DE102020114577A1 - CONTROL AND CONTROL PROCEDURES FOR ROBOTIC SYSTEM - Google Patents

Abstract

The present disclosure offers improvements in goods delivery and storage efficiency for operating items that have various features. A controller for a robot system is provided. The robot system includes an operating robot in order to operate operating objects for loading and / or unloading the operating objects on / from a pallet. The controller includes a data derivation unit configured to derive first data including information about the operating objects and information about the pallet before loading and / or unloading the operating object onto / from the pallet, and a data storage unit configured to include the first To store data, and a robot control unit which is designed to generate a control sequence for loading and / or unloading the operating object onto / from the pallet based on the first data before loading and / or unloading the operating object onto / from the pallet or the like and based on the control sequence, instructing the robot to carry out a task of loading and / or unloading the operating object onto / from the pallet.

Description

The present application claims the priorities of U.S. Patent Application No. 16 / 428,809 dated May 31, 2019, U.S. Patent Application No. 16 / 428,645 dated May 31, 2019, U.S. Patent Application No. 16 / 428.714 dated May 31, 2019, U.S. Patent Application No. 16 / 428,843 dated May 31, 2019, U.S. Patent Application No. 16 / 428,870 dated May 31, 2019 and JP patent application No. 2019-208587 dated November 19, 2019, the disclosure of which is hereby incorporated by reference.

BACKGROUND OF THE INVENTION

Field of invention

The present disclosure relates generally to a robot system, and more particularly to a controller (control device) for a robot system that operates operating objects (objects to be operated) such as articles, and to a robot system control method, a logistic system (physical distribution system), a program, and a recording medium .

Description of the prior art

Many robots (e.g. machines that are configured to automatically / independently perform physical activity) are currently enjoying widespread use in many fields because of their ever better performance and falling costs. For example, robots can be used to perform various activities such as maneuvering and moving objects in production, assembly, packing, transferring, transportation and the like. When performing activities, robots can repeat human movements and thereby take over or reduce dangerous or repetitive human activities.

As a system (robot system) that uses such robots, suggests, for example Japanese Patent Publication No. 2018-167950 an automatic logistics system that is equipped with a transport container storage device that is designed to temporarily store a transport container for automation and labor saving of processes from warehousing to shipping of articles and an automatic article delivery device that is designed to automatically articles from the transport container based on shipping information bundle in a shipping container.

However, despite technological advances, robots often lack the complexity required to reproduce a human activity when performing larger and / or more complicated tasks. Because of this, automation and functional expansion of robot systems are still insufficient and there are not a few activities from which it is difficult to eliminate human intervention. For example, it is also difficult to sufficiently improve cargo delivery and storage efficiency for operating items of various characteristics. Consequently, there is still a need for technological improvement to control various movements and / or interactions between robots and to further promote automation and functional expansion of the robot systems. Thus, it is an object of the present disclosure to provide a robot system controller and a robot system control method that implements sophisticated cooperation between units including robots and enables sufficient improvement in, for example, goods transfer and storage efficiency of operating objects of various characteristics.

SUMMARY OF THE FINDING

In order to solve the above problem, the present invention takes the following configurations.

[1] A controller according to the present disclosure controls a robot system that includes an operating robot that is designed to operate an operating object in order to load the operating object onto a pallet (palletizing) and / or to unload the operating object from the pallet (depalletizing) ), wherein the operating robot operates the operating object by using a robot arm, an end effector and the like, and examples of the operating robots include a palletizing robot, a depalletizing robot, a piece selection robot, a pick-up robot, an unloading robot, and the like. The controller (1) includes a data deriving unit which is designed to derive first data, which includes information about an operating object and information about a pallet before loading the operating object onto the pallet and / or unloading the operating object from the pallet; (2) a data storage unit configured to store the first data; and (3) a robot control unit which is designed, a control sequence for loading the operating object onto the pallet and / or unloading the operating object from the pallet based on the first data before loading the operating object onto the pallet and / or unloading the operating object from to generate or derive from the pallet, and based on the control sequence to instruct the operating robot to carry out a task in order to load the operating object onto the pallet and / or unload the operating object from the pallet.

Here, the “operating object” is an object that is operated by the operating robot that is provided in the robot system and includes, for example, one or more articles and a container such as a barrel, a storage container or a box that contains the articles or the articles has placed on it. The container can be packed or unpacked. A part (for example an upper side) of the container can also be open. According to other embodiments and examples, the operating object can also be a concept that includes a shelf, a pallet, a conveyor belt and a temporary storage area. The “pallet” is a loading table that has a surface on which items are placed in a unit of measure for loading, transport and storage. Examples of the pallet include a flat pallet, a box pallet, a post pallet, and the like. The pallet may or may not have an insertion opening like a folk does. Furthermore, the “information about the object” and the “information about the pallet” are information that are associated with identification information about the operating object or information that are associated with identification information about the pallet. Also, the “control sequence” is a predetermined operating sequence for performing control to cause one or more units provided in the robot system to perform individual tasks (robot is a kind of “unit”). That being said, the term “before” means that something occurs at or before a given point in time, and the term “after” means that something occurs at or after a given point in time.

• • Jedes Element muss als ein unterschiedlicher Artikel im Verkauf bestimmt sein
• • Es ist wünschenswert, um dem Verbraucher den Unterschied der Waren anzubieten
• • Es ist wünschenswert, um die Verkäufer der Waren individuell zu analysieren

The “information about the operating object” includes at least position information of the operating object and information about the “storage unit (SKU)” of the operating object. The "storage unit (SKU)" is a minimal management unit for carrying out order and inventory management of the operating items. For example, even in the case of the same operating items, they are distinguished according to a difference in feature such as package, the number contained therein and the product content. The operating objects can be classified by the SKU in a smaller unit than the operating object unit. For example, in the case where the operating items are clothes that are of the same type but have three different colors and four sizes, namely S, M, L, and LL, they are regarded as “12 SKUs”. It should be noted that the SKU can be released by the entrepreneur. SKU can be set without distinguishing the items in color or size. In general, however, it is assumed that operating objects should be managed by distinguishing them by the SKU in the cases described below (the distribution system research institute, GTIN guidelines, revised version of the GTIN allocation guidelines Version 2018.12, p. 10).

• • Each item must be designated as a different item on sale
• • It is desirable to offer the consumer the difference in goods
• • It is desirable to analyze the seller of the goods individually

(Examples)

• • Size is different: large pack, medium pack, small pack
• • The net content (weight, quantity, number of pieces and the like) is different: 100 g, 200 g, 500 ml, 650 ml
• • Packaging is different: filled in bags, filled in cans, filled in bottles
• • Color is different: pink, blue, white
• • Taste is different: curry taste, grill taste
• • Fragrance is different: jasmine, bouquet
• • Sales unit is different: 3 pieces, 5 pieces, 15th piece
• • The contents (combination) of a set of goods are different: a set of two spices and three bottles of cooking oil, a set of three spices and two bottles of cooking oil

With this configuration, before loading the operating object onto the pallet and / or before unloading the operating object from the pallet, information about the operating object and information about the pallet are acquired and a task is based on the first data that includes such information , generated control sequence executed. This makes it possible to carry out the process of loading the operating object onto the pallet and / or the process of unloading the operating object from the pallet effectively and smoothly.

[2] In the above-mentioned configuration, the data deriving unit can derive second data including the information on the operating object and the information on the pallet after the operating object is loaded on the pallet and / or the operating object is unloaded from the pallet, and the data storage unit can store the second data.

With this configuration information about the operator control and information about the pallet are detected after the operating object is loaded onto the pallet and / or after the operating object is unloaded from the pallet. This makes it possible to reliably track a state or a situation of the pallet after the operating object has been loaded and / or after the operating object has been unloaded.

[3] In the above-mentioned configuration, the robot control unit can be configured to generate or derive the control sequence based on the first data and / or the second data so that a plurality of types of operating items in which SKUs are different from each other are displayed on the pallet Loading.

With this configuration, SKUs of the operating items to be loaded onto the pallet and the operating items which have been loaded onto the pallet can be acquired from the first data and the second data. Therefore, even in the case where operating items from different SKUs are loaded into the same pallet (so-called mixed loading), it is possible to monitor and track the loaded state of the operating items.

This makes it possible to increase the utilization of the pallet and improve the utilization efficiency of the pallet. In addition, since the filling level information / availability information of the pallet can be detected, the selection of a pallet for loading the operating object onto the pallet and / or for unloading the operating object from the pallet can be carried out efficiently as a next stage.

This also makes it possible to prevent the pallet from being fragmented with useless areas (defragmentation) and makes it easier to collectively manage position information about the operating object and the pallet.

[4] In the above-mentioned configuration, the robot control unit can be configured to generate or derive the control sequence based on the first data and the second data so that the operating items of the same or similar SKUs are placed in a concentrated manner on the pallet , herein "similar" means that among the features (color, size, and the like as described above) that define the SKUs, a predetermined number or more of the properties are common. The present configuration also includes the case where operating items of the same or similar SKUs are loaded onto the same pallet (so-called unmixed loading) and the case where operating items from different SKUs are loaded onto the same pallet (so-called mixed loading)

In the case of mixed loading, operating items of the same or similar SKUs can be loaded in a concentrated manner (e.g., stacked in the vertical direction or the like).

With this configuration, the SKUs of the operating objects to be loaded onto the pallet and the operating objects loaded onto the pallet can be detected from the first data and the second data. This makes it easy to place the operating items from the same or similar SKUs in a concentrated manner. As a result, the utilization rate can be increased regardless of unmixed charging or mixed charging, and the utilization efficiency can be improved. In addition, since the operating items having the same or similar SKUs are placed in a concentrated manner, as the next step, selection of a pallet for loading the operating item onto the pallet and / or unloading the operating item from the pallet can be performed efficiently. In other words, generating or deriving the control sequence can determine or select, based on the first data and the second data, one of the pallets onto which the operating object has to be loaded or from which it must be unloaded.

[5] In the above-mentioned configuration, based on the second data, the robot unit can calculate an index indicating the handling property for unloading the operating object from the pallet, and based on the index the control sequence, the identification or determination of the operating object and / or the Includes, generate or derive the pallet loaded with the operating object.

Here, the “handling property” shows the degree of difficulty of operational work on the operating object by the robot. Specifically, examples thereof include, but are not limited to, the degree of difficulty when the operating robot detects the operating object loaded on the pallet, the degree of difficulty when the operating robot moves the detected operating object (complications on the route or the like), and the like. The “index” can also be digitized quantitative and can, for example, be classified as qualitative.

