Robot system, processing method, and program

Abstract

A robot system comprising: a determination means for determining whether to cause a first robot arm and a second robot arm to hold one object or not; and a control means for, when the determination means determines to cause the first robot arm and the second robot arm to hold the one object, symmetrically operating the first robot arm and the second robot arm so that the first robot arm and the second robot arm hold the one object.

Description

Technical Field

[0001] The present disclosure relates to a robotic system, a processing method, and program the like.

Background Art

[0002] Robots are used in various fields such as logistics. As a related technology, Patent Document 1 discloses a technology related to a robot that operates two robotic arms in cooperation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Whereas, a human-cooperative robot that is relatively small and has the advantage of being able to operate in an environment where it coexists with humans has the disadvantage of being unable to carry heavy objects and being slower than industrial robots. Therefore, there is a need for a technology that can grip an object in a stable state even if the object is difficult to grip with the power output by a single robotic arm.

[0005] <00000)29>One of the objectives of each aspect of the present disclosure is to provide a robotic system, a processing method, and program the like that can solve the above problems.

Means for Solving the Problems

[0006] According to one aspect of the present disclosure, a robotic system is The robot comprises a robot body, a first robot arm connected to the robot body, a second robot arm positioned symmetrically to the first robot arm with respect to the robot body and capable of operating symmetrically with respect to the first robot arm, determination means for determining whether or not to allow the first robot arm and the second robot arm to grasp a single object, and, if the determination means determines that the first robot arm and the second robot arm should grasp the single object, control means for causing the first robot arm and the second robot arm to grasp the single object by operating them symmetrically, and, if the determination means determines that the single object is empty, control means for causing the first robot arm or the second robot arm to grasp the single object. .

[0007] According to another aspect of the present disclosure, a processing method is A processing method to be executed by a robot system comprising a robot body, a first robot arm connected to the robot body, and a second robot arm positioned symmetrically to the first robot arm with respect to the robot body and capable of operating symmetrically to the first robot arm, wherein the method involves determining whether or not to have the first robot arm and the second robot arm grasp a single object; if it is determined that the first robot arm and the second robot arm should grasp the single object, the first robot arm and the second robot arm are made to grasp the single object by operating them symmetrically; and if it is determined that the single object is empty, the first robot arm or the second robot arm is made to grasp the single object. .

[0008] According to another aspect of this disclosure, the program is A robot system comprising a robot body, a first robot arm connected to the robot body, and a second robot arm positioned symmetrically to the first robot arm with respect to the robot body and capable of operating symmetrically with respect to the first robot arm, is to be instructed by a computer to perform the following actions: determine whether or not to allow the first robot arm and the second robot arm to grasp a single object; if it is determined that the first robot arm and the second robot arm should grasp the single object, to allow the first robot arm and the second robot arm to grasp the single object by operating them symmetrically; and if it is determined that the single object is empty, to allow either the first robot arm or the second robot arm to grasp the single object. . [Effects of the Invention]

[0009] According to each aspect of this disclosure, even objects that are difficult to grasp with the power output of a single robotic arm can be grasped in a stable manner. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows an example of the configuration of a robot system according to the first embodiment of this disclosure. [Figure 2] This figure shows an example of a database according to the first embodiment of this disclosure. [Figure 3] This figure shows an example of the configuration of a higher-level device according to one embodiment of the present disclosure. [Figure 4] This figure shows an example of the processing flow of a robot system according to the first embodiment of this disclosure. [Figure 5] This figure shows an example of the robot configuration according to a first modification of the first embodiment. [Figure 6] This figure shows a minimal robot system according to an embodiment of the present disclosure. [Figure 7] This figure shows an example of the processing flow of a minimal robot system. [Figure 8] This is a schematic block diagram showing the configuration of a computer according to at least one embodiment. [Modes for carrying out the invention]

[0011] The embodiments will be described in detail below with reference to the drawings. <Embodiment> A robot system 1 according to one embodiment of this disclosure can stably grasp an object even if it is difficult to grasp it with the power output of a single robot arm, by operating the first robot arm and the second robot arm symmetrically. In this disclosure, grasping includes not only holding the object at the position of the robot arm by gripping it, but also holding the object at the position of the robot arm by suction. The robot system 1 can be used, for example, for receiving goods in a warehouse.

