ROBOT SYSTEM, CONTROL METHOD, AND PROGRAM

Abstract

According to the present invention, this robot system comprises: a gripping mechanism that grips an object; and a control means that, when performing control for moving the object to a predetermined position, controls the gripping mechanism so as to move the object to a confirmation position for confirming the object and to move the object from the confirmation position to the predetermined position.

Description

ROBOT SYSTEM, CONTROL METHOD, AND RECORDING MEDIUM

[0001] The present disclosure relates to a robot system, a control method, and a recording medium.

[0002] Robots are used in a variety of fields, including logistics. Some robots operate autonomously. Patent Document 1 discloses a related technology relating to a computer system that recognizes the position and orientation of an object based on surface position information of the object.

[0003] Japanese Patent Application Laid-Open No. 2017-136677

[0004] In the technology described in Patent Document 1, if the surface position information of the target object (referred to as an object in Patent Document 1) is misaligned with the actual position of the object, the target object is recognized with its position and posture being incorrect. Therefore, it is difficult for a robot system using the technology described in Patent Document 1 to perform processes that require high accuracy in recognizing the target object, including its position, posture, and shape (for example, a process of packaging an object in a cardboard box or a process of reading a barcode attached to an object).

[0005] One of the objectives of each aspect of the present disclosure is to provide a robot system, a control method, and a recording medium that can solve the above-mentioned problems.

[0006] In order to achieve the above object, according to one aspect of the present disclosure, a robot system includes a gripping mechanism that grips an object, and a control means that, when controlling the movement of the object to a predetermined position, controls the gripping mechanism to move the object to a confirmation position where the object is recognized, and then moves the object from the confirmation position to the predetermined position.

[0007] In order to achieve the above object, according to another aspect of the present disclosure, a control method is a control method executed by a robot system equipped with a gripping mechanism for gripping an object, and when controlling the movement of the object to a predetermined position, the control method controls the gripping mechanism to move the object to a confirmation position where the object is recognized, and then move the object from the confirmation position to the predetermined position.

[0008] In order to achieve the above object, according to another aspect of the present disclosure, a recording medium stores a program that causes a computer of a robot system having a gripping mechanism for gripping an object to execute the following control to move the object to a confirmation position where the object is recognized, and to control the gripping mechanism to move the object from the confirmation position to the predetermined position when controlling the movement of the object to a predetermined position.

[0009] According to each aspect of the present disclosure, it is possible to improve the success rate of processing that requires high accuracy in recognizing an object.

[0010] FIG. 1 is a diagram illustrating an example of a configuration of a robot system according to an embodiment of the present disclosure; FIG. 2 is a diagram illustrating an example of a configuration of a control device according to an embodiment of the present disclosure; FIG. 3 is a diagram illustrating an example of a sequence of an initial plan generated by a generation unit according to an embodiment of the present disclosure; FIG. 4 is a diagram illustrating an example of a control signal of an initial plan generated by a control unit according to an embodiment of the present disclosure; FIG. 5 is a diagram for explaining a sequence in an embodiment of the present disclosure; FIG. 6 is a diagram illustrating an example of a configuration of a robot system according to another embodiment of the present disclosure; FIG. 7 is a diagram illustrating an example of a configuration of a robot according to another embodiment of the present disclosure; FIG. 8 is a diagram illustrating an example of a robot system with a minimum configuration according to an embodiment of the present disclosure; FIG. 9 is a diagram illustrating an example of a processing flow of a robot system with a minimum configuration according to an embodiment of the present disclosure; and FIG. 10 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment.