With this configuration, when there are multiple candidates for operating items to be unloaded, it is possible to select a pallet loaded with operating items easy to operate by the operating robot and the operating items based on the index indicating the handling property. That does it for you Robot easy to grasp the operating object to be unloaded more precisely and to move it, which leads to an improvement in operating efficiency and operating accuracy (success rate).

[6] In the above-mentioned configuration, the data storage unit can store position information (arrangement information) about a plurality of the operating items on the pallet as two-dimensional information or three-dimensional information for each operating item or pallet.

With this configuration, positions of the operating objects placed on the pallet can be detected for each operating object or each position.

The arrangement of the plurality of operating objects stacked on the pallet can also be managed collectively as one-dimensional information or three-dimensional information. For example, when an operating item is specified, the operating items loaded on the same pallet can be specified all at once. This makes it possible to improve operating efficiency, for example, by reducing the working hours required for inventory control and inventory.

[7] In the above-mentioned configuration, the robot system can further include a sensor configured to display the operating object or the pallet loaded with the operating object, and the robot control unit can generate or derive the control sequence for loading the operating object onto the pallet in order to To enable sensor to detect identification information (an identification code or an identification label that represents the identification information) about the operating object.

With this configuration, even when an operating object is loaded on the pallet, the identification information about the operating object can be checked by being detected by the sensor. In the case when the identification information about the operating object is attached to at least one side surface, the identification information can be exposed so that it is visible even when the operating object is stacked on the pallet, the identification information attached to the operating object being easily recognized thereby that it is represented by a sensor such as a camera. Thus, even if an operating object is left as loaded on the pallet, the operating object can be easily identified and specified. Here, if position information about the plurality of operating objects on the pallet is stored in advance as two-dimensional information or three-dimensional information as with [6] above, the operating objects loaded on the pallet can be specified more easily and simply all together for each pallet by specifying an operating object . This makes it possible to further improve operating efficiency in inventory control and inventory.

[8] In the above-mentioned configuration, the robot control unit can determine that the loading of the operating object onto the pallet and / or the unloading of the operating object from the pallet are completed before the loading of the operating object onto the pallet and / or the unloading of the operating object are / is finished from the pallet. In some implementations, the robot control unit may determine a condition that represents that the loading of the operating object onto the one of the one or more pallets is completed before the loading of the operating object onto the one of the one or more pallets is completed. In some implementations, the robot controller may determine a condition that represents that the unloading of the operating object from the one or more pallets is complete before the unloading of the operating object from the one or more pallets is completed.

With this configuration, the completion of the loading and / or unloading operation can be determined therefrom in a phase before loading of the operating object onto the pallet and / or unloading of the operating object from the pallet is / has ended. An operation of a task that has to be carried out in the next phase can thus be started seamlessly and promptly, which enables sophisticated cooperation between units while reducing work delays.

[9] In the above-mentioned configuration, the data deriving unit can derive actually measured values or estimated values of the information on the operating object and / or the information on the pallet. Consequently, the position of the operating object on / outside the pallet, the position of the pallet and the position of the identification information attached to the operating object can be checked in that they are actually detected with a sensor such as a camera or, for example, estimated based on master data without actual measurement will.

[10] A logistics system according to the present disclosure includes the controller according to any of the above-mentioned configurations; and a robot system including the operating robot.

[11] In the above-mentioned configuration, the controller can identify the robot system and an area assigned to the robot system, and calculate tasks (including a unit task and a task consisting of a combination of a plurality of unit tasks) based on the control sequence; and the tasks can include a task related to transporting the pallet and operating the operating object carried out by the robot system, and a plurality of tasks carried out by the robot system over adjacent and / or overlapping regions.

[12] A program according to the present disclosure causes a computer to function as the controller for each of the above-mentioned configurations.

[13] A recording medium according to the present disclosure is a computer-readable non-transistor medium on which the above-mentioned program is recorded.

[14] A control method according to the present disclosure is a control method for a robot system including an operating robot configured to operate an operating object to load the operating object onto a pallet and / or unload the operating object from the pallet.

The control method is carried out by a controller that has a data extraction unit, a data storage unit, and a robot control unit. With this method (1), the data deriving unit derives first data which contain information about the operating object and information about the pallet before the operating object is loaded onto the pallet and / or the operating object is unloaded from the pallet; (2) the data storage unit stores the first data; and (3) the robot control unit generates or directs a control sequence for loading the operating object onto the pallet and / or unloading the operating object from the pallet based on the first data before loading the operating object onto the pallet and / or unloading the delivery object from the pallet and, based on the control sequence, instructs the operating robot to perform a task of loading the operating object onto the pallet and / or unloading the operating object from the pallet.

Figure list

• 1 Figure 3 is a schematic flow diagram showing an exemplary workflow for a robot system in accordance with one of the embodiments of the present disclosure.
• 2A and 2 B 12 are perspective views schematically showing external shapes of exemplary transport robots according to one or more embodiments of the present disclosure.
• 3 FIG. 13 is a perspective view schematically showing an external shape of an exemplary operating robot according to one or more embodiments of the present disclosure.
• 4A and 4B 12 are perspective views schematically showing an external shape of an exemplary operating robot according to one or more embodiments of the present disclosure.
• 5 FIG. 13 is a block diagram showing an example of hardware configuration and functional configuration of a robot system according to an embodiment of the present disclosure.
• 6th Fig. 14 is a front view (partial functional configuration diagram) showing an example of an operation performed by a robot system according to an embodiment of the present disclosure and an example of a functional configuration of a controller provided on the robot system.
• 7th FIG. 12 is a flow chart showing an example of methods for performing a first task by operating a robotic system according to an embodiment of the present disclosure.
• 8th FIG. 12 is a flow chart showing an example of methods for performing a second task by operating a robotic system according to an embodiment of the present disclosure.
• 9 FIG. 12 is a schematic top view showing an exemplary environment in which a robotic system may operate in accordance with an embodiment of the present disclosure.

Detailed description of the preferred embodiments

The present disclosure offers a robot system in which a plurality of units (e.g. various robots, various devices, an integrally or separately supplied controller) are integrated in a sophisticated manner, a controller for the robot system, a logistics system equipped therewith, a method therefor and the like that is, a robot system according to an embodiment of the present disclosure is an integrated system that is capable of autonomously performing one or more tasks, for example.

Here, "tasks" can include, for example, a task in which a robot and the like access operating objects, tasks of moving the operating objects from one location to another and storing, holding, retrieving and arranging the operating objects, a task of classifying the operating objects in several groups and tasks of mapping, monitoring and managing the operating objects.

"Tasks" can also include combinations of several tasks that are carried out during the storage of service items (incoming goods, transport, loading (palletizing), unloading (depalletizing), accommodation, etc.), filling with service items (unpacking, filling, filling, etc.) and dispatch of operating objects (finding, picking up, packing, loading, palletizing, etc.) in a logistics system. Furthermore, “tasks” can include, for example, gripping or lifting of operating objects at a certain point, moving operating objects on a certain path and releasing, putting down or placing operating objects at a certain position in order to rearrange, follow up or exchange the operating objects.

Furthermore, according to the present disclosure, the robot system can access operating objects, for example via a plurality of units such as a robot, and can consequently support automation of operations in a storage process, replenishment process, shipping process and the like of the operating objects. Furthermore, according to the present disclosure, the robot system can classify (group) operating objects, for example based on the SKU differences, move the operating objects to or place them at desired locations or specific locations, access the operating objects, relocate the operating objects or reclassify them at the point or rearrange or replace the operating objects in other locations or according to the properties of the operating objects. In this case, the robot system can read one or more pieces of identification information (e.g. barcode or quick response (QR) code (registered trademark)) which are attached to one or more specific locations or surfaces of the operating objects, and if necessary check the identification information against master data, identify and / or locate the operating objects and derive information relating to the operating objects.

Furthermore, the robot system according to the present disclosure can be equipped with a sensor, such as an imaging sensor, for example, in order to identify positions and states (e.g. settings that include orientations) of operating objects and / or an environment of the operating objects. In the tasks carried out by individual units of the robot system, the image sensor can derive images of work positions (e.g. positions of the operating objects that include a pick-up position, a deposit position and a position halfway through) and images of the operating objects at the work positions.

The robot system according to the present disclosure can also process images of the operating objects in a predetermined sequence (e.g. from top to bottom, from a side edge or from an inside of the operating object). In this way, states and situations of the images of the operating objects can optionally be determined by identifying and classifying external shapes and surroundings of the operating objects, for example based on colors of neighboring pixels, brightness and changes in these values on the image of the operating object.

The robot system according to the present disclosure can derive and execute a control sequence for executing a task of accessing and operating operating objects, a task of transporting, moving, placing, storing and otherwise manipulating the operating objects, and other tasks. The control sequence can include a combination of basic control sequences for deriving operational mechanisms of the respective units. The robot system can generate or derive a control sequence for the execution of various tasks, for example by machine learning such as motion planning or deep learning or by other methods.

Here, for example, in a conventional robot system that is used in a typical logistics system, when carrying out tasks relating to warehousing, replenishing or shipping operating items, it is not possible to satisfactorily perform demanding interactions between several units, which often makes it indispensable to provide operator support when transitioning between to provide different tasks performed one after the other. It is also often necessary for the operator, although the conventional robot system can, for example, access operating objects in response to a command, to classify ordered goods or to arrange them. Furthermore, it is often difficult with the conventional robot systems, for example when changing the unit, which operates the operating objects, or when changing operating methods for the operating objects, to change them through autonomous interactions between the units. In particular, when the units concerned include a unit that needs an operation that includes a task that needs operator action and assistance, it is extremely difficult to change a control sequence autonomously or automatically. Furthermore, in the case of conventional loading of operating items on a pallet or the like, automation of an operation, operating items having different SKUs to be loaded in a mixed manner on the same pallet, which requires operator action, is difficult to realize. This hinders the full automation of a logistics system.

Also, as a basic control sequence, the conventional robot system performs a task of gripping an operating object at one position, moving it to another position in this state, and releasing the operating object. However, when only such basic operations are used, the storage efficiency for operating items and the operating efficiency of each unit cannot be sufficiently increased, and especially from the viewpoint of increasing the storage efficiency for operating items, operator action and support (alignment, repetition, addition, system stop, etc.) are required in some cases needed.

In contrast to this, the robot systems according to various aspects of the present disclosure, which are illustrated below by way of example, can adapt and control interaction between various units (e.g. the operating robot and transport robot) when performing tasks and promote cooperation between various units differently than conventional robots. As a result, the conventionally required operator action and assistance is avoided, and the storage efficiency for operating items, operating efficiency and economy can be improved. Furthermore, by capturing and managing information about the operating items and the pallet at the appropriate time for palletizing and depalletizing the operating items, it is possible to automate an operation of loading the operating items that have different SKUs in a mixed manner onto the same pallet.

