[0047] FIG. 6 is a schematic flowchart showing an example of a method for controlling the temperature adjusting means 6 by the control device 8.

[0048] In step S600, the control device 8 determines whether or not the calibration execution condition for the optical sensor 2 is met. The calibration execution condition is arbitrary, but may be met, for example, at the start of operation. If the determination result is "YES," the process proceeds to step S602; otherwise, the process proceeds to step S606.

[0049] In step S602, the control device 8 performs calibration of the optical sensor 2.

[0050] In step S604, the control device 8 stores the temperature at the time of calibration as the reference temperature.

[0051] In step S606, the control device 8 acquires the latest temperature information from the temperature sensor 9.

[0052] In step S608, the control device 8 determines whether the temperature information obtained in step S606 is higher than the reference temperature and whether the difference is greater than a predetermined temperature α. The predetermined temperature α is arbitrary and may be adapted according to the temperature dependency of the accuracy of the optical sensor 2. Specifically, the amount of deformation (distortion) of the lens 26 of the optical sensor 2 changes with temperature changes, which in turn changes the accuracy of the distance information. For example, it has been found that with a certain optical sensor 2, a temperature change of just 10°C can cause a relatively large error in the distance information. For example, a 10°C drop in temperature may result in outputting distance information that is 30 to 40 mm shorter than before the drop. Note that as the error in the distance information increases, the gripping accuracy of the hand 12 deteriorates. Specifically, as the error in the distance information increases, the error in the target position (particularly the vertical position) increases, making it difficult for the hand 12 to grip a predetermined amount of food material 7. For example, if distance information that is shorter than the actual amount is output, the amount of food material 7 gripped may be smaller than the predetermined amount. Fewer , conversely, than in reality long When distance information is output (for example, when the temperature of the optical sensor 2 becomes significantly higher than the reference temperature), the amount of food material 7 being grasped becomes greater than a predetermined amount. become more Therefore, the predetermined temperature α may be adjusted in consideration of such characteristics so that the change is equal to or less than an allowable upper limit (i.e., so that the amount of food material 7 to be grasped falls within an allowable error in relation to the predetermined amount).

[0053] In step S608, if the determination result is "YES", the process proceeds to step S610, otherwise the process proceeds to step S612.

[0054] In step S610, the control device 8 operates the cooling means of the temperature adjusting means 6 so that the temperature of the optical sensor 2 drops to the reference temperature (hereinafter also referred to as "cooling process").

[0055] In step S612, the control device 8 determines whether the temperature in the temperature information obtained in step S606 is lower than the reference temperature and whether the difference is greater than a predetermined temperature β. The predetermined temperature β may be determined in the same way as the predetermined temperature α described above. Note that the predetermined temperature β may be the same as the predetermined temperature α. If the determination result is "YES," the process proceeds to step S614; otherwise, the process proceeds to step S616.

[0056] In step S614, the control device 8 activates the heating means of the temperature adjusting means 6 so that the temperature of the optical sensor 2 rises to the reference temperature (hereinafter also referred to as "heating process").

[0057] In step S616, the control device 8 establishes or maintains a stopped state of the cooling process and the heating process.

[0058] Fig. 7 is a side view showing an outline of a robot system 1D of Example 5. In Fig. 7, the transfer direction of transfer means 74D is schematically indicated by an arrow R7.

[0059] The robot system 1D of the fifth embodiment differs from the robot system 1B of the second embodiment in the state of the food material 7 that is the processing target.

[0060] Specifically, in the above-described first embodiment, the food ingredients 7 are contained in the food ingredient container 70, but in the fifth embodiment, the food ingredients 7 are transported on the transport means 74D. In this way, the state of the processing object is arbitrary. The food ingredients 7 transported by the transport means 74D may be in a container such as a tray. In this case, the container may be, for example, a container (tray) in which the food ingredients 7 are to be served. The robot 10 may also perform an operation of removing excess food ingredients 7 from the tray and returning them to the food ingredient container 70, another container, or the like.