[0011] An embodiment will be described in detail below with reference to the drawings. A robot system 1 according to an embodiment of the present disclosure is a system that moves an object M placed at a certain location to a destination (an example of a predetermined location) and checks the status of the object M at a check position P located between the certain location and the destination. Examples of destinations include a cardboard box C (described later) used to pack the object M before shipping, a tray T for sorting the object M upon arrival, and a position for reading a barcode attached to the object M upon arrival and departure. At the destination, for example, a predetermined process requiring high accuracy in recognizing the object M may be performed. The check position P is a position where the object M is recognized (e.g., the position, posture, shape, etc. of the object M are re-recognized, i.e., the status of the object M is corrected as necessary) to facilitate the execution of the predetermined process. Therefore, it is desirable to correct the status of the object M at a position close to the destination where the predetermined process requiring high accuracy in recognizing the object M is performed. Therefore, the confirmation position P is a position that exists between the position (the origin of movement that will be described later) where a robot hand 203 (an example of a gripping mechanism) described later grips the object M and the destination, and is desirably a position that is closer to the destination than the position where the robot hand 203 grips the object M. For example, the confirmation position P may be a position where the object M can be placed, which is indicated by the inside of an area that exists between a certain position and the destination, as shown in FIG. 1 described later. Furthermore, the confirmation position P may be a position where a robot 20 described later grips the object M.

[0012] The confirmation position P may be a confirmation position controlled by a control signal based on a movement path of the object M determined by a simulation described below. The confirmation position P may also be a confirmation position where the actual presence of the object M is confirmed by an image of the object M captured by an image capturing device 30 described below. The robot system 1 is a system that is installed in, for example, a warehouse in a logistics center.

[0013] (Configuration of Robot System) FIG. 1 is a diagram illustrating an example of the configuration of a robot system 1 according to an embodiment of the present disclosure. As shown in FIG. 1, the robot system 1 includes a control device 10, a robot 20 (an example of one robot), and an imaging device 30. Note that FIG. 1 illustrates a floor surface F, an object M, a tray T, a cardboard box C, and a check position P. Below, the robot system 1 will be described using an example in which the robot system 1 moves the object M from the tray T to the cardboard box C via the check position P.

[0014] 2 is a diagram illustrating an example of the configuration of the control device 10 according to an embodiment of the present disclosure. As shown in FIG. 2, the control device 10 includes an input unit 101, a generation unit 102 (an example of a first generation unit and an example of a second generation unit), a control unit 103 (an example of a control unit), a determination unit 104 (an example of a determination unit), and a recognition unit 105 (an example of a recognition unit).

[0015] The input unit 101 inputs task goals and constraints to the generation unit 102. Examples of task goals include information indicating the type of object M, the number of objects M to be moved, the source of the object M, and the destination of the object M. Examples of constraints include a no-entry area when moving the object M, an area that deviates from the range of motion of the robot 20, and further conditions on the surface of the object M related to gripping the object M, releasing the grip of the object M, or changing the object M. Note that the input unit 101 may receive an input from a user as a task goal, such as "move three parts A from tray T to cardboard box C," and specify that the type of object M to be moved is part A, the number of objects M to be moved is three, the source of the object M is tray T, and the destination of the object M is cardboard box C, and input the specified information to the generation unit 102. Alternatively, the position of the object M identified in the image captured by the image capture device 30 may be set as the origin of movement of the object M. The input unit 101 may receive, for example, the positions of obstacles along the path of the object M from the origin to the destination as constraint conditions indicating no-entry areas from the user, and input the information to the generation unit 102. Alternatively, a file indicating the constraint conditions may be stored in a storage device, and the input unit 101 may input the constraint conditions indicated in the file to the generation unit 102, or the generation unit 102 may read the constraint conditions directly from the file, or both. In other words, any acquisition method may be used as long as the generation unit 102 can acquire the necessary task goals and necessary constraint conditions.

