Control device and robot system

Abstract

Provided is a control device that enables a suction hand to reliably suction only an object, which is a conveyance target, at a position suitable for conveyance and convey the object.　A robot control device controls an operation of a robot that suctions and lifts an object with a robot hand and conveys the object that is lifted. The control device comprises at least one processor, and at least one storage device capable of storing a program that is executed by the at least one processor. The processor integrates negative pressure information from a plurality of suction pads of the robot hand provided with a plurality of suction pads that employ negative pressure, and changes an operation of the robot hand with respect to the object on the basis of the integrated negative pressure information, when the object is suctioned.

Description

Control device and robot system

[0001] The present disclosure relates to a control device and a robot system, and in particular to a control device that controls the operation of a robot that picks up an object with a robot hand, lifts it, and transports the lifted object, and a robot system that includes the control device and the robot.

[0002] Techniques for a robot to stably hold and transport an object are described in Patent Documents 1 and 2.

[0003] Patent Document 1 describes a trajectory generation device that generates a trajectory for a robot for transporting an object. Specifically, the trajectory generation device described in Patent Document 1 includes: a route condition acquisition unit that acquires route condition information including at least the coordinates of a first way point that serves as a reference point for the suction nozzle of the robot when the suction nozzle comes into contact with an object, and the velocity, acceleration, and jerk of the suction nozzle at the first way point; a pressure distance / coordinate calculation unit that calculates, based on the route condition information, the coordinates of a second way point that serves as a reference point when the suction nozzle is pressed into the object; and a trajectory generation unit that generates a trajectory for the suction nozzle that satisfies the route condition information and runs from a predetermined start point to an end point via the first and second way points.

[0004] Patent Literature 2 describes a control device for a mobile machine that realizes a movement method that prevents a grasped item from falling or being damaged. Specifically, Patent Literature 2 describes a control device for a mobile machine, in which the mobile machine has a hand that grasps an item, the control device has a processor and a memory unit, the memory unit stores strength information indicating the strength of a grasped portion of the item when the item is grasped by the hand, the processor generates a plurality of combinations of a pick action of an item placed at a first position and a place action at a second position different from the first position, calculates evaluation values ​​of the generated pick actions and place actions based on the strength information, generates a move action from an end point of the pick action to a start point of the place action for each generated combination of the pick action and the place action, calculates an evaluation value of the move action based on the strength information, and selects one of the combinations of the pick action, the place action, and the move action based on the evaluation value.

[0005] JP 2020-157408 A JP 2022-72752 A

[0006] When a robot hand picks up and transports an object, it is necessary to pick up the object reliably so that it does not fall during transport. When an object to be transported and an object that is not the target of transport are arranged, if the pick-up surface of the robot hand is larger than the object to be transported, the robot hand may pick up the object that is not the target of transport by mistake in addition to the object to be transported.

[0007] Therefore, there is a demand for a control device and a robot system that allows the robot hand to reliably pick up and transport only the object to be transported at a position suitable for transport.

[0008] A first representative aspect of the present disclosure is a control device that controls the operation of a robot that adsorbs an object with a robot hand, lifts it, and transports the lifted object, the control device comprising: at least one processor; and at least one storage device capable of storing a program executed by the at least one processor, wherein the processor integrates negative pressure information from a plurality of suction pads of the robot hand that includes a plurality of suction pads that use negative pressure, and when adsorbing the object, changes the operation of the robot hand relative to the object based on the integrated negative pressure information.

[0009] A second representative aspect of the present disclosure is a robot system including the control device of the first aspect and a robot controlled by the control device.