According to the present disclosure, the robot system can also reliably identify a work area, a movement path, positions and states of operating objects or a combination thereof in relation to each unit and carry out tasks without any problems via different units. In this way, the robot system capable of optimizing the storage efficiency for operating items based on shape information, identification information, position information and other similar information about the operating items can further increase efficiency of space utilization. Therefore, the robot system according to the present disclosure can have one or more algorithms configured to sequence tasks from different units, one or more protocols for controlling interaction between different units and a suitable control sequence that requires sophisticated cooperative movements between different units can implement, generate or derive based on information about the states of operating objects.

Embodiments according to an example of the present disclosure are described below with reference to the accompanying drawings. However, the embodiments described below are merely exemplary and various modifications and technical applications not mentioned below are not intended to be excluded. That is, the example of the present disclosure can be implemented in various modified forms without departing from the spirit and scope of the present disclosure. Furthermore, in the following drawings, identical or similar parts are denoted by the same or similar reference symbols, and the drawings are schematic and do not necessarily represent actual sizes, proportions, or the like. Furthermore, the drawings cannot be shown in their true proportions. In addition, of course, the embodiments described below form part of the embodiments of the present disclosure rather than all of the embodiments of the present disclosure. Furthermore, any other embodiment obtained by those skilled in the art based on embodiments of the present disclosure without the need for creative activities is included within the scope of the present disclosure.

In addition, the method presented herein can be carried out in any embodiment without particular details of the method. Furthermore, detailed descriptions of well-known functions such as specific functions or routines are omitted in order to avoid making the present disclosure unnecessarily difficult to understand. In addition, detailed descriptions of well-known structures or processes that are often associated with robotic systems and subsystems may also be omitted for the sake of clarity. Reference to “an embodiment”, “an individual embodiment” or the like here means that a specific function, structure, material or property is included in at least one embodiment of the present disclosure. Therefore, the mention of such a phrase herein does not necessarily refer to the same statement. On the other hand, such references are not always mutually exclusive. Furthermore, a specific function, structure, material and property can be combined in any appropriate manner in one or more implementations. It should be understood that various illustrated embodiments are presented in an illustrative manner only and are not necessarily shown in their true proportions.

In addition, many implementations or aspects of the present disclosure include processes, steps, routines, blocks, and the like executed by a programmable computer or controller (controller) and take the form of instructions executable by the computer or controller. It should be understood by those skilled in the art that the disclosed method can be implemented by a system of computers or controllers other than those shown in the embodiments. The method described herein can be carried out in a special purpose computer or special purpose data processor that is programmed, configured, or constructed to carry out one or more computer-executable instructions described below.

Thus, the term “computer” and “controller” as generally used herein includes any data processor as well as an Internet-enabled device and a portable device (including palmtop computers, portable computers, cell phones or cell phones, multiprocessor systems, processor-based or programmable household appliances, network computers and minicomputers). Information manipulated by the computer or controller can be provided to any suitable display medium, for example a liquid crystal display (LCD).

Instructions issued to perform tasks executable by the computer or controller may be stored in hardware, firmware, or on any suitable computer-readable non-transitory recording medium including a combination of hardware and firmware. In addition, each instruction can be included, for example, in any suitable storage device, including a memory stick and / or other suitable medium.

“Coupled,” “connected,” and other similar terms can be used to describe structural relationships between components. However, these terms are not intended to be interchangeable. In particular, the term “connected” can be used in specific implementations to indicate that two or more elements are in direct contact with one another. Unless otherwise clearly understood from the context, the term “coupled” can be used to indicate that two or more elements are in contact either directly (with the participation of intermediate elements between them) or indirectly, indicating that two or more elements are in contact with one another collaborate or interact with each other (as if the elements are in a cause-and-effect relationship, as in the case of signal transmission / reception or a function call), or to indicate both states.

[Application example]

1 Figure 4 is a schematic flow diagram showing an exemplary workflow of a logistics system that includes a robotic system according to an embodiment of the present disclosure. For example, the workflow closes a warehousing process P10 of receiving serviceable items (eg, containers such as cardboard boxes containing articles according to the present embodiment) in a distribution center or the like, a replenishment process P20 the filling of, for example, a shelf or the like with operating objects that are placed on a pallet or the like, for example, and storing the operating objects and a shipping process P30 the collection and dispatch of ordered articles from the operating objects that have been filled into the shelf and stored on the shelf.

In the warehousing process P10 , will be in step S101 first received operating objects brought in by a vehicle or the like and then unloaded, for example, using an unloading robot. In step S102 the operating objects are transported from pallets to be reloaded to a waiting position using a sorting system, for example, on a conveyor belt or the like. After that, in step S103 the operating objects that have been transported are loaded onto, for example, a suitable pallet by a palletizing robot.

In the refill process P20 , the pallet with the operating objects placed on it is stepped S104 using, for example, a pallet AGV (automated guided vehicle configured to move pallets by carrying or lifting them) to a position where operating items are unloaded from the pallet, for example by a depalletizing robot. In step S105 For example, the operating objects are unpacked using a machine that opens at the top by cutting and thereby opening the top of the operating objects and transported by a conveyor belt or the like to a waiting position on storage racks. Then the operating objects in step S106 for example by a pick-up robot at an appropriate position on the shelf stored, for example, transported by a shelf AGV (automated guided vehicle configured to move shelves by carrying or lifting them) to a shelf storage location and maintained in reasonable condition.

In the shipping process P30 when there is an order for item will be in step S107 a shelf storing operating objects, which contains the ordered articles, is transported to a retrieval position, for example using a shelf AGV, and a desired operating object is retrieved from the shelf, for example by a pick-up robot. In step S108 the ordered articles are picked up by the operating object, for example using a piece selection robot, and transported to a shipping container or the like. Then in the crotch S109 the shipping container is packed using, for example, a packing machine and in step S110 For example, the packed shipping container is loaded into a suitable cart or vehicle and shipped.

In this way, the robot system according to an embodiment of the present disclosure can include an unloading robot, palletizing robot, depalletizing robot, pick-up robot, piece selection robot, packing machine and the like as operating robots that serve as transport / sorting units that are configured to perform operations for moving operating objects between different locations perform. In addition, according to an embodiment of the present disclosure, the robot system can include a sorting system, pallets AGV and shelf AGV as transport robots, which serve as transport units.

Here are 2A and 2 B perspective views showing the schematic external shape of exemplary transport robots 11 and 12th according to one or more embodiments of the present disclosure. The transport robots 11 and 12th may include a mobile / tire robot, such as a shelf AGV, configured to move pallets between predetermined positions. For example, the transport robots 11 and 12th such external dimensions that they are the transport robots 11 and 12th allow to move under pallets and / or between pallets. In addition, the transport robots 11 and 12th include a lifting mechanism (folk) configured to lift pallets off the floor (a transport path surface).

The transport robots 11 and 12th can be moved using various mechanisms. For example, the transport robots 11 and 12th driving independently following a predetermined path, which is provided, for example, as a floor marking (eg paint, adhesive tape), according to instructions from a controller of a robot system according to an embodiment of the present disclosure. In addition, the transport robots 11 and 12th calculate current positions with the help of an assignment / position mechanism (e.g. a dead reckoning system, a system based on laser and / or a system based on a radio communication signal) and move along a specified path and route based on the current positions.

Note that a robot system according to an embodiment of the present disclosure provides a target position of a pallet to be transported, a holding position of the pallet, identification information about the pallet, a path, a movement plan or a combination thereof to the transport robots 11 and 12th for example with the help of a controller as a stand-alone device or part of another unit. Based on communication instruction information, the transport robots can 11 and 12th a task of, for example, moving to the holding position of the pallet to be transported, lifting the pallet, transporting the pallet to a specified position and / or placing the pallet at the specified position. Furthermore, the transport robots 11 and 12th carry out or complete the task by returning the pallet to be transported to the original holding position or another storage location.

3 , 4A , and 4B are perspective views showing the schematic external shape of exemplary operating robots 13 and 14th according to one or more embodiments of the present disclosure. The operating robots 13 and 14th can include, for example, a robot configured to operate controls 16 (please refer 4th ) to be transported between specified positions. For example, the operating robots 13 and 14th Components including end effectors 131 and 141 such as grippers that are able to grip operating objects by means of decompression suction or vacuum suction or which are of a hand-like variant for selecting and robotic arms 132 and 142 that with the end effectors 131 and 141 are fitted at the ends. This allows the operating robots 13 and 14th to grip the operating objects from above or from the side. In addition, the operating robots 13 and 14th be provided by being fixed at a predetermined location, or can be provided movably. In addition, the end effector 141 of the operating robot 14th be equipped with a plate guide or the like that is used to guide the object 16 support (hold) from below as with a so-called unloading gripper and suitable functions such as an unloading robot or a pick-up robot

The operating robots 13 and 14th can for example be driven on instructions from a controller of a robot system according to an embodiment of the present disclosure. In addition, the operating robots 13 and 14th Calculate current positions of operating objects and operate the operating objects along specified paths and routes based on the current positions. The robot system according to the embodiment of the present disclosure can send target positions and pick-up positions of the operating objects, identification information about the operating objects, paths, movement plans or a combination thereof to the operating robots 13 and 14th for example, with the aid of a controller as a stand-alone device or part of another unit, each of the operating robots 13 and 14th a task of, for example, moving the end effectors 131 and 141 to a gripping position of an operating object, gripping and lifting the operating object, transporting the operating object to a specified position and / or placing the operating object at the specified position.

[Configuration example]

5 Fig. 13 is a block diagram showing an example of a hardware configuration and functional configuration of a robot system according to an embodiment of the present disclosure. For example, a robotic system 500 with electronic / electrical equipment such as a processor 502 , a storage device 504 , Communication device 506 , Input-output device 508 , Control device 512 , Transport engine 514 , Sensor 516 or a combination thereof. The robot system 500 can be equipped with more than one of these elements and devices.

In addition, these elements and devices can be coupled together via cable connections and / or wireless connections. For example, the robotic system 500 Buses such as a system bus, a Peripheral Component Interconnect (PCI) bus or a PCI Express bus, a HyperTransport or Industry Standard Architecture (ISA) bus, Small Computer Systems Interface (SCSI) bus, Universal Serial Bus (USB), an IIC ( 12C ) Bus, and an IEEE 1394 (Institute of Electrical and Electronic Engineers) Bus (also called “Firewire” bus).