[0061] Next, a more specific embodiment will be described as a sixth embodiment with reference to FIG. 8 and subsequent figures.

[0062] FIG. 8 is a perspective view showing the entire robot system 1E of Example 6. FIG. 9 is a perspective view showing the robot system 1E of FIG. 8 with a portion removed so that the interior can be seen. FIG. 10 is a perspective view showing a portion of FIG. 9 where the optical sensor 2 is disposed. FIG. 11 is a view showing a state in which the cylinder forming member 140 has been removed from FIG. 10. In FIG. 8 and other figures, three axes are shown in a right-handed coordinate system. In this case, the Z direction is the up-down direction, and the positive side of the Z direction corresponds to the upper side.

[0063] The robot system 1E includes a support structure 100 having a frame structure, and the robot 10 and the like are supported on the support structure 100. The support structure 100 may include wheels so that the installation position of the robot system 1E can be easily moved.

[0064] The support structure 100 includes a frame 102 that is provided around the workspace of the robot 10. The workspace of the robot 10 may be closed off by a door, a panel, a transparent plate, or the like. The upper surface of the workspace of the robot 10 is defined by an upper box 4D. That is, the upper box 4D is supported by the frame 102 in a manner that forms the ceiling of the workspace of the robot 10. In this case, the upper box 4D can be placed using the ceiling, thereby reducing the installation area of ​​the entire robot system 1. Furthermore, the upper box 4D can be used as a lid for the ceiling. Furthermore, by placing various electronic components inside the upper box 4D, efficient placement can be achieved.

[0065] In the example shown in FIG. 8, the robot system 1E includes two robots 10 each performing the same process, but the following mainly describes the configuration of one robot 10.

[0066] In the sixth embodiment, the optical sensor 2 is arranged so as to fit within a cylindrical space within the upper box 4D. Specifically, a member 140 with a C-shaped cross section (hereinafter also referred to as "cylinder forming member 140") is provided on the bottom surface 40D of the upper box 4D. As shown in FIG. 11, the optical sensor 2 is provided in the cylindrical space surrounded by the cylinder forming member 140 and the bottom surface 40D. Both longitudinal ends of the cylindrical space are open in the longitudinal direction (in this case, the X direction). A cooling fan 60 is provided at the opening on one end side of the cylindrical space.

[0067] The sixth embodiment also provides the same effects as those of the first embodiment. In particular, the sixth embodiment provides the following unique effects.

[0068] That is, according to the sixth embodiment, the upper box 4D can be removably supported on the frame 102. That is, the optical sensor 2 can be later attached to the upper part of the frame 102 while installed in the upper box 4D. In this case, the method of fixing the upper box 4D to the frame 102 can be any method as long as it is detachable, and may be, for example, a method using screws, bolts, or the like. In this case, in addition to fastening with screws, bolts, or the like, a mechanical engagement or positioning mechanism may be used.

[0069] Such a retrofittable configuration makes it easy to transport the robot system 1E. That is, the robot system 1E can be transported (for example, moved within a factory) with the upper box 4D removed. Note that a configuration in which an upper box such as the upper box 4D is fixed by welding or the like results in a relatively large weight and size, making transportation difficult. In particular, with the upper box 4D removed, the robot system 1E becomes lighter by the weight of the upper box 4D (and its contents), making transportation easier. Furthermore, because the height of the robot system 1E as a whole is reduced, it can also pass through relatively low openings, such as through factory doors.

[0070] Furthermore, the retrofittable configuration makes it easy to adjust the position of the optical sensor 2. That is, the optical sensor 2 can be positioned inside the upper box 4D on a workbench or the floor, and then the upper box 4D can be lifted and supported by the frame 102. This eliminates the need to climb up to a high place using a stepladder and install the camera from above the ceiling. That is, the workability of installing the optical sensor 2 is improved. This also applies to other components (e.g., the control device 8) that may be placed inside the upper box 4D. From a similar perspective, it is possible to improve the ease of maintenance of components such as the optical sensor 2 that are placed inside the upper box 4D.