[0010] 7 is a configuration diagram showing an example of the configuration of a robot system according to a first embodiment of the present disclosure; FIG. 8 is a bottom view of a suction hand as seen from the side where multiple suction pads are arranged; FIG. 9 is a plan view showing an example of the arrangement of three packages placed on a pallet; FIG. 10 is a diagram showing an example of the configuration of a control device according to the first embodiment; FIG. 11 is a diagram showing an example of the arrangement of packages relative to the suction hand as seen from the pallet side; FIG. 12 is a diagram showing a state in which the position of the package to be transported is shifted in the X direction from the center of the suction hand as seen from the pallet side; FIG. 13 is a diagram showing a state in which the position of the package to be transported is positioned approximately at the center of the suction hand as seen from the pallet side; FIG. 14 is a diagram showing a state in which the suction hand has sucked the package to be transported in the arrangement shown in FIG. 10; FIG. 15 is a diagram showing a state in which the package to be transported is lifted in the vertical direction with the suction hand sucking the package to be transported as seen from the package side; FIG. 16 is a diagram explaining the transport of packages between pallets by the suction hand; and FIG. 17 is a flowchart showing the control operation of the control device when the suction hand sucks the package to be transported. FIG. 18 is a diagram sequentially explaining the operation of the suction hand to suck a parcel to be transported, the operation of releasing parcels other than the parcel to be transported, and the operation of transporting the parcel to be transported, according to a second embodiment of the present disclosure. 10 is a diagram showing a state when a parcel to be transported is adsorbed, as viewed from the pallet side; FIG. 11 is a diagram showing a state when a parcel to be transported is vertically raised with the parcel adsorbed by the suction hand, as viewed from the parcel side; FIG. 12 is a flowchart showing an operation of adsorbing a parcel to be transported, an operation of releasing a parcel not to be transported, and an operation of transporting the parcel to be transported; FIG. 13 is a diagram sequentially explaining an operation of adsorbing a mail item to be transported, an operation of releasing mail items not to be transported, and an operation of transporting the mail item to be transported, by the suction hand, in a third embodiment of the present disclosure; FIG. 14 is a diagram showing a state when multiple mail items are arranged below the suction hand, as viewed from the pallet side; FIG. 15 is a diagram showing a state when a mail item to be transported is adsorbed, as viewed from the pallet side; FIG. 16 is a diagram showing a state when a mail item to be transported is released, as viewed from the mail item side; FIG. 17 is a diagram showing a state when a parcel to be transported is vertically raised with the suction hand adsorbing the mail item to be transported, as viewed from the mail item side; FIG. 18 is a flowchart showing an operation of releasing a parcel to be transported and a transport operation by the suction hand.10 is a diagram showing a state in which the operation of the third embodiment is applied to the second embodiment, in which the blowing in the blowing range is switched to the suction range to form the suction range, as seen from the package side.

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. First Embodiment Fig. 1 is a configuration diagram showing an example of the configuration of a robot system according to a first embodiment of the present disclosure.

[0012] 1, the robot system 10 includes a robot 100 that transports packages on a pallet 500A, for example, package 400B among packages 400A, 400B, and 400C, a control device 200 that controls the operation of the robot 100, and a camera 300 that detects packages 400A, 400B, and 400C on the pallet 500A. The robot 100 and the control device 200 are connected via a cable.

[0013] The robot 100 includes a robot mechanism 101 and a suction hand 102 attached to the tip of the robot mechanism 101. The suction hand 102 serves as a robot hand.

[0014] The robot mechanism 101 has a plurality of joint axes, each of which is provided with a motor. Each motor is controlled by an operation command from the control device 200. By controlling each motor, the robot mechanism 101 can move the suction hand 102 in the vertical and horizontal directions.

[0015] The suction hand 102 includes a vacuum generator, a regulator that generates negative pressure (a pressure difference in the negative direction relative to atmospheric pressure), and multiple negative pressure sensors that measure the negative pressure. The suction hand 102 includes multiple suction pads whose interiors are maintained at negative pressure by the vacuum generator and regulator. Each of the multiple suction pads can switch between negative pressure and vacuum break air (positive pressure). The negative pressure within the suction pad allows the multiple suction pads to suck the surface of the load, enabling it to be transported. The mechanism for switching between negative pressure and vacuum break air (positive pressure) does not need to be provided for each suction pad; the multiple suction pads may be divided into multiple vertical and horizontal sections, for example, a 3x3 arrangement. In the following description, the load (transport object) to be transported is assumed to be load 400B. The load 400B is the object to be transported. The suction hand 102 includes a regulator that controls the negative and positive pressures. However, the negative pressure may vary depending on the shape of the load to be transported, the state of the load held by the suction hand 102, and the surrounding conditions. When the negative pressure fluctuates, the force with which the suction hand 102 suctions the load 400B (hereinafter referred to as suction force) fluctuates. The value of the negative pressure indicates the suction force.

[0016] FIG. 2 is a bottom view of the suction hand as seen from the side where the multiple suction pads are arranged. The suction hand 102 shown in FIG. 2 has 64 suction pads P11 to P88 arranged in 8 columns and 8 rows. The suction pad arranged in the mth column and nth row is referred to as suction pad Pmn (m and n are natural numbers). The number of suction pads can be set as desired, but FIG. 2 shows the case where m = 8 and n = 8, and only suction pads P11, P18, P81, and P88 are illustrated. Each of the suction pads P11 to P88 is equipped with a negative pressure sensor that measures the negative pressure of each suction pad. One negative pressure sensor may be provided for each of the multiple suction pads.