In addition, the robot system 500 to provide wired connections between devices including, for example, a bridge, adapter, controller, and other signal related device. Wireless connections can be based on, for example, a cellular communication protocol (e.g. 3G, 4G, LTE or 5G), a wireless local area network (LAN) protocol (e.g. Wireless Fidelity (WIFI)), a peer-to-peer or device-to-device Communication protocol (e.g. Bluetooth (registered trademark) or Near-Field Communications (NFC)), an Internet of Things (loT) protocol (e.g. NB-loT or LTE-M), and or another wireless communication protocol.

The processor 502 may include a data processor (e.g., central processing unit (CPU), special purpose computer, and / or on-board server) configured to execute commands (e.g., software instructions) stored in the storage device 504 (e.g. a computer memory) are stored. The processor 502 can execute program instructions to control or interact with other devices, thereby enabling the robot system 500 causes various movements, operations and / or manipulations to be performed in one task.

The storage device 504 may include a computer readable non-perishable recording medium having program instructions (e.g., software) stored thereon. Examples of the storage device 504 include volatile memory (e.g., cash and / or random access memory (RAM)), non-volatile memory (e.g., flash memory and / or magnetic disk drive), a portable storage drive, and a cloud storage device.

In some implementations, the storage device stores 504 furthermore processing results, predetermined data, a predetermined threshold, a predetermined parameter and, if necessary, allows access to them. For example, the storage device 504 base data 552 store including information data associated with operating items operated by the robot system 500 can be maneuvered.

With regard to the operating objects that are operated by the robot system 500 can be used, the master data 552 Dimensions, shapes (e.g. computer-generated templates of possible states and computer-generated models that are used to recognize the operating objects in different states), colors, images, identification information (e.g. barcodes, quick response (QR) codes (registered trademarks) and logos as well Positions where codes and the like are expected to be provided), expected weights, or combinations thereof. In addition, the master data 552 associated information about objects and their maneuvering such as the respective center of mass (center of gravity) positions of the operating objects, expected Include readings (e.g., various readings of force, torque, pressure, and a contact reference value) from sensors in response to one or more movements or a combination thereof.

In addition, the storage device 504 for example, item tracking data 554 save that are produced when the operating objects of the robot system 500 be followed. The item tracking data 554 can include a log of scanned or operated operating items. In addition, the item tracking data 554 Image data (e.g. photos, point clouds and live videos that are provided) from operating objects at one or more positions (e.g. a specific pick-up position or storage position and / or a position on a conveyor belt) and positions and / or states (orientations, etc.) of the operating objects in one or more positions.

The communication device 506 may include circuitry configured to communicate with an external device or remote device over a network. For example, the communication device 506 a receiver, transmitter, controller / demodulator (modem), signal detector, signal encoder / decoder, connection port and network card. The communication device 506 can be configured to receive, transmit and / or process electrical signals according to one or more communication protocols (e.g. the Internet Protocol (IP) and a wireless communication protocol). Using the communication device 506 can the robot system 500 Information between the units of the robot system 500 and / or with systems / devices external to the robot system 500 for example, for data collection, analysis, reporting, error handling and the like.

The input-output device 508 may include a user interface configured to exchange information with the operator and / or receive information from the operator. For example, the input-output device 508 a display for exchanging information with the operator 510 and / or other output devices such as a speaker, tactile circuit, and tactile feedback device. In addition, the input-output device 508 Control and receiving devices such as a keyboard, mouse, touch screen, microphone, user interface (UI) sensor (e.g., a camera used to receive movement commands), and portable input devices. Using the input-output device 508 can the robot system 500 interact with the operator when performing tasks, movements, operations, manipulations or a combination thereof on the robot system 500 performs.

A suitable unit of the robot system 500 may include a structural member connected by a hinge for movement (e.g., rotation and / or translation) and an end effector configured to do e.g. picking, gripping, rotating or welding, and a robotic arm and the like that is configured to use the end effector (see e.g. 3 , 4A , and 4B) to maneuver. In addition, the robot system 500 an actuator on or around the joint 512 (e.g., a motor, actuator, wire, artificial muscle, or electroactive polymer) configured to include the device and the transport motor 514 that is configured to transport, drive or maneuver (e.g. relocate and / or align) the unit from one position to another.

The robot system 500 can have a sensor 516 to obtain information used by various units in driving or maneuvering the building element and / or in performing transport work. The sensor 516 may include various devices configured to measure one or more physical properties (eg, state, conditions, positions, and the like of one or more joints or components) of the robot system 500 and / or to record or measure features of an environment. Like such a sensor 516 can the robot system 500 an imaging sensor 522 , Position sensor 524 and contact sensor 526 as well as an accelerometer, a gyroscope, a force sensor, a strain gauge, and a torque sensor.

As one or more imaging sensors 522 can the sensor 516 for example a visible light camera and / or a camera for infrared light, a two-dimensional image camera and / or a three-dimensional image camera (2D view and / or 3D view) and a distance measuring device such as a lidar or radar configured to include to capture the environment. For example, when using automated testing, robot control or another robot, the imaging sensor 522 Generate display data such as digital images and / or point groups (point clouds) that are used to control various units and controls.

The robot system can operate every operating object 500 Images of certain areas (e.g. areas that have a gripping position, a pick-up position, a drop-off position and other work positions with respect to the operating object) derive and analyze and identify each of the positions. For example, the imaging sensor 522 including the above cameras and distance measuring devices configured to generate image data and distance data from the designated areas. Based on derived image and / or distance data, the robot system can 500 For example, determine the gripping position, pick-up position, deposit position and other work positions with respect to the operating object. Note that the work can include scanning the operator control object in order to keep a log of the operator control object during transport / acceptance. In this case the imaging sensor can 522 include one or more scanners (e.g., a barcode scanner and / or QR code scanner (registered trademark) configured to scan identification information about the operator control object during transportation of the operator control object.

Also with regard to the position sensor 524 can the sensor 516 the component (e.g. a robot arm and / or end effector) and / or e.g. a position encoder and potentiometer configured to include the position of a joint in each unit of the robot system 500 capture. The robot system can 500 the position sensor 524 used to track the positions and / or states (orientations, etc.) of the components and / or joints.

Furthermore with regard to the contact sensor 526 can the sensor 516 for example, a pressure sensor, a force sensor, a strain gauge, a piezoresistive / piezoelectric sensor, a capacitive sensor, an elastic resistance sensor, and other tactile sensors configured to measure properties related to direct contact between multiple physical structures or surfaces. The contact sensor 526 can measure a property that corresponds, for example, to a gripping operation of the end effector with respect to an operating object. That's why the contact sensor 526 configured to be able to detect a physical quantity that corresponds to contact between the operating object and gripper or condition of its installation, and can output quantitative measurements (e.g. various measurements of force, torque, pressure and a contact reference value). Note that the contact reference value includes one or more readings of force or torque relative to force applied to the operator by the end effector.

Note that the robot system 500 although described above and below by taking a warehouse and logistics system as an example, the robot system 500 but is not limited to and can be configured to perform various tasks in different environments or for other purposes to perform manufacturing, assembly, packaging, healthcare, and / or other types of automated surgery. In addition, the robot system 500 include other entities such as unillustrated manipulators, operator robots, and modular robots. In addition, the robot system 500 For example, different types of unloading / loading robots that are designed to operate in a warehouse or distribution / transport center and that are used to transport operating items from a shopping cart or pallet to a conveyor belt or other pallet, a sorting system, an unpacking robot, used to unpack operating items, a top open machine, a container changing robot used to move operating items from one container to another, a packing robot used to pack operating items, including a packing machine, or a combination thereof .

[Example of use]

6th FIG. 13 is a front view (partial functional configuration diagram) showing an example of a workflow performed by a robot system according to an embodiment of the present disclosure and an example of a functional configuration of a controller provided on the robot system. A robotic system 600 According to the present embodiment, what is a starting point for warehousing, refilling, storage and shipping in a logistics system and what is a control is installed in a warehouse or the like, for example 610 as a device configured to operate various units of the robot system 600 adjust and control. From the robot system 600 It can also be said that there is a particularly suitable system for loading operating items onto a pallet and unloading operating items from a pallet in the warehousing process P10 , in which in 1 storage process shown.

The control is as described above 610 Configured as a stand-alone device or part of another unit and can adapt and control movements in tasks performed by units such as transport robots 11 and 12th (the transport robot 11 is in 6th shown as an example; the same applies to the following) and operating robots 13 and 14th (the operating robot 13 , which has a handy end effector to select instead of a gripper, is in 6th shown; the same applies to the following) as well as units such as other robots or Means of transport are to be carried out. The controls are more special 610 with the transport robot 11 , the operating robot 13 and the sensor 516 holding the imaging sensor 522 includes, and is connected to a non-illustrated warehouse management system (WMS), other host system and / or external system as required.

In addition, the control closes 610 a data extraction unit 612 , a data storage unit 614 and a robot control unit 616 a and how by comparison with 5 As can be understood, the 610 is primarily composed of a processor 502 , Storage device 504 and communication device 506 built up. In particular, the processor 502 work like the data extraction unit 612 and robot control unit 616 while the storage device 504 like the data storage unit 614 can work. The robot system 600 can be configured to have a first task of loading operating items 16 in a pallet 15th and / or a second task of unloading the operating objects 16 off the pallet 15th execute.

[First task: load control objects 16 into pallet 15]

• A1: Die Palette 15, die in Lagerbereich 101 gelagert ist, wird von seinem Lagerplatz durch den Transportroboter 11 zu einer Zugriffsstelle 601 (Haltestelle SL) in einem Gruppierungsbereich 103 transportiert.
• A2: Jeder Bediengegenstand 16 temporär zum Beispiel an einer Transport-(Ausgabe-) Stelle 602 (Transportstelle OL) auf einem Transportband in der Gruppierungsbereich 103 platziert wird von dem Bedienroboter 13 abgeholt und gegriffen
• A3: Der gegriffenen Bediengegenstand 16 wird von der Transportstelle 602 zu der Zugriffsstelle 601 bewegt.
• A4: Der Bediengegenstand 16 wird in eine freie bestimmte Position auf der Palette 15 geladen und von dem Transportroboter 11 in Ruhe gehalten.
• A5: Die mit den Bediengegenständen 16 beladene Palette 15 wird von dem Transportroboter 11 von der Zugriffsstelle 601 zu der Lagerungsstelle in dem Lagerbereich 101 zurückgeführt.

In the first task are the tasks shown below A1 to A5 carried out in combination in a suitable sequence with suitable timing.