[0012] (Robot system configuration) Figure 1 shows an example of the configuration of a robot system 1 according to a first embodiment of the present disclosure. As shown in Figure 1, the robot system 1 comprises a transport device 10, a robot 20, a rotating mechanism 30, a barcode reader 40, a shooting device 50, a higher-level device 60, a control device 70, and a belt conveyor 80.

[0013] As shown in Figure 1, the conveying device 10 comprises a conveying mechanism 101, a pallet PT, and a database DB. An example of the conveying device 10 is a WMS (Warehouse Management System). Based on the database DB, the conveying mechanism 101 places objects (for example, goods in cardboard boxes) onto the pallet PT, so that, for example, multiple goods (for example, product A) that have arrived in the warehouse are placed on the pallet PT and moved to an area where the robot 20 can operate. The conveying mechanism 101 is, for example, an AGV (Automatic Guided Vehicle). In addition, the database DB records information indicating the type and quantity of goods that have arrived for each pallet PT. Details of registering information indicating the type and quantity of goods that have arrived in the database DB will be described later.

[0014] FIG. 2 is a diagram showing an example of a database DB according to the first embodiment of the present disclosure. In the example of the database DB shown in FIG. 2, cardboard A, cardboard B, and cardboard C are placed on a pallet PT1, and it is shown that 10 units of product A have been received in cardboard A, 20 units of product B have been received in cardboard B, and 30 units of product C have been received in cardboard C. Note that the type and quantity of products in each cardboard are specified by the barcode reader 40 reading the barcode attached to each cardboard, as will be described later.

[0015] As shown in FIG. 1, the robot 20 includes a robot main body 201, robot arms 202a (an example of a first robot arm and an example of a second robot arm), robot arms 202b (an example of a second robot arm and an example of a first robot arm), and a drive mechanism 203. The robot 20 is a collaborative robot. A collaborative robot is a robot that, unlike an industrial robot, does not require the area between a person and the robot to be separated by a fence. The robot arm 202a is connected to the robot main body 201. The robot arm 202b is provided at a position symmetric to the robot arm 202a with respect to the robot main body 201. The robot arm 202b can operate symmetrically to the robot arm 202a. The drive mechanism 203 operates the robot arm 202a and the robot arm 202b. For example, the drive mechanism 203 operates the robot arm 202a and the robot arm 202b symmetrically according to a control signal from the control device 70, causing the robot arm 202a and the robot arm 202b to grip one object. Examples of one object include cardboard and trays.

[0016] The rotation mechanism 30 changes the orientation of one object. For example, the rotation mechanism 30 is a base on which the robot main body 201 or one object can ride. Specifically, when the rotation mechanism 30 is a base on which the robot main body 201 can ride, with the robot 20 gripping one object, by rotating the rotation mechanism 30, the object can be oriented in the direction of the barcode reader 40. Thereby, the barcode reader 40 can read the barcode attached to one object. Also, specifically, when the rotation mechanism 30 is a base on which one object can ride, with the robot 20 placing one object on the rotation mechanism 30, by rotating the rotation mechanism 30, the object can be oriented in the direction of the barcode reader 40. Thereby, the barcode reader 40 can read the barcode attached to one object.

[0017] The barcode reader 40 reads the barcode attached to each incoming object. As described above, when the rotation mechanism 30 rotates and the orientation of one object is changed, the barcode reader 40 can read the barcode attached to each incoming object.

[0018] The imaging device 50 can image an object (e.g., a cardboard box containing goods) on the pallet PT that has moved to the area where the robot 20 can operate. The imaging device 50 outputs an image of the object on the pallet PT that has been imaged to the upper device 60. The imaging device 50 is, for example, a depth camera.