[0016] The generation unit 102 generates an initial plan (an example of a first plan) indicating the flow of motion of the robot 20 based on the task goal and constraints input by the input unit 101. For example, when the task goal and constraints are input by the input unit 101, the generation unit 102 acquires an image of the source of the object M indicated by the task goal from the image capture device 30. The generation unit 102 can recognize the state (i.e., the position and posture) of the object M at the source of the task from the image acquired from the image capture device 30. The generation unit 102 generates, for example, by simulation, a movement path (part of the initial plan) including the state of the object M from the state of the object M at the source of the task to the state of the object M at the destination of the task via the confirmation position P. Information indicating the movement path is information necessary for the control unit 103 to generate a control signal for controlling the robot 20. Then, the generation unit 102 generates, for example, by simulation, information (i.e., a sequence (part of the initial plan)) indicating each state of the robot 20 at each time step during the process (such as the type (including the shape) of the object M, the position and posture of the robot 20, and the operation of the robot 20 (such as the grip strength of the object M)). The generation unit 102 outputs the generated sequence to the control unit 103.

[0017] Furthermore, as will be described later, when the determination unit 104 determines that a new plan (an example of a second plan) for the object M at the confirmation position P needs to be generated, the generation unit 102 generates the new plan based on the recognition result of the object M recognized by the recognition unit 105 at the confirmation position P. For example, the recognition unit 105 acquires an image of the object M at the confirmation position P from the image capture device 30, as will be described later. The recognition unit 105 recognizes the state (i.e., the position and posture) of the object M at the confirmation position P from the image acquired from the image capture device 30. The generation unit 102 generates, for example, by simulation, a movement path (part of the new plan) required for the control unit 103 to generate a control signal for controlling the robot 20. The movement path includes the state of the object M from the state of the object M at the confirmation position P recognized by the recognition unit 105 to the state of the object M at the destination. Then, the generation unit 102 generates, for example, by simulation, information (i.e., a sequence (part of a new plan)) indicating each state of the robot 20 at each time step along the way (such as the type (including the shape) of the object M, and the position and posture of the robot 20 based on the movement path). The generation unit 102 outputs the generated sequence to the control unit 103. Note that the generation unit 102 may be realized using artificial intelligence (AI) technology including temporal logic, reinforcement learning, optimization technology, and the like.

[0018] 3 is a diagram illustrating an example of a sequence TBL1 of an initial plan generated by the generator 102 according to an embodiment of the present disclosure. For example, the sequence TBL1 of the initial plan generated by the generator 102 is a sequence indicating each state of the robot 20 for each n time step from the origin of movement of the object M to the destination, as shown in FIG.

[0019] When controlling the movement of the object M to the destination, the control unit 103 controls the movement of the object M to a confirmation position where the object M is recognized, and then controls the movement of the object M from the confirmation position to the destination.

[0020] For example, the control unit 103 generates a control signal for controlling the robot 20 based on the sequence output by the generation unit 102. Note that the control unit 103 may generate a control signal that optimizes an evaluation function when generating the control signal. Examples of the evaluation function include a function that represents the amount of energy consumed by the robot 20 when moving the object M, and a function that represents the distance along the path along which the object M is moved. The control unit 103 outputs the generated control signal to the robot 20.

[0021] 4 is a diagram illustrating an example of the control signal Cnt of the initial plan generated by the control unit 103 according to an embodiment of the present disclosure. For example, as shown in FIG. 4, the control signal Cnt of the initial plan generated by the control unit 103 is, for example, each control signal for n time steps from the movement origin of the object M to the destination.