• A1: The pallet 15th that are in storage area 101 is stored, is from its storage location by the transport robot 11 to an access point 601 (Stop SL) in a grouping area 103 transported.
• A2: Every operating object 16 temporarily, for example at a transport (output) point 602 (Transport point OIL ) on a conveyor belt in the grouping area 103 is placed by the operating robot 13 picked up and picked up
• A3: The gripped operating object 16 is from the transport point 602 to the access point 601 emotional.
• A4: The operating object 16 is in a free specific position on the pallet 15th loaded and by the transport robot 11 kept calm.
• A5: The one with the operating objects 16 loaded pallet 15th is by the transport robot 11 from the access point 601 to the storage location in the storage area 101 returned.

Note that in the present embodiment description is based on the example of holding and moving the pallet 15th is given to the operating objects 16 by the transport robot 11 should be loaded. However, the present embodiment is not limited to this. For example, you can load and unload the operating objects 16 be carried out in a state where the pallet 15th when they have an impossible on the transport robot 11 configuration to be placed has to be placed on the floor and the pallet 15th can be of a means of transport (forklift or similar) different from the transport robot 11 be moved. You can also load and unload the operating items 16 be carried out in a state where the pallet 15th placed on a treadmill, which is another mode of transportation. Furthermore, the pallet 15th be transported to a predetermined point along the transport path determined by the treadmill and finally moved by the treadmill by another means of transport (forklift or the like).

7th FIG. 13 is a flowchart showing an example of methods for performing the first task by operating a robot system according to an embodiment of the present disclosure. First heads in block 701 the data extraction unit 612 for example the first data, the information about operating objects 16 before performing the task A1 and information about each pallet 15th include, and the data storage unit 614 stores the first data by associating the first data with the operating objects 16 and the pallets 15th .

For example, the data extraction unit 612 the operating object 16 temporarily at the transport point 602 in the grouping area 103 is placed using a 3D vision or other image sensor 522 map and based on a result of processing image data and, if necessary, on the master data 552 Information about the operating object 16 which includes identification information, position information, shape information and information on weight and center of gravity. Alternatively, information about the operating object 16 and pallet 15th can be estimated or from track information about the operating objects 16 and pallets 15th in the master data 552 are shown. Note that as a method of identifying / tracking an operator control 16 for example in Japanese patent applications Nos. 2019-118678 and 2019-080213 , US patent application no. 16 / 258,120 and other applications described can be used. Alternatively, the data extraction unit 612 Information about the operating object 16 derived from the host system such as the WMS. In that case, information about the operator control object 16 to be derived in advance before the operating object 16 at the transport point 602 is placed.

Next in block 702 determines the robot control unit 616 based on information about the operating objects 16 and information about each pallet 15th that at the bin 101 are stored, pallet information indicating the one of the pallets 15th represents on which the operating objects 16 should be stored. Then the robot control unit can 616 based on the information about the operating objects 16 (SKU, size, shape, weight, number and the like), information about the pallet 15th (Information about the controls 16 that are loaded, such as size, shape, available area, load to be endured, number, level and high position of the operating objects 16 that are loaded) a candidate for the pallet suitable for increasing the storage efficiency of the entire warehouse 15th while they select the operating objects, for example 16 Focused as much as possible on the SKU basis.

In this case, the operating objects 16 that have the same or similar SKUs on the pallet 15th have to be arranged in a concentrated manner or only such operating objects 16 will be on the pallet 15th (not mixed loading) or a variety of types of operating items 16 that have different SKUs can be loaded onto a pallet (mixed loading). They can, if necessary, depending on how the pallet is used 15th to be chosen. For example, it is in the case of temporary loading of the operating objects 16 on the pallet 15th (temporary loading) possible, control such as selection of the on the pallet 15th Control objects to be loaded 16 with a choice between unmixed loading or optionally mixed loading on each pallet 15th or, if necessary, selection of the loading sequence of the respective operating objects 16 taking into account the operability of the operating objects 16 after the temporary loading (e.g., ease of unloading the ordered goods and the like) in addition to the respective types of information described above. It is also possible to have one or more optimal pallets 15th considering the transport route to the grouping area 103 the pallet loaded with the operating objects 15th to select.

It is also possible to use the operating objects 16 select them and place them on the palette 15th to load considering, for example, the information about the pallet 15th (in particular available area, level, high position and the like) based on the respective types of information described above, regardless of whether or not the charging is temporary charging, and regardless of unmixed or mixed charging.

Furthermore, it is possible to perform control to adjust the ratio between unmixed loading and mixed loading and the degree of mixed loading on each pallet 15th for mixed loading considering, for example, information about (conditions for) the operating objects to be stored 16 adapt. It is also possible to have several pallets 15th on which the operating objects 16 Can be loaded, arrange and load operation onto the pallets 15th to be carried out in parallel. It is also possible to use a pallet 15th of more preferable conditions to thereby further improve the work efficiency.

Furthermore, it is of course acceptable to use the operating objects 16 before direct loading of the operating devices 16 on the pallet 15th to temporarily place on another temporary arrangement means or a temporary placement point.

Next specified in block 703 the robot control unit 616 the transport robot 11 that is used to hold one or more specific pallets 15th from the storage area 101 to the access point 601 in the grouping area 103 to transport and generates or derives a control sequence, for example by machine learning or the like, the control sequence being a transport path of the transport robot 11 transported pallet 15th includes. Based on the control sequence, the robot control unit 616 the specific transport robot 11 on, the task A1 the transport of the pallet 15th to the access point 601 execute.

In block 704 creates or directs the robot control unit 616 based on information about the operating objects 16 a control sequence, for example by machine learning or the like, either simultaneously with the task A1 or before or after the task A1 from. The control sequence includes, for example, recordings, gripping and using the operating robot 13 Moving the control object 16 temporarily at the transport point 602 is placed by the transport point 602 to the access point 601 .

Based on the control sequence, the robot control sequence 616 the operating robot 13 on to the tasks A2 and A3 of gripping and thereby moving the operating object 16 to the access point 601 execute.

The passage of time the tasks A2 and A3 is not particularly limited and, for example, the robot control unit 616 the operating robot 13 instruct to perform at least part of the operation in the control sequence before the pallet 15th the access point 601 reached. In that case the Operating robot 13 the operation of grasping and moving the operating object 16 to the access point 601 from before the pallet 15th the access point 601 reached and directly upon arrival of the pallet 15th can the operating robot 13 the task A4 of loading the operating object 16 into the pallet 15th To run.

Next forms in the block 705 the control 610 the operating objects 16 and the palette 15th at the access point 601 using a 3D vision or other imaging sensor 522 off, processes the resulting image data and checks the states and situations of the operating objects 16 and the pallet 15th . The robot control unit also specifies 616 based on information about the operating objects 16 and information about the pallet 15th (in particular the state of charge and concentration of the operating objects 16 and available area on the pallet 15th ) Positions on the pallet 15th for loading the operating objects and generates or derives a control sequence, for example by machine learning or the like, the control sequence being the routes of the operating objects 16 to these positions includes. Based on the control sequence, the robot control unit 616 the operating robot 13 on, the task A4 putting down the controls 16 to available specified positions on that of the transport robot 11 pallet held at rest 15th execute.

This allows the robot control unit 616 for example any position on that of the transport robot 11 at the access point 601 held pallet 15th as reference coordinates for the operating robot 13 set to on the palette 15th to access. The rest position of the pallet 15th can based on the access point 601 can be calculated on which the transport robot 11 who made the palette 15th holds, stops, but the position of the pallet 15th on the transport robot 11 may differ from the standard position. This is how the controller calculates 610 Positions of the transport robot 11 and the pallet 15th from image data of the pallet 15th at the access point 601 and the data extraction unit 612 can provide relative position information about the transport robot 11 and the palette 15th derive. The robot control unit then corrects 616 accordingly the position information about the pallet 15th at the access point 601 based on the relative position information about the two and generates or directs a control sequence for the task A4 for example by machine learning or the like based on the corrected position information about the pallet 15th from.

When loading the controls 16 on the pallet 15th completed in this way generates or directs the robot control unit 616 in block 706 a control sequence, for example by machine learning or the like, the control sequence including a transport path along which those with the operating objects 16 loaded pallet 15th by the transport robot 11 from the access point 601 to the storage position in the storage area 101 is returned.

Based on the control sequence, the robot control unit 616 the transport robot 11 on, the task A5 the transport and return of the pallet 15th in the storage area 101 execute.

When the aforementioned first task of loading the operating items 16 on the pallet 15th completed, heads in block 707 the data extraction unit 612 second data, the information about the with the operating objects 16 loaded pallet 15th and information about the operating objects 16 on the pallet 15th includes the information about the loaded positions of the operating objects 16 on the pallet 15th and includes information about SKU therefrom, and the data storage unit 614 stores the second data associated with the operating objects 16 and the pallet 15th .

At the time when loading work of the operating items 16 on the pallet 15th next time or later, the robot control unit can 616 generate or derive a control sequence that controls the operating objects 16 on the pallet 15th based on the second data is intended to keep closely so that the operating objects 16 in a concentrated manner on the pallet 15th in other words, so that unnecessary space is reduced. In that case the robot control unit can 616 also based on the properties of the operating objects 16 for example generate or derive a control sequence so that the operating object 16 that have the same or similar SKUs will come together or that operating items 16 that are the same or similar in shape and size are kept in a concentrated manner. The second data derived in this way are related to the loading situation of the operating objects 16 on the pallet 15th for each operating object 16 and for each on the control object 16 The loading work carried out is updated and, if necessary, can be used in the second task described later (unloading the operating objects 16 off the pallet 15th ) to be used.

Furthermore, the data storage unit 614 position information (arrangement information) on a plurality of operating objects based on the second data thus obtained 16 on the pallet 15th as two-dimensional information for each operating object 16 or for each layer on the pallet 15th or as three-dimensional information about the entire range 15th to save.

Any operating object can also 16 have an identification code or label on, for example, a side surface thereof as identification information. This allows the identification information to be exposed about the operating object 16 from the outside of the pallet 15th to be visible even in a state where the operating object 16 on the pallet 15th is stacked. Then the operating object can 16 by checking the identification information about the operating object 16 using the imaging sensor 522 or the like can be identified and easily specified even if the operating object 16 on the pallet 15th remains charged. In this case, if, as described above, the position information about several operating objects 16 on the pallet 15th stored as two-dimensional information or three-dimensional information can be stored on the pallet 15th stored operating objects 16 if one of the operating objects 16 is specified, light and simple for each layer on the pallet 15th or for any pallet 15th can be specified. Note that the imaging sensor 522 can be configured to match the range 15th either map if the the pallet 15th stopping transport robots 11 is at rest, or when the pallet 15th stopping transport robots 15th moves, ie either when the pallet 15th is at rest or moving.