[0019] FIG. 3 is a diagram showing an example of the configuration of the upper device 60 according to an embodiment of the present disclosure. As shown in FIG. 3, the upper device 60 includes a specifying unit 601, a determination unit 602 (an example of determination means), and an instruction unit 603.

[0020] The identification unit 601 identifies the shape of each object on the pallet PT from the image captured by the imaging device 50. The image captured by the imaging device 50 contains information in the depth direction. Therefore, the identification unit 601 is able to identify the shape of each object.

[0021] The determination unit 602 determines whether or not to have robot arms 202a and 202b grasp one object. For example, the determination unit 602 acquires the processing details of robot 20. Based on the acquired processing details, the determination unit 602 determines whether or not the object is empty. Since the processing details allow it to determine how many items were taken out of the object, the determination unit 602 can make this determination. If the determination unit 602 determines that the object is not empty, it determines to have robot arms 202a and 202b grasp one object. This is based on the idea that if there are items inside the object, it is better to have both arms of robot arms 202a and 202b grasp the object from the standpoint of both weight and protection of the items. Also, if the determination unit 602 determines that the object is empty, it determines to have either robot arm 202a or robot arm 202b grasp one object. This is based on the idea that it is better to grasp the object with a single arm of robot arm 202a or robot arm 202b, from the perspective of both eliminating the risk of damaging the product if there is no product inside the object, and improving processing speed.

[0022] If the determination unit 602 determines that robot arms 202a and 202b should grasp one object, the instruction unit 603 outputs an instruction to the control device 70 to have robot arms 202a and 202b grasp one object. Also, if the determination unit 602 determines that either robot arm 202a or robot arm 202b should grasp one object, the instruction unit 603 outputs an instruction to the control device 70 to have either robot arm 202a or robot arm 202b grasp one object.

[0023] Based on instructions from the instruction unit 603, the control device 70 causes at least one of the robot arms 202a and 202b to grasp one object. For example, if the instruction unit 603 outputs an instruction to the control device 70 to have the robot arms 202a and 202b grasp one object, the control device 70 causes the robot arms 202a and 202b to grasp one object. Specifically, the control device 70 causes the robot arms 202a and 202b to grasp one object by operating them symmetrically. More specifically, if the robot arm 202a is the right arm and the robot arm 202b is the left arm, the control device 70 sets a right-handed coordinate system for the robot arm 202a and a left-handed coordinate system for the robot arm 202b. Furthermore, if robot arm 202a is the left arm and robot arm 202b is the right arm, left-handed coordinates are set for robot arm 202a and right-handed coordinates are set for robot arm 202b. The right-handed coordinate system is represented by (positive z-axis direction) = (positive x-axis direction) × (positive y-axis direction) (where × represents the cross product). The left-handed coordinate system is represented by (positive z-axis direction) = -(positive x-axis direction) × (positive y-axis direction) (where × represents the cross product). Then, if the determination unit 602 determines that robot arm 202a and robot arm 202b should grasp a single object, the control device 70 generates a single control signal to operate either robot arm 202a or robot arm 202b. The control device 70 outputs a single generated control signal to the robot arms 202a and 202b, thereby causing the robot arms 202a and 202b to operate symmetrically.

[0024] Alternatively, the same axes (for example, x-axis, y-axis, and z-axis) may be set for both robot arms 202a and 202b, and the control device 70 may generate and operate control signals that cause each of the robot arms 202a and 202b to move symmetrically.

[0025] Furthermore, for example, if the instruction unit 603 outputs an instruction to the control device 70 to have the robot arm 202a or robot arm 202b grasp one object, the control device 70 will have the robot arm 202a or robot arm 202b grasp one object.

[0026] The conveyor belt 80 moves the incoming goods, whose type has been identified, to their designated location.