[0022] The determination unit 104 determines whether a new plan for the object M at the confirmation position P is necessary. For example, the determination unit 104 quantifies (calculates as a score) the recognition accuracy of the object M based on the image of the object M captured by the image capture device 30 at the source of movement, and determines that a new plan for the object M is necessary at the confirmation position P if the calculated score is less than a predetermined score. Furthermore, the determination unit 104 determines that a new plan for the object M is unnecessary at the confirmation position P if the calculated score is equal to or greater than the predetermined score. Furthermore, for example, the determination unit 104 compares the state of the object M shown in the image captured by the image capture device 30 at the confirmation position P with the state of the object M at the confirmation position P shown in the first plan, and determines that a new plan for the object M is unnecessary at the confirmation position P if, for example, the difference in state is less than a predetermined value. Furthermore, the determination unit 104 determines that a new plan for the object M is necessary at the confirmation position P if, for example, the difference in state exceeds a predetermined value. An example of the predetermined value is a maximum allowable value for the sum of the differences between the position predicted by the control signal and the actual position of the object M shown in the image captured by the camera device 30 at the check position P, and the difference between the posture of the object M at the check position P predicted by the control signal and the actual posture of the object M at the check position P in the image captured by the camera device 30 at the check position P, which are quantified. In other words, the determination unit 104 determines whether the difference between the state of the object M shown in the captured image and the state of the object M at the check position P shown in the first plan satisfies the conditions for generating a plan. Details of the control of the robot 20 by the control device 10 will be described later.

[0023] The recognition unit 105 recognizes the object M at the confirmation position P. For example, the recognition unit 105 acquires an image of the object M at the confirmation position P from the image capture device 30. The recognition unit 105 recognizes the state (i.e., position and posture) of the object M at the confirmation position P from the image acquired from the image capture device 30. The recognition unit 105 outputs the recognized state of the object M at the confirmation position P to the generation unit 102.

[0024] The robot 20 grasps the object M in response to a control signal output by the control unit 103 and moves the object M from a starting point to a destination point. As shown in FIG. 1 , the robot 20 includes a robot arm 201, a base 202, and a robot hand 203 (an example of a grasping mechanism). The robot arm 201 is connected to the base 202. The robot hand 203 is connected to the end of the robot arm 201 opposite to the end connected to the base 202. The robot hand 203 includes, for example, two or more artificial fingers that resemble the fingers of a human or an animal, or a vacuum. The robot hand 203 grasps the object M in response to a control signal output by the control device 10. The robot arm 201 moves the object M from a starting point to a destination point in response to a control signal output by the control device 10.

[0025] In each embodiment of the present disclosure, "grasping" includes "suction" in which an object M is sucked in by a vacuum or the like, and "clamping" in which an object is pinched between two or more pseudo-fingers that mimic the fingers of a human or animal.

[0026] The imaging device 30 captures an image of the state of the object M. The imaging device 30 is, for example, an industrial camera, and is capable of identifying the state (i.e., the position and posture) of the object M. The image captured by the imaging device 30 is output to the generation unit 102.

[0027] 5 is a diagram illustrating an example of a processing flow of the robot system 1 according to an embodiment of the present disclosure. Next, details of the control of the robot 20 by the control device 10 of the robot system 1 will be described with reference to FIG. 5. It is assumed that a task goal and constraint conditions are input to the input unit 101.

[0028] The input unit 101 inputs a task goal and constraint conditions to the generation unit 102 (step S1). The generation unit 102 generates an initial plan (an example of a first plan) indicating a flow of motion of the robot 20 based on the task goal and constraint conditions input by the input unit 101 (step S2). The generation unit 102 outputs to the control unit 103, from among the sequences included in the generated initial plan, a sequence for moving from a movement source (e.g., tray T) to a confirmation position P.

[0029] The control unit 103 generates a control signal for controlling the robot hand 203 of the robot 20 to grasp the object M and move the object M from the origin to the confirmation position P, based on the sequence for moving the object M from the origin to the confirmation position P output by the generation unit 102 (step S3). The control unit 103 controls the robot 20 by outputting the generated control signal to the robot 20 (step S4). This allows the robot hand 203 of the robot 20 to grasp the object M and move the object M from the origin to the confirmation position P.

[0030] When the control unit 103 has completed control of moving the object M from the origin to the confirmation position P, the determination unit 104 determines whether or not a new plan needs to be generated for the object M at the confirmation position P (step S5).