[0017] Each of the suction pads P11 to P88 is provided with an adjustment valve that closes when the pressure increases, preventing leakage between the suction pad and the load. This prevents a drop in negative pressure even when there is a suction pad that is not facing the load, allowing the load to be transported.

[0018] 3 is a plan view of three packages placed on a pallet, as viewed from above. As shown in FIG. 3, packages 400A and 400C, which are rectangular when viewed from above, and package 400B, which is an L-shaped package to be transported, are placed on pallet 500A. The size of suction hand 102 is large enough to include all of packages 400A, 400B, and 400C. The size of suction hand 102 only needs to be larger than the packages to be transported, and in this case, it only needs to be larger than package 400B.

[0019] 4 is a diagram showing an example of the configuration of the control device 200. The control device 200 includes a camera information acquisition unit 201, a negative pressure information acquisition unit 202, a negative pressure information integration unit 203, a robot mechanism control unit 204, and a pressure control unit 205. The control device 200 does not need to include the robot mechanism control unit 204. In that case, the control device 200 sends an operation command to the robot mechanism control unit 204 provided externally, and the robot mechanism control unit 204 controls the robot mechanism unit 101.

[0020] The camera information acquisition unit 201 acquires camera information (image information) including images of the packages 400A, 400B, and 400C from the camera 300. The negative pressure information acquisition unit 202 acquires negative pressure information from the negative pressure sensors provided corresponding to the suction pads P11 to P88 of the suction hand 102.

[0021] The negative pressure information integration unit 203 calculates at least one of the position of the luggage 400B on the suction pads P11 to P88 of the suction hand 102, the shape of the luggage 400B, and the size of the luggage 400B based on the integrated information of the camera information output from the camera information acquisition unit 201 and the negative pressure information output from each negative pressure sensor. The position of the luggage 400B is the position of the object. The position of the luggage 400B includes the position of the center of gravity of the luggage 400B. The position of the center of gravity can be calculated by determining the maximum negative pressure on the suction pad based on the integrated negative pressure information. The position of the center of gravity may also be calculated using dynamics calculations from torque information of the motor of the robot 100. Torque is obtained by multiplying a torque constant by a current value, so the control device 200 can calculate the position of the center of gravity by detecting the current flowing through the motor to determine the torque of the motor.

[0022] The negative pressure information integrating unit 203 determines the amount of correction for the amount of movement of the suction hand 102 relative to the position of the package 400B based on the position of the package 400B on the suction pads P11 to P88 of the suction hand 102, and sends the amount of position correction along with a change instruction to the robot mechanism control unit 204. Furthermore, when the negative pressure information integrating unit 203 instructs the movement of the position of the suction hand 102 relative to the position of the package 400B, it instructs the pressure control unit 205 to change the suction pad that is to be subjected to negative pressure among the suction pads P11 to P88 in accordance with the movement of the position of the suction hand 102.

[0023] The robot mechanism control unit 204 controls the robot mechanism unit 101 based on the amount of correction of the position of the suction hand 102 output from the negative pressure information integration unit 203 .

[0024] Based on the instruction to change the suction pad to be subjected to negative pressure output from the negative pressure information integrating unit 203, the pressure control unit 205 changes the suction pad to be subjected to negative pressure so that the baggage 400B is adsorbed.

[0025] As described above, the negative pressure information integration unit 203 changes the operation of the suction hand 102 with respect to the package 400B based on the integrated negative pressure information when suctioning the package 400B. Changing the operation of the suction hand 102 with respect to the package 400B means, for example, changing the suction location so that the shape of the package 400B can be more accurately grasped, or changing the contact surface between the package 400B and the suction hand 102 so that the suction force is stronger.

[0026] The operation of the negative pressure information integrating unit 203 will be further described below. When viewed from the pallet 500A, if the arrangement of the packages 400A, 400B, and 400C relative to the suction pads P11 to P88 of the suction hand 102 is as shown in FIG. 5, the position of the L-shaped package 400B is shifted in the Y direction relative to the positions of the packages 400A and 400C. Therefore, the negative pressure information integrating unit 203 can determine at least one of the position, shape, and size of the package 400B solely from the negative pressure information of the suction pads P11 to P88 acquired from the negative pressure information acquiring unit 202. Furthermore, if the height of the package 400B is higher than the height of the packages 400A and 400C and there is a sufficient difference in the detected negative pressures, even if the arrangement of the packages 400A to 400C is as shown in FIG. 3, the negative pressure information of the suction pads P11 to P88 acquired from the negative pressure information acquiring unit 202 can determine at least one of the position, shape, and size of the package 400B solely from the negative pressure information of the suction pads P11 to P88 acquired from the negative pressure information acquiring unit 202. Therefore, the negative pressure information integrating unit 203 can grasp at least one of the position, shape, and size of the package 400B without using image information from the camera information acquiring unit 201, and therefore it is not necessary to provide the camera information acquiring unit 201. In the following explanation, an example will be described in which the suction hand 102 is moved based on the position of the package 400B.