The robot control unit can also 616 be configured to determine that loading an operator control 16 on the pallet 15th is completed before the loading work (task A4 ) of the operating object 16 on the pallet 15th really ended. For example, by checking an operating state of an end effector of the operating robot 13 or by tracking the movement of the operating object 16 using the imaging sensor 522 be determined that loading the operating object 16 is complete when the entire operating object 16 or most of the control object 16 on the pallet 15th is moved or if part of the operating object 16 the pallet 15th or touches the loaded control object.

The robot system 600 can do the first task (loading operating objects 16 on the pallet 15th ) and the second task (unloading operating objects 16 off the pallet 15th ) perform the standard tasks listed below B1 to B5 which are to be carried out in combination in a suitable sequence with a suitable timing,

[Second task: unloading operating objects 16 from pallet 15]

• B1: Die in dem Lagerbereich 101 gelagerte und mit den Bediengegenständen 16 beladene Palette 15 wird durch den Transportroboter 11 von der Lagerstelle zu der Zugriffsstelle 601 (Haltestelle SL) in dem Gruppierungsbereich 103 transportiert.
• B2: Jeder Bediengegenstand 16 auf der von dem an der Zugriffsstelle 601 gestoppten Transportroboter 11 gehaltenen Palette 15 wird zum Beispiel von dem Bedienroboter 13 aufgenommen und gegriffen.
• B3: Der gegriffene Bediengegenstand 16 wird von der Zugriffsstelle 601 zu der Transportstelle 602 bewegt.
• B4: Der Bediengegenstand 16 wird abgelegt und temporär an der Transportstelle 602 platziert.
• B5: Die Palette 15, von der die Bediengegenstände 16 entladen worden sind, wird durch den Transportroboter 11 von der Zugriffsstelle 601 zu der Lagerstelle in dem Lagerbereich 101 zurückgeführt.

The second task is made up of unit tasks B1 to B5 shown below and is carried out in combination and in the appropriate order with appropriate timing.

• B1: The one in the storage area 101 stored and with the operating objects 16 loaded pallet 15th is made by the transport robot 11 from the storage location to the access location 601 (Bus stop SL ) in the grouping area 103 transported.
• B2: Every operating object 16 on the by the at the access point 601 stopped transport robot 11 held pallet 15th is used, for example, by the operating robot 13 picked up and taken.
• B3: The gripped control object 16 is from the access point 601 to the transportation point 602 emotional.
• B4: The operating object 16 is stored and temporarily at the transport point 602 placed.
• B5: The pallet 15th , of which the operating objects 16 have been unloaded by the transport robot 11 from the access point 601 to the storage location in the storage area 101 returned.

Note that, similar to the description of the first task in the present embodiment, the description is given on the example in which the pallet 15th , of which the operating objects 16 are to be unloaded by the transport robot 11 is held and moved. However, the present embodiment is not limited to this.

8th FIG. 13 is a flowchart showing an example of methods for performing the second task by operating a robotic system according to an embodiment of the present disclosure, first leading in block 801 the data extraction unit 612 for example the first data, the information about operating objects 16 before performing the task B1 and information about each pallet 15th includes, and the data storage unit 614 stores the first data by associating the first data with the operating objects 16 on the pallet 15th .

For example, the data extraction unit 612 based on those in the data storage unit 614 stored second data and, if necessary, on the master data 552 Information about the controls 16 derive the identification information, position information, shape information and information about weight and center of gravity as well as identification information and Storage location information about the pallet 15th , on which the operating objects are loaded. Then can in block 802 the robot control unit 616 based on the information about the operating objects 16 and information about those in the storage area 101 stored pallets 15th a pallet 15th select from which the operating objects 16 are to be unloaded, and taking into account a transport route and the like to the grouping area 103 one or more optimal pallets 15th determine. In one implementation, the robot control unit determines 616 based on the above-mentioned first data and second data pallet information indicating the one of the pallets 15th represents from which the operating objects 16 should be discharged.

Next specified in block 803 the robot control unit 616 the transport robot 11 that is used to hold the particular one or more pallets 15th from the storage area 101 to the access point 601 in the grouping area 103 to transport and generates or derives a control sequence, for example by machine learning or the like, the control sequence being a transport route of the transport robot 11 transported pallet 15th includes. Based on the control sequence, the robot control unit 616 the specified transport robot 11 on, the task B1 the transport of the pallet 15th to the access point 601 execute.

If an end effector of the operating robot 13 not at the point of access 601 is instructed by the robot control unit 616 the operating robot 13 either simultaneously with the task B1 or before or after the task B1 on, the task of moving the end effector of the operating robot 13 to the access point 601 execute.

In this case the operating robot can 13 by completing the movement of the operating robot 13 before the pallet 15th the access point 601 achieved the task B2 of unloading the controls 16 off the pallet 15th directly upon arrival of the pallet 15th To run.

When the transport robot 11 at the access point 601 arrives, forms in block 804 the control 610 the operating objects 16 and the palette 15th at the access point 601 using a 3D vision or other imaging sensor 522 processes the resulting image data and thereby checks the states and situations of the operating objects 16 and pallet 15th . The robot control unit also generates or manages 616 in block 804 based on the information about the operating objects 16 and the information about the pallet 15th (in particular the charging situation and the concentrated situation of the operating objects 16 on the pallet 15th ) a control sequence from, for example, by machine learning or the like, the control sequence naming the position of the operating objects 16 on the pallet 15th and includes a travel path of the end effector to the position and picking up and moving the operating object 16 from the access point 601 to the transportation point 602 contains. Based on the control sequence, the robot control unit 616 the operating robot 13 on to the tasks B2 and B3 the gripping of the operating object 16 on that of the transport robot 11 at the point of access 601 has stopped, held pallet 15th and moving to the transportation location 602 execute.

In that case, an index indicating the manageability property for unloading the operating objects 16 off the pallet 15th shows based on the information about the operating objects 16 , the information about the pallet 15th (second data) and / or the processing result of the image data. Then the robot control unit can 616 generate or derive a control sequence based on the index showing the operability property by, for example, machine learning or the like, the control sequence specifying the operating items 16 and the one with the operating objects 16 loaded pallet 15th includes. In one implementation, the robot control unit determines 616 based on the index pallet information representing the one of the pallets 15th represents from which the operating objects 16 should be discharged.

The control continues to calculate 610 in the same way as in the first task, positions of the transport robot 11 and pallet 15th from the image data of the pallet 15th at the access point 601 and the data extraction unit 612 can derive relative position information about the transport robot and the pallet.

Then the robot control unit corrects 616 according to position information about the pallet 15th at the access point 601 based on the relative position information about the two and generates or directs a control sequence for the task B2 for example by machine learning or the like based on the corrected position information about the pallet 15th from.

Next forms the controller 610 in block 805 the operating objects 16 at the transportation point 602 be held from as the transport point forms 602 (e.g. a treadmill surface and final position) using a 3D vision or other imaging sensor 522 as required, processes the resulting image data and thereby checks the states and situations of the operating objects 16 and the transport point 602 .

The robot control unit also generates or manages 616 in block 805 a control sequence, for example by machine learning or the like, the control sequence being a specific position at which the operating objects 16 are transported, and the route of the operating objects 16 to the specific position. Based on the control sequence, the robot control unit 616 the operating robot 13 on, the task B4 putting down the operating objects 16 at the specific position at the transportation point 602 execute. Note that in direct placement of the operating elements 16 in a container that is at the transport point 602 is provided, the availability of space in the container using the imaging sensor 522 can be checked to increase storage efficiency.

When unloading control objects 16 off the pallet 15th completed in this way creates or directs the robot control unit 616 in block 806 a control sequence, for example, by machine learning or the like, the control sequence starting a transport path for return using the transport robot 11 the pallet 15th , of which the operating objects 16 have been unloaded from the access point 601 to the storage location in the storage area 101 includes. Based on the control sequence, the robot control unit 616 the transport robot 11 on, the task B5 the transport of the pallet 15th to the storage area 101 execute.

When the above-mentioned second task of unloading the operating items 16 off the pallet 15th has been completed, the data extraction unit forwards 612 in block 807 the second data, the information about the pallet 15th from which the operating objects have been unloaded, and information about the other operating objects 16 that are on the pallet 15th are loaded, the information about the loaded positions of the other operating objects 16 on the pallet 15th and include information about SKUs therefrom and the data storage unit 614 saves the second data with association with the operating objects 16 and the pallet 15th . In this way, the second data about the charging situation of the operating objects 16 on the pallet 15th for each operating object 16 and for each unloading work of the operating objects 16 updated. In addition, as with the first task, the data storage unit can 614 the position information on several operating objects based on the second data 16 on the pallet 15th as two-dimensional information or three-dimensional information for each operating object 16 or for any pallet 15th to save.

In addition, as in the first task, when the operating objects 16 Identification information, for example, can have on a side surface even if the operating objects 16 on the pallet 15th are stacked, the identification information about the operating object 16 using the imaging sensor 522 be checked and even if the operating objects 16 on the pallet 15th The operating objects can remain stacked 16 can be easily identified by current measurement. Furthermore, the imaging sensor 522 be configured the palette 15th map when the transport robot 11 who made the palette 15th stops, is at rest or if, the transport robot 11 who made the palette 15th keeps moving.

In addition, the robot control unit 616 be configured to determine that the unloading of a control object 16 off the pallet 15th is completed before the unloading work (task B2 ) of the operating object 16 off the pallet 15th actually ended. For example, by checking the operational status of an end effector of the operating robot 13 or by tracking using the imaging sensor 522 the movement of the operating object 16 be determined that unloading the operator control 16 is complete when the entire operating object 16 or most of the control object 16 from the range 15th is moved out or if the entire operating object 16 or part of the operating object 16 the pallet 15th or leaves the operating object loaded behind it.

The control 610 and control method for the robot system 500 or 600 configured as described above make it possible to display information about the operating objects 16 and the palette 15th before loading the operating items 16 on the pallet 15th or before unloading the controls 16 off the pallet 15th to acquire and perform tasks (first and second tasks) based on a control sequence generated or derived, for example, by machine learning or the like based on the first data including the above information. This in turn makes it possible to perform the operation of loading the operating items 16 on the pallet 15th or the operation of unloading the operating items 16 off the pallet 15th efficiently and smoothly. In this way there can be demanding cooperation between units of the robot system 500 or 600 (e.g. between the transport robot 11 and the operating robot 13 ), which makes it possible for the robot system to function 500 and 600 to expand.