[0027] (Processing performed by the robot system) Figure 4 shows an example of the processing flow of the robot system 1 according to the first embodiment of this disclosure. Next, the processing performed by the robot system 1 will be described with reference to Figure 4.

[0028] The imaging device 50 photographs the object (for example, a cardboard box containing goods) on the pallet PT once the robot 20 has moved to an area where it can operate (step S1). The imaging device 50 outputs the image of the object on the pallet PT that it has photographed to the host device 60.

[0029] The identification unit 601 identifies the shape of each object on the pallet PT from the image captured by the imaging device 50 (step S2).

[0030] The determination unit 602 determines whether or not to allow robot arms 202a and 202b to grasp a single object (step S3).

[0031] If the determination unit 602 determines that robot arms 202a and 202b should grasp one object (YES in step S3), the instruction unit 603 outputs an instruction to the control device 70 to have robot arms 202a and 202b grasp one object. In this case, the control device 70 has robot arms 202a and 202b grasp one object (step S4). Specifically, the control device 70 has robot arms 202a and 202b grasp one object by operating them symmetrically. The control device 70 has robot arms 202a and 202b place the object on the rotating mechanism 30 (step S5). Then, the control device 70 rotates the rotating mechanism 30 until the barcode reader 40 is oriented to read the barcode (step S6). The barcode reader 40 reads the barcode (step S7). The barcode reader 40 records the type and quantity of the product indicated by the read barcode in the database DB (step S8).

[0032] Furthermore, if the determination unit 602 determines that the robot arm 202a or robot arm 202b should grasp one object (NO in step S3), the instruction unit 603 outputs an instruction to the control device 70 to have the robot arm 202a or robot arm 202b grasp one object. In this case, the control device 70 has the robot arm 202a or robot arm 202b grasp one object (step S9). Then, the control device 70 proceeds to the process in step S5.

[0033] (advantage) The robot system 1 according to the first embodiment of this disclosure has been described above. The robot system 1 comprises a robot body 201, a robot arm 202a (an example of a first robot arm), a robot arm 202b (an example of a second robot arm), a determination unit 602 (an example of a determination means), and a control device 70 (an example of a control means). The robot arm 202a is connected to the robot body 201. The robot arm 202b is provided in a position symmetrical to the robot arm 202a with respect to the robot body 201. The robot arm 202b is capable of operating symmetrically to the robot arm 202a. The determination unit 602 determines whether or not to allow the robot arm 202a and the robot arm 202b to grasp a single object. When the determination unit 602 determines that the robot arms 202a and 202b should grasp one object, the control device 70 causes the robot arms 202a and 202b to grasp one object by operating them symmetrically.

[0034] This robot system 1 allows for the stable gripping of objects that would be difficult to grasp with the power output of a single robot arm.

[0035] <Modified examples of embodiments> Next, a robot system 1 according to a modification of the embodiment of the present disclosure will be described. Figure 5 is a diagram showing an example of the configuration of a robot 20 according to a first modification of the first embodiment. In the first embodiment, the rotation mechanism 30 was described as being a robot body 201 or a platform on which an object can be placed. However, in the first modification of the first embodiment, as shown in Figure 5, the robot body 201 is divided into a lower first part 201a and an upper second part 201b having the same axis, and the robot arms 202a and 202b may be connected to the second part 201b. Furthermore, the rotation mechanism 30 may be a mechanism in which the second part 201b rotates around an axis with respect to the first part 201a.

[0036] (advantage) The robot system 1, which is a modified embodiment of the present disclosure, has been described above. In this robot system 1, the robot arms 202a and 202b grasp an object by moving symmetrically, and the rotation mechanism 30 rotates to change the orientation of the object's barcode to one that is easy for the barcode reader 40 to read.

[0037] In the embodiments described above, the instruction unit 603 was described as being provided by the host device 60. However, in other embodiments, the instruction unit 603 may be provided by something other than the host device 60, such as the robot 20 or the control device 70. Also, in other embodiments, the control device 70 may be provided by the robot 20 or the host device 60, etc.