[0027] On the other hand, if the arrangement of the luggage 400A, 400B, and 400C on the pallet 500A is as shown in FIG. 3 and there is little difference in height, the L-shaped luggage 400B and luggage 400C are in the same range in the Y direction, and therefore it is difficult for the negative pressure information integration unit 203 to determine the length of luggage 400B in the X direction based only on the negative pressure information obtained from the suction pads P11 to P88 of the suction hand 102.

[0028] Therefore, the negative pressure information integrating unit 203 uses the camera information (image information) from the camera information acquiring unit 201 to determine the approximate position of the L-shaped package 400B, and then combines this approximate position with the negative pressure information of the suction pads P11 to P88 to determine the actual position of the package 400B. The negative pressure information integrating unit 203 issues control commands to the robot mechanism control unit 204 and the pressure control unit 205 based on the determined position of the package 400B. For example, as shown in FIG. 6, if the position of the package 400B is deviated from a position suitable for transport by the suction hand 102 (e.g., the center of the suction hand 102), for example, if the position is deviated from the center of the suction hand 102 in the X direction, the negative pressure information integrating unit 203 instructs the robot mechanism control unit 204 to move the suction hand 102 so that the package 400B is positioned approximately at the center of the suction hand 102 (the area including suction pads P43 to P46, P53 to P56, and P65 to P66), as shown in FIG. In this way, by adjusting the position of the suction hand 102 relative to the item 400B, the center of gravity of the item 400B is positioned approximately at the center of the suction hand 102, thereby stabilizing the transport of the item 400B.

[0029] The negative pressure information integration unit 203 controls the pressure control unit 205 to perform suction on the suction pads corresponding to the load 400B as shown in Fig. 8, and as shown in Fig. 9, the load 400B is raised vertically while the loads 400A and 400C are separated from the suction hand 102. In Fig. 8, the suction pads that are under negative pressure and perform suction are indicated by hatched circles. In Fig. 8 and subsequent figures, the suction pads that are under negative pressure and perform suction are also indicated by hatched circles.

[0030] The transport operation of the package by the suction hand will be described below with reference to Fig. 10. Fig. 10 is a diagram illustrating the transport of package 400B between pallets by the suction hand. In Fig. 10, positions A1, A2, B2, and B1 indicate the center position of the top surface of package 400B with which the suction hand 102 comes into contact. Positions A1, A2, B2, and B1 change when the package being transported changes, and the package transport path also changes.

[0031] The negative pressure information integration unit 203 controls the transport operation of the package 400B by the suction hand 102 and the suction and release operations of the package 400B by the suction hand 102 via the robot mechanism control unit 204 and the pressure control unit 205. The suction hand 102 transports the package 400B placed on the pallet 500A to the pallet 500B along a transport path for the package 400B in the order of positions A1, A2, B2, and B1, as shown in FIG.

[0032] At position A1, the control device 200 causes the suction hand 102 to pick up the package 400B, and then causes the suction hand 102 to transport (raise) the package 400B in the vertical direction between positions A1 and A2. Thereafter, the control device 200 causes the suction hand 102 to transport the package 400B in the horizontal direction between positions A2 and B2, and then causes the suction hand 102 to transport (lower) the package 400B in the vertical direction between positions B2 and B1. At position B1, the control device 200 causes the suction hand 102 to place, release, and stack the package 400B.

[0033] Figure 10 shows the first operation in which the suction hand 102 places the package 400B when no package is placed on the pallet 500B, but in the second and subsequent operations in which the suction hand 102 places another package, for example, package 400A or 400C, the package 400B is placed on the pallet 500B.

[0034] The control operation of the control device will be described below. Fig. 11 is a flowchart showing the control operation of the control device when the suction hand 102 picks up the load to be transported. Here, an example will be described in which the load 400B is picked up at a position (e.g., the center) suitable for transportation by the suction hand 102.