[Another application example]

9 FIG. 13 is a schematic plan view showing an exemplary environment in which a robot system according to an embodiment of FIG present disclosure can operate. As with the robot system 600 can be a robotic system 100 For example, be installed in a warehouse or the like, which is a mainstay for warehousing, replenishment, storage and shipping in a logistics system. In addition, the robot system 100 be configured to perform or perform one or more tasks and / or a suitable combination of multiple tasks. The tasks can be done by the robot system 100 , which includes one or more units (for example different robots, different devices, a control provided integrally or separately therefrom) can be carried out or carried out accordingly

As in 9 the robot system can be shown 100 one or more transport robots 11 and 12th (e.g. a pallet AGV) that serve as a transport unit / transport units, one or more operating robots 13 (e.g. parts selection robots), which serve as transport / sorting units that are configured to move operating objects between different locations, and a controller for them (not shown in FIG 9 ) lock in.

To achieve predetermined purposes, the tasks performed by the robot system 100 may be combined so that each unit will perform individual tasks in the appropriate order, or configured so that each unit will perform several different appropriately selected tasks. Every unit of the robot system 100 can perform one or more tasks to look at several different items that are in the storage area 101 are scattered by being in the pallet 15th or a container 16 are stored, and / or to obtain access to several different articles that are classified according to a predetermined order entry or packing order or according to the properties of the article (eg SKU).

The transport robot 11 can do the job of transporting, for example, the pallets 15th in which container 16 that store ordered articles are stacked between the storage area 101 and the transport sector 102 To run. On the other hand, the transport robot can 12th container 16 that store ordered items from the transport pallets 15th retrieve (pick up), In addition, the transport robot 12th the task of transporting the containers 16 between the transport area 102 and the grouping area 103 (an area used to group articles: the stop SL the container 16 in 9 ) To run. On the other hand, the operating robot can 13 the task of picking up ordered items from the bins 16 in the grouping area 103 and moving the containers 16 to the transport point OL (for example, containers or boxes that pack the ordered articles, or a conveyor belt or temporary storage area on which the containers or boxes are placed) and / or other shipping containers or the like.

When performing a task, for example, when a shipping order is issued, when items in storage are rearranged or when item replenishment is in progress, the robot system can 100 identify different areas in which individual units and / or unit groups operate.

For example, the robotic system 100 the storage area 101 , in which the transport robot 11 operates, the transport sector 102 in which the transport robot 12th operated and the group area 103 in which the transport robot 12th and / or the operating robot 13 operate, identify. Note that the areas where the transport robots 11 and 12th and operating robots 13 operate, are not limited to the areas described above and, for example, according to a suitable control sequence of the transport robots 11 also in the transport area 102 can operate and the transport robot 12th also in the storage area 101 can operate.

In addition, the areas in which the units operate may be adjacent to each other or partially overlap. For example the storage area 101 adjacent to the transport area 102 be while the transportation area 102 partly with the grouping area 103 overlaps. In that case, the transport robots 11 and 12th in different areas by accessing the pallet 15th in the transport sector 102 as an example in 9 operate shown. Consequently, the robot system can 100 reduce the possibility of potential collisions between different types of units and / or the possibility of interfering with one another. Note that the operating robot 13 can be stationary, whatever it is for the transport robot 12th makes it easy in the grouping area 103 to penetrate without colliding with other units or causing traffic jams while moving.

In addition, the robot system 100 Use suitable ways to transport units such as the transport robots 11 and 12th to navigate. For example, the robotic system 100 a first way P1 use one or more transport robots 11 to maneuver and / or a second way P2 to order one or more transport robots 12th to maneuver. Notice that the first way P1 and the second way P2 may be separated from one another by a distance or a space so as not to overlap one another, as exemplified in FIG 9 shown, but it is not limiting.

You can also use floor markings (e.g. paint or tape) on the first way P1 and the second way P2 be available so that transport units such as the transport robots 11 and 12th Follow the floor markings when driving independently. This allows the robot system 100 Identify shapes / positions of the floor markings and use the identified information when instructing the transport units to carry out route calculations and / or to do sequence control of positions (e.g. pick-up position and / or deposit position of objects to be transported). You can continue the first way P1 and the second way P2 a series of connections (e.g. paths between the pallets 15th ) and nodes (e.g. intersection points of roads or specified positions used when changing the direction of travel).

In addition, the robot system 100 Calculate efficient ways that there are transport units like the transport robots 11 and 12th allow to move between the pick-up positions and / or deposit positions of objects to be transported without colliding with other units. These transport units can calculate current positions on the way using, for example, a positioning / navigation system and move along specified paths and routes based on the current positions.

Note that as described above, the robot system 100 Tasks as a series of tasks to be performed by multiple units, and can customize and control each of the multiple units based on characteristics of individual tasks, so that the performance of an integrated task can be optimized. For example, the robot system can make adjustments such as defining a range of operations that require multiple units or defining a range of operations that include multiple specified areas.

For example, tasks, or a task made up of any suitable combination thereof, may be performed to respond to and fulfill a shipping order, the tasks including: locating the location of ordered items in the storage area 101 like a pallet 15th , Loading the ordered items or a pallet 15th on which a container 16 who stores the ordered items is loaded; Transporting the pallet 15th to the transport area 102 ; Transporting the container 16 off the pallet 15th to the grouping area 103 ; Transporting the ordered articles from the container 16 to a target location such as a shipping container and / or conveyor belt; Return the container 16 to the pallet 15th ; and returning the pallet 15th to the storage area 101 .

In addition, tasks or a task made up of a suitable combination of tasks can be carried out to deal with stock keeping of articles or refilling with articles, the tasks including: determining based on, for example, demand forecasts in order to determine an available storage location , a container 16 that is suitable for storing the items and a pallet 15th that are suitable for loading the container 16 as a depository is the article; Store warehouse items or refill items into the bin 16 ; Loading the container 16 that stores the warehouse items, or refilling items into the pallet 15th ; and transporting the pallet 15th to a suitable predetermined storage location.

In addition, the robot system 100 to maneuver multiple units, for example commands, control settings, movement plans, positions, identification information, routes, current position of the units, states, history information or a combination thereof, which are needed to operate actuators in the respective units. The generated information can be communicated between the individual units and tasks can be carried out by sharing the generated information between the controller and the units.

Note that while in the above description of the robot system 100 Execution of tasks related to shipping (delivery) of articles have been described mainly to execute tasks related to warehousing of articles or refilling of articles is a control sequence for operating the robot system 100 essentially generated or derived by reversing the above methods, for example by machine learning or the like, and the tasks are carried out based on the control sequence.

[Brief description of different designs]

• zumindest einen Prozessor; und zumindest eine Speichervorrichtung, die mit dem zumindest einem Prozessor verbunden ist. Die zumindest eine Speichervorrichtung, die Anweisungen darauf einschließt, die, wenn von der zumindest einer Steuerung ausgeführt wird, den zumindest einen Prozessor veranlassen zum:
  • Ableiten von ersten Daten und zweiten Daten; die ersten Daten, die Information in Verbindung mit einer oder mehr Bediengegenständen und Information in Verbindung mit einer oder mehr Paletten vor dem Laden des einen oder mehr Bediengegenständen auf eine der einen oder mehr Paletten und/oder Entladen des einen oder mehr Bediengegenständen von der einen oder mehr Paletten einschließen, und
  • die zweiten Daten, die Information in Verbindung mit dem einen oder mehr Bediengegenständen und Information in Verbindung mit der einen oder mehr Paletten nach dem Laden des einen oder mehr Bediengegenständen auf die eine oder mehr Paletten und/oder dem Entladen des einen oder mehr Bediengegenständen von der einen oder mehr Paletten einschließen;
• Ableiten einer Steuersequenz zum Laden eines Bediengegenstandes auf eine der einen oder mehr Paletten und/oder Entladen des Bediengegenstandes von einer der einen oder mehr Paletten basierend auf den ersten Daten und den zweiten Daten vor dem Laden des Bediengegenstandes auf die eine von der einen oder mehr Paletten und/oder dem Entladen von der einen der einen oder mehr Paletten; worin die Steuersequenz konfiguriert ist, so dass eine Vielzahl von Typen von Bediengegenständen, in denen Lagerhaltungseinheiten verschieden voneinander sind, auf die eine der einen oder mehr Paletten geladen werden; und
• Anweisen eines Bedienroboters, eine Aufgabe des Ladens des Bediengegenstandes auf die eine der einen oder mehr Paletten und/oder des Entladens des Bediengegenstandes von der einen der einen oder mehr Paletten basierend auf der Steuersequenz auszuführen.

Embodiment 1 relates to a controller for a robot system. The controls include:

• at least one processor; and at least one memory device connected to the at least one processor. The at least one storage device including instructions thereon which, when executed by the at least one controller, cause the at least one processor to:
  • Deriving first data and second data; the first data, the information in connection with one or more operating objects and information in connection with one or more pallets before loading the one or more operating objects onto one of the one or more pallets and / or unloading the one or more operating objects from the one or more pallets include more pallets, and
  • the second data, the information in connection with the one or more operating objects and information in connection with the one or more pallets after loading the one or more operating objects onto the one or more pallets and / or unloading the one or more operating objects from the include one or more pallets;
• Deriving a control sequence for loading an operating object onto one of the one or more pallets and / or unloading the operating object from one of the one or more pallets based on the first data and the second data before loading the operating object onto one of the one or more pallets and / or unloading from one of the one or more pallets; wherein the control sequence is configured so that a plurality of types of operating items in which storage units are different from each other are loaded onto the one of the one or more pallets; and
• Instructing an operating robot to carry out a task of loading the operating object onto the one or more pallets and / or unloading the operating object from the one or more pallets based on the control sequence.

Execution 2 includes the control of execution 1. In this embodiment, deriving the control sequence includes deriving the control sequence based on the first data and the second data so that operating items including the same or similar storage units are placed on the one of the one or more pallets in a concentrated manner.

Execution 3 includes the control of Execution 1 or 2. In this embodiment, deriving the control sequence includes determining pallet information based on the first data and the second data, the pallet information representing the one of the one or more pallets onto which the operating object is to be loaded and / or from which it is to be unloaded.

Version 4 includes the control according to one of the versions 1-3. In this embodiment, the at least one storage device further includes instructions that cause the at least one processor to calculate, based on the second data, an index representing the manageability property for unloading the operating object from the one or more pallets and in which deriving the control sequence of pallet information based on the index, the pallet information representing the one of the one or more pallets from which the operating object is to be unloaded.

Version 5 includes the control according to one of the versions 1-4. In this embodiment, the second data represent position information from the one or more operating objects that are loaded onto the one or more pallets. The position information includes two-dimensional information or three-dimensional information for each operating object or for each pallet.