[0038] A minimal robot system 1 according to an embodiment of the present disclosure will be described. Figure 6 is a diagram showing a minimal robot system 1 according to an embodiment of the present disclosure. The minimal robot system 1 according to an embodiment of the present disclosure comprises a robot body 201, a robot arm 202a (an example of a first robot arm), a robot arm 202b (an example of a second robot arm), a determination unit 602 (an example of determination means), and a control device 70 (an example of control means). The robot arm 202a is connected to the robot body 201. The robot arm 202a can be realized, for example, using the functions of the robot arm 202a illustrated in Figure 1. The robot arm 202b is provided in a position symmetrical to the robot arm 202a with respect to the robot body 201. The robot arm 202b can operate symmetrically to the robot arm 202a. The robot arm 202b can be realized, for example, using the functions of the robot arm 202b illustrated in Figure 1. The determination unit 602 determines whether or not to allow robot arms 202a and 202b to grasp a single object. The determination unit 602 can be implemented, for example, using the functions of the determination unit 602 exemplified in Figure 3. If the determination unit 602 determines that robot arms 202a and 202b should grasp a single object, the control device 70 causes robot arms 202a and 202b to grasp the single object by operating them symmetrically. The control device 70 can be implemented, for example, using the functions of the control device 70 exemplified in Figure 1.

[0039] Next, we will explain the processing of the minimally configured robot system 1. Figure 7 is a diagram showing an example of the processing flow of the minimally configured robot system 1. Here, we will explain the processing of the minimally configured robot system 1 with reference to Figure 7.

[0040] The robot arm 202a is connected to the robot body 201. The robot arm 202b is positioned symmetrically to the robot arm 202a with respect to the robot body 201. The robot arm 202b is capable of operating symmetrically to the robot arm 202a. The determination unit 602 determines whether or not to allow the robot arms 202a and 202b to grasp a single object (step S101). If the determination unit 602 determines that the robot arms 202a and 202b should grasp a single object, the control device 70 causes the robot arms 202a and 202b to grasp the single object by operating them symmetrically (step S102). In this way, the robot system 1 can stably grasp an object even if it is difficult to grasp an object with the power output of a single robot arm.

[0041] In addition, the order of processing in the embodiments of this disclosure may be changed, as long as appropriate processing is performed.

[0042] While embodiments of this disclosure have been described, the robot system 1, robot 20, control device 70, and other control devices described above may have a computer device inside. The process described above is stored in the form of a program on a computer-readable recording medium, and the above process is performed when the computer reads and executes this program. A specific example of a computer is shown below.

[0043] Figure 8 is a schematic block diagram showing the configuration of a computer according to at least one embodiment. As shown in Figure 8, the computer 5 comprises a CPU (Central Processing Unit) 6, main memory 7, storage 8, and interface 9. For example, the robot system 1, robot 20, control device 70, and other control devices described above are each implemented in the computer 5. The operation of each of the above-described processing units is stored in the storage 8 in the form of a program. The CPU 6 reads the program from the storage 8, loads it into the main memory 7, and executes the above-described processing according to the program. The CPU 6 also allocates storage areas in the main memory 7 corresponding to each of the above-described storage units according to the program.

[0044] Examples of storage 8 include HDDs (Hard Disk Drives), SSDs (Solid State Drives), magnetic disks, magneto-optical disks, CD-ROMs (Compact Disc Read Only Memory), DVD-ROMs (Digital Versatile Disc Read Only Memory), and semiconductor memory. Storage 8 may be an internal medium directly connected to the bus of computer 5, or an external medium connected to computer 5 via interface 9 or a communication line. Furthermore, if this program is distributed to computer 5 via a communication line, computer 5, upon receiving the program, may expand it into main memory 7 and execute the above processing. In at least one embodiment, storage 8 is a tangible storage medium that is not temporary.

[0045] Furthermore, the above program may implement some of the functions described above. Moreover, the above program may be a file that can implement the above functions in combination with a program already recorded on the computer device, a so-called differential file (differential program).