[0035] In step S10, the negative pressure information integrating unit 203 acquires camera information from the camera 300 capturing images of the packages 400A, 400B, and 400C on the pallet 500A, and based on the camera information, the robot mechanism control unit 204 moves the suction hand 102 to above the packages 400A, 400B, and 400C, and the pressure control unit 205 causes the suction hand 102 to pick up the packages 400A, 400B, and 400C. If the positions of the packages 400A, 400B, and 400C on the pallet 500A are predetermined and known, the robot mechanism control unit 204 may move the suction hand 102 to that position above the packages 400A, 400B, and 400C.

[0036] In step S11, the negative pressure information integration unit 203 acquires, as negative pressure information, the negative pressure values ​​measured by the negative pressure sensors corresponding to each suction pad P11 to P88 when the suction pads P11 to P88 of the suction hand 102 suction the luggage 400A, 400B, and 400C.

[0037] In step S12, the negative pressure information integrating unit 203 integrates the negative pressure information corresponding to the suction pads P11 to P88. The negative pressure information integrating unit 203 detects the position of the package 400B to be transported (the object to be transported) relative to the suction pads P11 to P88 using the integrated negative pressure information and camera information. If the negative pressure information integrating unit 203 can detect the position of the package 400B to be transported relative to the suction pads P11 to P88 using the integrated negative pressure information, it does not need to use the camera information.

[0038] In step S13, the negative pressure information integration unit 203 determines whether the suction hand 102 is in a position suitable for transporting the luggage 400B relative to its placement, and if it is not in a position suitable for transporting, proceeds to step S14, and if it is in a position suitable for transporting, proceeds to step S15.

[0039] In step S14, the negative pressure information integration unit 203 moves the suction hand 102 to a position suitable for transporting the package 400B with respect to the placement of the package 400B.

[0040] In step S15, the negative pressure information integration unit 203 picks up the package 400B to be transported. Through the operations of steps S10 to S14, the package 300B is picked up by the suction hand 102 and becomes transportable.

[0041] The above-described embodiment provides the following advantages. (1) Because the suction hand does not pick up objects (e.g., luggage) other than the object to be transported (e.g., baggage), it is possible to select a hand that is not limited by the size of the object to be transported. (2) By using a suction hand with a suction portion larger than the object to be transported, the suction force is not concentrated on a single point on the object to be transported, which is expected to reduce deformation or damage to the object and reduce hand costs. (3) Because the suction hand does not pick up objects other than the object to be transported, it is possible to prevent damage to objects other than the object to be transported. (4) Because it is possible to prevent objects other than the object to be transported from falling, there is no interference with other systems and the cycle time is increased. (5) It is possible to use a suction hand that is larger than the size of the object to be transported, and because the suction force under negative pressure is not limited when picking up the object to be transported, it is possible to satisfactorily grasp the object to be transported. (6) Stable suction can be performed even if there is a discrepancy in the size of the object ascertained by the camera. (7) By using the entire suction surface of the suction hand, which is large compared to the size of the object to be transported, the risk of the object falling can be reduced even when negative pressure fluctuations occur.

[0042] Second Embodiment In this embodiment, a control device that can pick up and stably transport only the parcel to be transported when multiple parcels are placed will be described with reference to Figures 12 to 15. The configurations of the control device and robot system used in this embodiment are the same as those of the control device 200 shown in Figure 4 and the robot system 10 shown in Figure 1, and therefore will be described using the same reference numerals.

[0043] Fig. 12 is a diagram sequentially illustrating the suction operation of the suction hand to pick up a parcel to be transported, the release operation of parcels other than the parcel to be transported, and the transport operation of the parcel to be transported. Fig. 13 is a diagram viewed from the pallet side showing the state when the parcel to be transported is being picked up. Fig. 14 is a diagram viewed from the parcel side showing the state when the suction hand has picked up the parcel to be transported and has raised the parcel vertically.

[0044] When suction hand 102 picks up parcel 410B, the area of ​​parcel 410B obtained from the image captured by camera 300 and the combined negative pressure information is defined as the suction range. Parcel 410B is the object to be transported. Because the suction range is obtained from the image captured by camera 300 and the combined negative pressure information, it may be larger than the actual size of parcel 410B. In this case, if parcel 410B is close to an adjacent parcel or the adjacent parcels are touching, parcel 410A or parcel 410C may be included in the suction range.

[0045] 12 and 13 , when parcels 410A, 410B, and 410C are placed on pallet 500A, a suction operation is performed by creating a positive pressure inside the suction pads using pressure control unit 205 to perform a blowing operation on parcels 410B and 410C in order to weaken the suction force on parcels 410B and 410C. That is, parcel 410B is suctioned within the suction range, and air is blown onto parcel 410A or 410C outside the suction range, up to a blowing range larger than the size of the suction range. In FIG. 13 and subsequent figures, the suction pads performing the blowing operation are indicated by circles hatched with parallel lines. In the following figures, the suction pads performing the blowing operation are also indicated by circles hatched with parallel lines.