[0031] If the determination unit 104 determines that there is no need to generate a new plan for the object M at the confirmation position P (NO in step S5), the generation unit 102 outputs to the control unit 103 a sequence included in the generated initial plan that moves the object M from the confirmation position P to a destination (e.g., cardboard box C).

[0032] The control unit 103 generates a control signal for controlling the robot hand 203 of the robot 20 to grasp the object M and move the object M from the confirmation position P to the destination, based on the sequence for moving the object M from the confirmation position P to the destination output by the generation unit 102 (step S6). The control unit 103 controls the robot 20 by outputting the generated control signal to the robot 20 (step S7). This enables the robot hand 203 of the robot 20 to grasp the object M and move the object M from the confirmation position P to the destination.

[0033] If the determination unit 104 determines that a new plan for the object M at the check position P needs to be generated (YES in step S5), the recognition unit 105 acquires an image of the object M at the check position P from the image capture device 30. The recognition unit 105 recognizes the state (i.e., position and posture) of the object M at the check position P from the image acquired from the image capture device 30 (step S8). The recognition unit 105 outputs the recognized state of the object M at the check position P to the generation unit 102.

[0034] The generation unit 102 generates a new plan based on the recognition result of the object M recognized by the recognition unit 105 at the confirmation position P (step S9). For example, the recognition unit 105 acquires an image of the object M at the confirmation position P from the image capture device 30. The recognition unit 105 recognizes the state (i.e., position and posture) of the object M at the confirmation position P from the image acquired from the image capture device 30. The generation unit 102 generates, for example, by simulation, a movement path (part of the new plan) required for the control unit 103 to generate a control signal for controlling the robot 20. Then, the generation unit 102 generates, for example, by simulation, information (i.e., a sequence (part of the new plan)) indicating each state of the robot 20 at each time step during the movement (e.g., the type (including the shape) of the object M, the position and posture of the robot 20 based on the movement path, etc.). The generation unit 102 outputs the sequence included in the generated new plan to the control unit 103.

[0035] The control unit 103 generates a control signal for controlling the robot hand 203 of the robot 20 to grasp the object M and move the object M from the confirmation position P to the destination, based on the sequence included in the new plan for moving the object M from the confirmation position P to the destination output by the generation unit 102 (step S10). The control unit 103 controls the robot 20 by outputting the generated control signal to the robot 20 (step S11). This enables the robot hand 203 of the robot 20 to grasp the object M and move the object M from the confirmation position P to the destination.

[0036] (Advantages) The robot system 1 according to an embodiment of the present disclosure has been described above. In the robot system 1, the robot hand 203 (an example of a gripping mechanism) grips the target object M. When controlling the movement of the target object M to a destination (an example of a predetermined position), the control unit 103 (an example of a control means) controls the robot hand 203 to move the target object M to a confirmation position where the target object M is recognized, and then move the target object M from the confirmation position to the destination.

[0037] By doing so, the robot system 1 can improve the success rate of processing that requires high accuracy in recognizing an object.

[0038] In another embodiment of the present disclosure, the control device 10 may be provided in the robot 20 .

[0039] Furthermore, in the process flow of the robot system 1 according to one embodiment of the present disclosure shown in FIG. 5 above, a process of moving the object M from the tray T to the cardboard box C has been described. However, in another embodiment of the present disclosure, the process performed by the robot system 1 at the destination is not limited to moving the object M to the cardboard box C. FIG. 6 is a diagram showing an example of the configuration of the robot system 1 according to another embodiment of the present disclosure. As shown in FIG. 6 , the robot system 1 according to another embodiment of the present disclosure includes a control device 10, a robot 20 (an example of a robot), an imaging device 30, and a barcode reader 40. The object M according to another embodiment of the present disclosure is provided with a barcode. This barcode contains information indicating the type of product the object M is. The barcode reader 40 is a device that reads the barcode provided on the object M. Furthermore, a control device 10 according to another embodiment of the present disclosure may change the destination of the robot system 1 according to one embodiment of the present disclosure from the cardboard box C to a position where the barcode reader 40 can read the barcode attached to the object M, and then control the movement of the object M from the source to the destination, similar to the control device 10 according to one embodiment of the present disclosure.