[0046] While several embodiments of this disclosure have been described, these embodiments are illustrative and do not limit the scope of the disclosure. These embodiments may be modified in various ways, without departing from the gist of the disclosure. [Industrial applicability]

[0047] According to each aspect of this disclosure, even objects that are difficult to grasp with the power output of a single robotic arm can be grasped in a stable manner. [Explanation of symbols]

[0048] 1. Robot System 5. Computers 6..CPU 7. Main Memory 8. Storage 9. Interface 10. Conveying device 20... Robots 30... Rotation mechanism 40... Barcode reader 50... Imaging device 60... Higher-level device 70... Control device 80... Belt conveyor 101... Conveying mechanism 201...Robot body 202a, 202b... Robot arms 203... Drive mechanism 601...Specific section 602...Judgment section 603...Instruction section DB...Database PT...Palette

Claims

1. The robot body and A first robot arm connected to the robot body, A second robot arm is provided in a position symmetrical to the first robot arm, centered on the robot body, and capable of operating symmetrically with respect to the first robot arm. A determination means for determining whether or not to allow the first robot arm and the second robot arm to grasp a single object, If the determination means determines that the first robot arm and the second robot arm should grasp the object, the control means causes the first robot arm and the second robot arm to grasp the object by operating them symmetrically; if the determination means determines that the object is empty, the control means causes the first robot arm or the second robot arm to grasp the object. A robotic system equipped with the following features.

2. If the first robot arm is the right arm and the second robot arm is the left arm, the first robot arm is set to a right-handed coordinate system and the second robot arm is set to a left-handed coordinate system. If the first robot arm is the left arm and the second robot arm is the right arm, the first robot arm is set to a left-handed coordinate system and the second robot arm is set to a right-handed coordinate system. The control means is When the determination means determines that the first robot arm and the second robot arm should grasp the object, it generates a control signal to operate either the first robot arm or the second robot arm, and outputs the generated control signal to the first robot arm and the second robot arm, thereby causing the first robot arm and the second robot arm to operate symmetrically. The robot system according to claim 1.

3. A rotation mechanism for changing the orientation of one of the aforementioned objects, A robot system according to claim 1 or claim 2, comprising:

4. The aforementioned rotating mechanism is A platform on which the robot body or the object can stand, The robot system according to claim 3.

5. The robot body is divided into a lower first part and an upper second part, sharing the same axis, and the first robot arm and the second robot arm are connected to the second part. The aforementioned rotating mechanism is This mechanism involves the second part rotating around the axis with respect to the first part. The robot system according to claim 3.

6. The control means is If the determination means determines that the object should be grasped by either the first robot arm or the second robot arm, then the first robot arm or the second robot arm is instructed to grasp the object. A robot system according to any one of claims 1 to 5.

7. A processing method to be performed by a robot system comprising a robot body, a first robot arm connected to the robot body, and a second robot arm positioned symmetrically to the first robot arm with respect to the robot body and capable of operating symmetrically to the first robot arm, wherein Determine whether or not to have the first robot arm and the second robot arm grasp a single object. When it is determined that the first robot arm and the second robot arm should grasp the one object, the first robot arm and the second robot arm are made to move symmetrically to grasp the one object, If it is determined that the contents of the one object are empty, the first robot arm or the second robot arm is made to grasp the one object. Processing method.

8. A robot system comprising a robot body, a first robot arm connected to the robot body, and a second robot arm positioned symmetrically to the first robot arm with respect to the robot body and capable of operating symmetrically to the first robot arm, has a computer in which To determine whether or not to have the first robot arm and the second robot arm grasp a single object, When it is determined that the first robot arm and the second robot arm should grasp the one object, the first robot arm and the second robot arm are made to move symmetrically to grasp the one object, If it is determined that the contents of the one object are empty, the first robot arm or the second robot arm is made to grasp the one object, A program that executes the command.

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