[0046] 12, suction hand 102 raises and stops parcel 410B to a range where it will not cause any problems if parcel 410A or 410C falls off, while maintaining suction within the suction range of parcel 410B and blowing within a blowing range that is larger than the suction range. Because the suction force on parcel 410A or 410C is weakened by the blowing, parcel 410A or 410C will fall by gravity even if part of it is lifted up.

[0047] Next, in the transport operation shown in Figures 12 and 14, the suction hand 102 stops pushing in the spray range at the stop position, and then lifts the package 410B while maintaining suction in the suction range of the package 410B.

[0048] The control operations of the control device will be described below. Figure 15 is a flowchart showing the operations of adsorbing a parcel to be transported, releasing a parcel not to be transported, and transporting a parcel to be transported. In Figure 15, step S15 in Figure 11 has been replaced with steps S16 and S17. The operations from steps S10 to S14 before step S16 are the same as in the flowchart in Figure 11, so the illustration and description of steps S10 to S14 will be omitted in Figure 15.

[0049] In step S16, the negative pressure information integration unit 203, via the pressure control unit 205, performs an adsorption operation by adsorbing the package 410B within the adsorption range, and also performs spraying outside the adsorption range up to an area larger than the size of the adsorption range.

[0050] In step S17, the negative pressure information integration unit 203 performs a separation operation by raising the suction hand 102 while maintaining the blowing and stopping the pushing. Thereafter, the negative pressure information integration unit 203 performs a transport operation by raising the package 410B while maintaining the suction of the package 410B within its suction range.

[0051] As described above, this embodiment provides the same effects as those described in the first embodiment. In addition to the effects of the first embodiment, even if parcels other than the parcel to be conveyed are attracted due to the arrangement of the parcels, the parcels other than the parcel to be conveyed can be released and only the parcel to be conveyed can be conveyed.

[0052] (Third embodiment) In this embodiment, a control device that can pick up and stably transport only the mail item to be transported when multiple mail items are placed will be described with reference to Figures 16 to 20. The configurations of the control device and robot system used in this embodiment are the same as those of the control device 200 shown in Figure 4 and the robot system 10 shown in Figure 1, and therefore will be described using the same reference numerals.

[0053] Fig. 16 is a diagram sequentially explaining the suction operation of the suction hand for the mail items to be transported, the release operation of the mail items other than the mail items to be transported, and the transport operation of the mail items to be transported. Fig. 17 is a diagram viewed from the pallet side showing a state in which multiple mail items are arranged under the suction hand. Fig. 18 is a diagram viewed from the pallet side showing a state in which mail items to be transported are being picked up. Fig. 19 is a diagram viewed from the mail item side showing a state in which mail items other than the mail items are being released. Fig. 20 is a diagram viewed from the mail item side showing a state in which the suction hand has picked up the mail items to be transported and the parcel has been raised vertically.

[0054] When multiple mail items are placed, such as thin envelopes, some of the mail items may overlap. In this embodiment, when the suction hand 102 suctions the mail item 420B, the suction range is set to a range wider than the size range of the mail item 420B obtained from the image captured by the camera 300 and the negative pressure integrated information. This suction range includes a margin. The mail item 420B is the object to be transported. The size of the mail item 420B obtained from the image captured by the camera 300 and the negative pressure integrated information may be larger than the actual size of the mail item 420B. In this case, as shown in FIG. 17 , the mail item 420B may overlap with the mail item 420A or the mail item 420C, and a portion of the mail item 420A or the mail item 420C placed underneath the mail item 420B may be included in the suction range.

[0055] Therefore, as shown in Figures 16 and 18, during the suction operation when mail items 420A, 420B, and 420C are placed on pallet 500A, a blowing operation is performed on mail items 420B and 420C to weaken the suction force on mail items 420B and 420C. That is, mail item 420B is suctioned within the suction range, and air is blown onto mail item 420A or 420C outside the suction range, up to a predetermined range larger than the size of the suction range. Here, blowing is performed within a predetermined range larger than the size of the suction range, but suction may also be stopped. The following explanation will be given of the case where blowing is performed.