[0040] Furthermore, in the robot system 1 according to an embodiment of the present disclosure, the recognition unit 105 has been described as recognizing the object M based on an image of the object M at the confirmation position captured by the camera device 30. However, in another embodiment of the present disclosure, the recognition unit 105 is not limited to recognizing the object M based on an image captured by the camera device 30. FIG. 7 is a diagram illustrating an example of a configuration of a robot system 1 according to another embodiment of the present disclosure. As shown in FIG. 7 , the robot system 1 according to another embodiment of the present disclosure includes a control device 10, a robot 20 (an example of a robot), a camera device 30, and a camera device 50. The camera device 50 captures an image of the state of the object M at the confirmation position P. The camera device 50 is, for example, an industrial camera, and can identify the state (i.e., the position and posture) of the object M. The image captured by the camera device 50 is output to a generation unit 102 in the control device 10. Furthermore, a control device 10 according to another embodiment of the present disclosure may process in the same manner as a control device 10 according to an embodiment of the present disclosure, using an image captured by the photographing device 30 instead of the image of the object M at the confirmation position P captured by the photographing device 50 in an embodiment of the present disclosure.

[0041] Furthermore, the robot 20 of the robot system 1 according to one embodiment of the present disclosure has been described as including a robot arm 201, a base 202, and a robot hand 203 (an example of a gripping mechanism), i.e., as a single-arm robot. However, the robot 20 of the robot system 1 according to another embodiment of the present disclosure is not limited to a single-arm robot. FIG. 8 is a diagram showing an example of the configuration of the robot 20 according to another embodiment of the present disclosure. The robot 20 (an example of a robot) according to another embodiment of the present disclosure may include robot arms 201 a, 201 b, ..., a base 202, and robot hands 203 a, 203 b, ... (an example of a gripping mechanism), as shown in FIG. 8, i.e., as a robot with two arms or three or more arms. The control unit 103 (an example of a control means) of the control device 10 according to another embodiment of the present disclosure generates a control signal for each of the multiple arms (i.e., the robot arms 201 a, 201 b, ..., the robot hands 203 a, 203 b, ...) based on a sequence for moving the object M from the origin to the destination (an example of a predetermined position). The control signals cause the robot hands 203 a, 203 b, ... to work together to move the object M from the origin to the destination.

[0042] Next, a robot system 1 with a minimum configuration according to an embodiment of the present disclosure will be described. FIG. 9 is a diagram illustrating an example of a robot system 1 with a minimum configuration according to an embodiment of the present disclosure. As shown in FIG. 9 , the robot system 1 with a minimum configuration includes a robot hand 203 (an example of a gripping mechanism) and a control unit 103 (an example of a control means). The robot hand 203 grips an object M. The robot hand 203 can be realized, for example, using the functions of the robot hand 203 illustrated in FIG. 1 . When controlling the movement of the object M to a destination (an example of a predetermined position), the control unit 103 controls the robot hand 203 to move the object M to a confirmation position where the object M is recognized, and then move the object M from the confirmation position to the destination. The control unit 103 can be realized, for example, using the functions of the control unit 103 illustrated in FIG. 2 .

[0043] Next, a description will be given of processing by the robot system 1 with the minimum configuration. Fig. 10 is a diagram showing an example of a processing flow of the robot system 1 with the minimum configuration according to an embodiment of the present disclosure. Here, the processing by the robot system 1 with the minimum configuration will be described with reference to Fig. 10.

[0044] When the control unit 103 controls the robot hand 203 to move the object M held by the robot hand 203 to a destination, the control unit 103 controls the robot hand 203 to move the object M to a confirmation position where the object M is recognized, and then to move the object M from the confirmation position to the destination (step S101).