[0071] Furthermore, according to the sixth embodiment, the optical sensor 2 is disposed in the cylindrical space by the cylinder forming member 140, which makes it easier for heat to be trapped in the optical sensor 2 and facilitates temperature control using the cooling fan 60. Furthermore, in the sixth embodiment, the cylinder forming member 140 may be covered with a highly insulating material (such as polystyrene foam or urethane). In this case, heat from the optical sensor 2 is more likely to be trapped, making it even easier to control the temperature using the cooling fan 60.

[0072] In the sixth embodiment, the optical sensor 2 is disposed in the upper box 4D that forms the ceiling, but this is not limiting. For example, the optical sensor 2 may be disposed in a container (not shown) that forms the side surface of the support structure 100. Furthermore, the optical sensor 2 may not be supported by the support structure 100, but may be supported by the wall or ceiling of the facility.

[0073] In addition, in Example 6, the upper box 4D has approximately the same outer shape as the entire support structure 100 when viewed in the vertical direction. In other words, the upper box 4D forms the entire ceiling. However, in a modified example, the upper box 4D may be smaller so as to fit within the outer shape of the entire support structure 100 when viewed in the vertical direction, or may have an outer shape that protrudes from the support structure 100 when viewed in the vertical direction.

[0074] Although each embodiment has been described in detail above, it is not limited to the specific embodiment, and various modifications and changes are possible within the scope of the claims. It is also possible to combine all or a plurality of components of the above-described embodiments. [Explanation of symbols]

[0075] 1. Robot System 2 Optical Sensor 3 Partitioning means 4. Upper box (an example of a container) 40 Bottom part 6 Temperature adjustment means 7. Ingredients 8. Control device (example of temperature control device) 9 Temperature Sensor 10. Robot 11 Arm 12 hands 22 Case 24 Sensing unit 26 Lens 60 Cooling fan 60C refrigerant circulation system 62C Refrigerant flow path 70 Food container (example of storage container) 74D Means of transport 100 Support structure 102 frames 140 Cylindrical member I optical axis

Claims

1. an optical sensor that acquires distance information to the surface of the food ingredients stacked on the food ingredient container; a robot having a hand that enters the group of ingredients and grabs the ingredients based on the distance information; A partition means for separating the optical sensor from the food ingredients; and a temperature adjusting means for adjusting the temperature of the optical sensor.

2. a sealed or substantially sealed box that houses the optical sensor and the temperature adjusting means; 2. The robot system according to claim 1, wherein the temperature adjusting means is a cooling fan.

3. 3. The robot system according to claim 1, wherein the pre-temperature adjustment means adjusts the temperature when the difference between the temperature of the optical sensor and a reference temperature is greater than a predetermined temperature.

4. 3. The robot system according to claim 1, wherein the temperature adjusting means adjusts the temperature so as to approach a reference temperature.

5. an optical sensor that acquires distance information to the surface of the food ingredients stacked on the food ingredient container; a robot having a hand that enters the group of ingredients and grabs the ingredients based on the distance information; A partition means for separating the optical sensor from the food ingredients; a member surrounding the optical sensor.

6. the surrounding member is a tube-forming member, The robot system according to claim 5 , further comprising a cooling fan provided at an opening on one end side of the cylindrical space formed by the cylinder forming member.

7. The robot system according to claim 6 , further comprising a sealed or substantially sealed box that houses the optical sensor, the cylinder-forming member, and the cooling fan.

8. The robot system according to claim 6 , wherein the cylindrical space formed by the cylinder forming member has openings at both ends in a longitudinal direction, and the cooling fan is provided in one of the openings.

9. The robot system according to claim 6 , further comprising a highly insulating cover that covers the cylinder forming member.

Images