[0056] Next, in the detachment operation shown in Figure 16, the suction hand 102 raises and stops the mail item 420B to a range where it will not be a problem if the mail item 420A or 420C detaches and falls, while maintaining suction within the suction range of the mail item 420B and blowing within a blowing range larger than the size of the suction range. Then, as shown in Figure 19, the outer suction pads are switched from suction to blowing. The suction range becomes a range one size inside the size of the object, and the blowing range becomes a predetermined range outside the range one size inside the size of the object. As the blowing range approaches the mail item 420B, the suction force on the mail item 420A or 420C is weakened by the blowing, so the mail item 420A or 420C falls.

[0057] Next, in the conveying operation shown in Figures 16 and 20, the suction hand 102 stops pushing within the blowing range at the stop position, switches the outer suction pads from blowing to suction, and expands the suction range to the suction range with the margin already described. Then, while maintaining suction within the expanded suction range of the mail item 420B, the mail item 420B is lifted. The operation of expanding the suction range to the suction range with the margin is preferably performed before moving (conveying) the mail item 420B horizontally. This is because when moving horizontally, horizontal movement is generally longer than vertical movement, and there is a large speed fluctuation, so there is a possibility that the mail item 420B will fall due to the force applied during acceleration and deceleration.

[0058] The reason for expanding the suction range of the mail item 420B and lifting the mail item 420B to perform the transport operation is as follows: Mail items are often smaller than the parcels described in the second embodiment, and there are often fewer suction pads for a mail item than for a parcel. It is therefore assumed that the negative pressure value is reduced to prevent deformation of the mail item due to suction. Therefore, if the suction range is too small compared to the size of the mail item 420B, the suction force for the mail item 420B will be insufficient, and the mail item 420B may fall due to fluctuations in the negative pressure or acceleration / deceleration associated with transport. Note that the operation of expanding the suction range and lifting the item to be transported to perform the transport operation can be applied not only to mail items, but also to any other item that may fall during transport.

[0059] The control operation of the control device will be described below. Figure 21 is a flowchart showing the operation of the suction hand to remove and transport a parcel to be transported. In Figure 21, step S15 in Figure 11 has been replaced with steps S18, S19, and S20. The operations from step S10 to step S14 before step S18 are the same as in the flowchart in Figure 11, so the illustration and description of steps S10 to S14 will be omitted in Figure 21.

[0060] In step S18, the negative pressure information integration unit 203 sucks up the mail item 420B within a suction range with a margin, and also blows on an area outside the suction range that is larger than the size of the suction range.

[0061] In step S19, the negative pressure information integration unit 203 raises the suction hand 102 while maintaining the blowing, and changes the outer suction pads from suction to thrusting.

[0062] In step S20, the negative pressure information integration unit 203 changes the outer suction pads from blowing to suction.

[0063] As described above, this embodiment provides the same effects as those described in the first and second embodiments. Furthermore, in addition to the effects of the first and second embodiments, by raising the suction hand and changing the outer suction pads from suction to abutting, mail items other than the mail item to be transported can be reliably released, and thereafter, by changing the outer suction pads from abutting to suction, the mail items to be transported can be prevented from falling and can be transported reliably.

[0064] In this embodiment, when the shoving in the blowing range is stopped at the stopping position of the suction hand 102, the operation of this embodiment in which blowing in the blowing range is switched to suction to set the suction range may also be applied to the second embodiment, as shown in Fig. 22. If the suction range is smaller than the size of the parcel 410B, the suction force for the parcel 410B may be insufficient, and the parcel 410B may fall due to fluctuations in negative pressure or acceleration / deceleration during transport.

[0065] The components included in the control device of each of the above-described embodiments can be realized by hardware, software, or a combination thereof. "Implemented by software" here means that the components are implemented by a computer reading and executing a program. To realize the components included in the control device by software or a combination thereof, the control device includes a processor such as a CPU (Central Processing Unit). The processor functions as an execution unit. The control device may also include multiple processors operating in parallel. The robot control device also includes an auxiliary storage device such as an HDD (Hard Disk Drive) that stores various programs such as application software or an OS (Operating System), and a main storage device such as a RAM (Random Access Memory) that stores programs required for the processor to execute the functions and operations of the control device described using Figures 5 to 11, 12 to 15, or 16 to 22, as well as data temporarily required by the programs. The control device may also include multiple main storage devices. The data stored therein is, for example, information regarding the transport route from a first location A1 to a second location B1. This information includes coordinate information of positions A1, A2, B2, and B1. Positions A1, A2, B2, and B1 change when the transported package changes, and the transport route of the package also changes.

[0066] The control device then has a processor that reads application software or an OS from the auxiliary storage device, and executes calculations based on the application software or OS while loading the loaded application software or OS into the main storage device. Furthermore, the control device controls various hardware components based on the results of the calculations. This allows the functional blocks of this embodiment to be realized.