[0045] The above has described a robot system 1 with a minimum configuration according to an embodiment of the present disclosure. This robot system 1 can improve the success rate of processing that requires high accuracy in recognizing an object.

[0046] The order of the processes in each embodiment of the present disclosure may be changed as long as the processes are performed appropriately.

[0047] Furthermore, the processes in each embodiment of the present disclosure may be combined to the extent that appropriate processing is performed. For example, the robot system 1 shown in FIG. 6 may further include the imaging device 50 shown in FIG. 7. The recognition unit 105 of the robot system 1, in which the barcode reader 40 reads the barcode attached to the object M, may perform processing using the image captured by the imaging device 30 instead of the image of the object M at the confirmation position P captured by the imaging device 30. For example, the robot systems 1 shown in FIGS. 6 and 7 may each include the robot 20 shown in FIG. 8 instead of the robot 20 shown in FIGS. 6 and 7. The control unit 103 (an example of a control means) of the control device 10 may generate control signals for each of the multiple arms (i.e., the robot arms 201a, 201b, ..., the robot hands 203a, 203b, ...) based on a sequence for moving the object M from a source to a destination (an example of a predetermined position).

[0048] Although the embodiments of the present disclosure have been described, the robot system 1, the control device 10, the input unit 101, the generation unit 102, the control unit 103, the determination unit 104, the recognition unit 105, the robot 20, the image capture device 30, and other control devices may have a computer device inside. The above-described processing steps are stored in the form of a program on a computer-readable recording medium, and the above processing is performed by the computer reading and executing the program. Specific examples of computers are shown below.

[0049] FIG. 11 is a schematic block diagram showing the configuration of a computer according to at least one embodiment. As shown in FIG. 11 , the computer 5 includes a central processing unit (CPU) 6, a main memory 7, a storage 8, and an interface 9. For example, the robot system 1, the control device 10, the input unit 101, the generation unit 102, the control unit 103, the determination unit 104, the recognition unit 105, the robot 20, the image capture device 30, and other control devices are implemented in the computer 5. The operations of the above-mentioned processing units are 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-mentioned processing in accordance with the program. The CPU 6 also allocates storage areas in the main memory 7 corresponding to the above-mentioned storage units in accordance with the program.

[0050] Examples of storage 8 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read-only memory (CD-ROM), a digital versatile disc read-only memory (DVD-ROM), and a 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 the program is distributed to computer 5 via a communication line, computer 5 that receives the program may load the program into main memory 7 and execute the above-described processing. In at least one embodiment, storage 8 is a non-transitory tangible storage medium.

[0051] The program may also implement some of the functions described above. Furthermore, the program may be a file that can implement the functions described above in combination with a program already stored in the computer device, a so-called differential file (differential program).

[0052] Although several embodiments of the present disclosure have been described, these embodiments are merely examples and do not limit the scope of the disclosure. Various additions, omissions, substitutions, and modifications may be made to these embodiments without departing from the spirit of the disclosure.

[0053] Note that part or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0054] (Supplementary Note 1) A robot system comprising: a gripping mechanism that grips an object; and a control means that, when controlling the movement of the object to a predetermined position, controls the gripping mechanism to move the object to a confirmation position where the object is recognized, and then moves the object from the confirmation position to the predetermined position.

[0055] (Supplementary Note 2) The robot system according to Supplementary Note 1, comprising: one robot; and the gripping mechanism is provided in the one robot.

[0056] (Supplementary Note 3) The robot system described in Supplementary Note 1 or Supplementary Note 2, wherein the confirmation position is a position that exists between the position where the gripping mechanism grips the object and the predetermined position, and is a position that is closer to the predetermined position than the position where the gripping mechanism grips the object.

[0057] (Supplementary Note 4) The robot system according to any one of Supplementary Note 1 to Supplementary Note 3, further comprising: a recognition means for recognizing the object at the confirmation position; and the control means for controlling the movement of the object from the confirmation position to the predetermined position after the recognition means recognizes the object.