[0067] Fig. 23 is a block diagram showing an example of the configuration when the control device is configured as a computer. As shown in Fig. 23, the computer serving as the control device includes a memory 211 which is a main storage device serving as a storage device, a CPU 212 which is a processor, an I / O unit 213 for connecting to the robot 100 via a cable, a disk device 214 such as an HDD which is an auxiliary storage device, and a display unit 215. The display unit 215 displays the number of times the package has been transported, the loading status, etc.

[0068] The program can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, programmable ROMs (PROMs), erasable PROMs (EPROMs), flash ROMs, and random access memories (RAMs)). The program may also be supplied to a computer by various types of transitory computer-readable media.

[0069] The effect of the control device and robot system of each of the above-described embodiments is that the suction hand can reliably pick up and transport only the object to be transported at a position suitable for transport.

[0070] Although the present disclosure has been described above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the present disclosure, or within the gist of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these.

[0071] The following supplementary notes are further disclosed regarding the above-described embodiments: (Supplementary Note 1) A control device (200) for controlling the operation of a robot that sucks up an object with a robot hand (102), lifts it up, and transports the lifted object, the control device comprising: at least one processor (212); and at least one storage device (211) capable of storing a program executed by the at least one processor, wherein the processor integrates negative pressure information from a plurality of suction pads of the robot hand that includes a plurality of suction pads that use negative pressure, and when sucking up the object, changes the operation of the robot hand with respect to the object based on the integrated negative pressure information.

[0072] (Supplementary Note 2) The control device according to Supplementary Note 1, wherein the at least one processor (212) uses the integrated negative pressure information to calculate at least one of a position of the object relative to the robotic hand, a shape of the object, and a size of the object when modifying the operation of the robotic hand (102).

[0073] (Supplementary Note 3) The control device according to Supplementary Note 1 or 2, wherein the at least one processor (212) causes the robot hand (102) to suck up the object, perform a lifting operation of the object, suck up within a range one size inside the size of the object, and perform a spraying operation or stop sucking within a predetermined range outside the range.

[0074] (Supplementary Note 4) The control device according to Supplementary Note 1, wherein the at least one processor (212) takes a margin depending on the size of the object when adsorbing the object, and adsorbs an area within the margin.

[0075] (Supplementary Note 5) The control device according to Supplementary Note 4, wherein the at least one processor (212) performs adsorption again in the range with the margin before moving the object in the horizontal direction.

[0076] (Supplementary Note 6) The control device according to Supplementary Note 2, wherein the position of the object includes a position of a center of gravity of the object.

[0077] (Supplementary Note 7) A robot system (10) comprising the control device (200) according to any one of Supplementary Notes 1 to 6, and a robot controlled by the control device.

[0078] 10 Robot system 100 Robot 101 Robot mechanism unit 102 Suction hand (robot hand) 200 Control device 201 Camera information acquisition unit 202 Negative pressure information acquisition unit 203 Negative pressure information integration unit 204 Robot function control unit 205 Pressure control unit 211 Memory (storage device) 212 CPU (processor) 213 I / O unit 214 Disk device 215 Display unit P11 to P88 Suction pad 400A, 400B, 400C Baggage 410A, 410B, 410C Parcel 420A, 420B, 420C Mail

Claims

1. A control device that controls the operation of a robot that adsorbs an object with a robot hand, lifts it, and transports the lifted object, comprising: at least one processor; and at least one storage device capable of storing a program executed by the at least one processor, wherein the processor integrates negative pressure information from multiple suction pads of the robot hand that have multiple suction pads that use negative pressure, and when adsorbing the object, changes the operation of the robot hand relative to the object based on the integrated negative pressure information.

2. The control device of claim 1, wherein the at least one processor uses the integrated negative pressure information to calculate at least one of the position of the object relative to the robot hand, the shape of the object, and the size of the object when modifying the movement of the robot hand.

3. The control device according to claim 1 or 2, wherein the at least one processor causes the robot hand to pick up the object, lift the object, pick up the object within a range one size inside the size of the object, and spray or stop picking up the object within a specified range outside of that range.

4. The control device according to claim 1, wherein said at least one processor, when adsorbing said object, takes a margin according to the size of said object, and adsorbs the range within said margin.

5. The control device according to claim 4, wherein the at least one processor performs adhesion again in the range including the margin before moving the object in the horizontal direction.

6. The control device of claim 2, wherein the position of the object includes a position of the center of gravity of the object.

7. A robot system comprising the control device according to any one of claims 1 to 6 and a robot controlled by the control device.

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