[0058] (Supplementary Note 5) The robot system according to any one of Supplementary Note 1 to Supplementary Note 4, further comprising: a first generation means for generating a first plan including control for moving the object to the predetermined position; and the control means for moving the object to the confirmation position based on the first plan.

[0059] (Supplementary Note 6) The robot system according to any one of Supplementary Note 1 to Supplementary Note 5, further comprising: a determination means for determining, at the confirmation position, whether to generate a second plan including control for moving the object from the confirmation position to the predetermined position.

[0060] (Supplementary Note 7) The robot system according to Supplementary Note 6, further comprising: second generation means for generating the second plan when the determination means determines that the second plan should be generated; and the control means for moving the object from the confirmation position to the predetermined position based on the second plan.

[0061] (Supplementary Note 8) A control method executed by a robot system equipped with a gripping mechanism that grips an object, the control method comprising, when controlling the movement of the object to a predetermined position, controlling the gripping mechanism to move the object to a confirmation position where the object is recognized, and then moving the object from the confirmation position to the predetermined position.

[0062] (Supplementary Note 9) A recording medium storing a program that causes a computer of a robot system equipped with a gripping mechanism that grips an object to execute the following when controlling the computer to move the object to a predetermined position: to move the object to a confirmation position where the object is recognized, and to control the gripping mechanism to move the object from the confirmation position to the predetermined position.

[0063] According to each aspect of the present disclosure, it is possible to improve the success rate of processing that requires high accuracy in recognizing an object.

[0064] DESCRIPTION OF SYMBOLS 1: Robot system 5: Computer 6: CPU 7: Main memory 8: Storage 9: Interface 10: Control device 20: Robot 30, 50: Imaging device 101: Input unit 102: Generation unit 103: Control unit 104: Determination unit 105: Recognition unit 201: Robot arm 202: Base 203: Robot hand C: Cardboard F: Floor M: Object P: Confirmation position T: Tray

Claims

1. A gripping mechanism that grips an object; a control means for controlling the gripping mechanism so that, when controlling the movement of the object to a predetermined position, the object is moved to a confirmation position where the object is recognized, and the object is moved from the confirmation position to the predetermined position; A robot system comprising:

2. One robot, Equipped with The gripping mechanism includes: The one robot is provided with: The robot system of claim 1 .

3. The confirmation position is a position that exists between a position where the gripping mechanism grips the object and the predetermined position, and that is closer to the predetermined position than the position where the gripping mechanism grips the object; The robot system of claim 1 .

4. a recognition means for recognizing the object at the confirmation position; Equipped with The control means After the recognition means recognizes the object, the recognition means controls the object to be moved from the confirmation position to the predetermined position. The robot system of claim 1 .

5. a first generation means for generating a first plan including a control for moving the object to the predetermined position; Equipped with The control means moving the object to the confirmation position based on the first plan; The robot system of claim 1 .

6. a determination means for determining, at the confirmation position, whether or not to generate a second plan including a control for moving the object from the confirmation position to the predetermined position; Equipped with The robot system of claim 1 .

7. a second generation means for generating the second plan when the determination means determines that the second plan is to be generated; Equipped with The control means moving the object from the confirmation position to the predetermined position based on the second plan; The robot system according to claim 6.

8. A control method executed by a robot system having a gripping mechanism that grips an object, comprising: When performing control to move the object to a predetermined position, the gripping mechanism is controlled so as to move the object to a confirmation position where the object is recognized, and to move the object from the confirmation position to the predetermined position. Control methods.

9. A computer of a robot system including a gripping mechanism for gripping an object, When controlling the movement of the object to a predetermined position, controlling the gripping mechanism to move the object to a confirmation position where the object is recognized, and to move the object from the confirmation position to the predetermined position; A program that executes the following.