Version 6 includes the control according to one of the versions 1-5. In this embodiment, deriving the control sequence includes deriving the control sequence for loading the operating object onto the one of the one or more pallets in order to enable a sensor to measure identification information of the operating object.

Version 7 includes the control according to one of the versions 1-6.

In this embodiment, the at least one storage device further includes instructions that cause the at least one processor to determine that the loading of the operating object onto the one or more pallets and / or the unloading of the operating object from the one or more pallets has been completed is / are before the loading and / or unloading of the control object is finished.

• Ableiten von ersten Daten und zweiten Daten; die ersten Daten, die Informationen in Verbindung mit einem oder mehr Bediengegenständen und Informationen in Verbindung mit einer oder mehr Paletten vor dem Laden des einen oder mehr Bediengegenständen auf eine der einen oder mehr Paletten und/oder Entladen des einen oder mehr Bediengegenstände von einer oder mehr Palette repräsentieren, und die zweiten Daten, die Informationen in Verbindung mit einem oder mehr Bediengegenständen und Informationen in Verbindung mit einer oder mehr Paletten nach dem Laden des einen oder mehr Bediengegenstände auf eine der einen oder mehr Paletten und/oder Entladen des einen oder mehr Bediengegenstände von einer oder mehr Palette repräsentieren;
• Ableiten einer Steuersequenz zum Laden eines Bediengegenstandes auf eine der einen oder mehr Paletten und/oder Entladen des Bediengegenstandes von der einen der einen oder mehr Paletten basierend auf den ersten Daten und den zweiten Daten vor dem Laden des Bediengegenstandes auf die eine der einen oder mehr Paletten und/oder Entladen des Bediengegenstandes von der einen der einen oder mehr Palette; worin die Steuersequenz so konfiguriert ist, dass eine Vielzahl von Typen von Bediengegenständen, in denen Lagerhaltungseinheiten verschieden voneinander sind, auf die eine der einen oder mehr Paletten geladen ist; und
• Anweisen eines Bedienroboters zur Ausführung einer Aufgabe des Ladens des Bediengegenstandes auf die eine der einen oder mehr Paletten und/oder Entladen des Bediengegenstandes von der einen der einen oder mehr Paletten basierend auf der Steuersequenz.

Embodiment 8 relates to a tangible, non-transitory computer-readable medium including processor instructions stored thereon which, when executed by at least one processor thereof, cause the robot system, the processor instructions comprising:

• Deriving first data and second data; the first data, the information in connection with one or more operating objects and information in connection with one or more pallets prior to loading the one or more operating objects onto one of the one or more pallets and / or unloading the one or more operating objects from one or more Represent palette, and the second data, the information in connection with one or more operating objects and information in connection with one or more pallets after loading the one or more operating objects onto one of the one or more pallets and / or unloading the one or more operating objects from one or more Represent palette;
• Deriving a control sequence for loading an operating object onto one of the one or more pallets and / or unloading the operating object from the one or more pallets based on the first data and the second data before loading the operating object onto one of the one or more pallets and / or unloading the operating object from one of the one or more pallets; wherein the control sequence is configured so that a plurality of types of operating items in which storage units are different from each other, on which one of the one or more pallets is loaded; and
• Instructing an operating robot to perform a task of loading the operating object onto the one or more pallets and / or unloading the operating object from the one or more pallets based on the control sequence.

Embodiment 9 includes the tangible, immortal computer readable medium of Embodiment 8. In this embodiment, deriving the control sequence includes deriving the control sequence based on the first data and the second data for placing the operating items having the same or similar storage units on the one of the one or more pallets in a concentrated manner.

Embodiment 10 includes the tangible, immortal computer readable medium of Embodiments 8 or 9. In this embodiment, deriving the control sequence includes determining pallet information based on the first data and the second data, the pallet information representing the one of the one or more pallets onto which the operating object is to be loaded and / or from which it is to be unloaded.

Embodiment 11 includes the tangible, immortal computer readable medium of any one of Embodiments 8-10. In this embodiment, the processor instructions further comprise computation based on the second data of an index representing the manageability property for unloading the operating object from the one or more pallets, wherein deriving the control sequence includes determining pallet information based on the index, the pallet information the represents one of the one or more pallets from which the operating object is to be unloaded.

Embodiment 12 includes the tangible, immortal computer readable medium of any one of Embodiments 8-11. In this embodiment, the second data represent position information of the one or more operating objects loaded on the one or more pallets, the position information including two-dimensional information or three-dimensional information for each operating object or for each pallet.

Embodiment 13 includes the tangible, immortal computer readable medium of any one of Embodiments 8-12. In this embodiment, deriving the control sequence includes deriving the control sequence for loading the operating item onto the one or more pallets to enable a sensor to measure identification information of the operating item.

• Ableiten von ersten Daten und zweiten Daten:
  • die ersten Daten, die Information in Verbindung mit einem oder mehr Bediengegenständen und Information in Verbindung mit einer oder mehr Palette vor dem Laden des einen oder mehr Bediengegenständen auf eine der einen oder mehr Paletten und/oder Entladen des einen oder mehr Bediengegenständen von einer der einen oder mehr Paletten repräsentieren, und
  • die zweiten Daten, die Information in Verbindung mit dem einem oder mehr Bediengegenständen und Information in Verbindung mit der einen oder mehr Paletten nach dem Laden des einen oder mehr Bediengegenständen auf die eine der einen oder mehr Paletten und/oder dem Entladen des einen oder mehr Bediengegenständen von der einen der einen oder mehr Paletten repräsentieren.

Embodiment 14 relates to a method of controlling a robot system. The procedure includes:

• Deriving first data and second data:
  • the first data, the information in connection with one or more operating objects and information in connection with one or more pallets before loading the one or more operating objects onto one of the one or more pallets and / or unloading the one or more operating objects from one of the one or represent more pallets, and
  • the second data, the information in connection with the one or more operating objects and information in connection with the one or more pallets after loading the one or more operating objects onto the one or more pallets and / or unloading the one or more operating objects of which represent one or more pallets.

Deriving a control sequence for loading an operating object onto one of the one or more pallets and / or unloading the operating object from one of the one or more pallets based on the first data and the second data before loading the operating object onto one of the one or more pallets and / or the unloading of the operating object from one of the one or more pallets; wherein the control sequence is configured so that a plurality of types of operating items in which storage units are different from each other, on which one of the one or more pallets is loaded;
and
Instructing an operating robot to perform a task of loading the operating object onto the one or more pallets and / or unloading the operating object from the one or more pallets based on the control sequence.

Embodiment 15 includes the method of Embodiment 14. In this embodiment, deriving the control sequence includes deriving the control sequence based on the first data and the second data for placing the operating items having the same or similar storage units on the one of the one or more pallets in a concentrated manner.

Execution 16 includes the procedure of execution 14 or 15. In this embodiment, deriving a control sequence includes determining pallet information based on the first data and the second data, the pallet information representing the one of the one or more pallets on which the operating object is to be loaded and or from which it is to be unloaded.

Embodiment 17 includes the method of any one of Embodiments 14-16. In this embodiment, the method further comprises calculating based on the second data an index representing the manageability property for unloading the operating object from the one or more pallets, wherein deriving the control sequence includes determining pallet information based on the index, the pallet information being the one which represents one or more pallets from which the operating object is to be unloaded.

Embodiment 18 includes the method of any one of Embodiments 14-17. In this embodiment, the second data represent position information of the one or more operating objects that are loaded onto the one or more pallets. The position information includes two-dimensional information or three-dimensional information for each operating object or for each pallet.

Embodiment 19 includes the method of any one of Embodiments 14-18. In this embodiment, deriving the control sequence includes deriving the control sequence for loading the operating item onto the one or more pallets to enable a sensor to measure identification information of the operating item.

Embodiment 20 includes the method of any one of Embodiments 14-19. In this embodiment, the method further comprises determining a state which represents that the loading of the operating object onto one of the one or more pallets and / or the state represents that the unloading of the operating object from one of the one or more pallets has been completed / is before the loading and / or unloading of the operator control is / has ended.

[Conclusion]

Although the embodiments have been described in detail above as examples for the present disclosure, the above descriptions in all aspects are only exemplary of the present disclosure and are intended to simplify the understanding of the present invention, but are not to be interpreted as limiting the present invention.

In addition, various improvements and modifications can of course be made without departing from the scope of the present disclosure, and the components of the embodiments as well as the arrangements, materials, conditions, shapes, sizes and the like of the components are not limited to those illustrated or specific above and may, if necessary be changed.

In other words, embodiments of the present disclosure do not exclude other configurations or limit the present disclosure to the above-mentioned embodiments. Modified forms that are equivalent to the statements of the present disclosure can be implemented within the scope of the present disclosure. For example, processes, steps, routines or blocks in different jobs can be executed in alternative embodiments within the scope of the present disclosure and some processes, steps, routines or blocks can be deleted, moved, added, divided, combined and / or within the scope of the present disclosure be transformed. In addition, the processes, steps, routines, or blocks can be performed by several different methods. Furthermore, even when the processes, steps, routines, or blocks in the above embodiments are to be executed sequentially, the processes. Steps. Routines or blocks in some cases run concurrently or cannot run consecutively at different times. Furthermore, specific numbers cited herein can be different values or different ranges.

In addition, the above statements, which are specific embodiments of the present disclosure, should not be viewed exclusively as the "best modes of operation" and can be performed by many alternative methods. Furthermore, details of the above statements in specific Modes of implementation are changed significantly but are still included in the methods of the present disclosure. In addition, the specific terms used to describe specific functions or aspects of the present disclosure are not limited to the specific properties, functions or aspects or specific implementations used in the present disclosure and with which the terms are associated, and so on The present invention is not limited to specific meanings other than as defined in the appended claims.

In addition, of course, various aspects are anticipated within the scope of the present disclosure, while the present invention is defined by an arbitrary number of claims.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

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• US 16258120 [0087]

Claims (14)

A controller for a robot system, which includes an operating robot for operating an operating object in order to load the operating object onto a pallet and / or unload the operating object from the pallet, the controller comprising: a data derivation unit to derive first data, including information about the operating object and information about the pallet before loading the operating object onto the pallet and / or unloading the operating object from the pallet; a data storage unit for storing the first data; and a robot control unit for creating or deriving a control sequence for loading an operating object onto the pallet and / or unloading an operating object from the pallet based on the first data before loading the operating object onto the pallet and / or unloading the operating object from the pallet, and based on the control sequence, instructing the operating robot to perform a task of loading the operating object onto the pallet and / or unloading the operating object from the pallet. The controller of claim 1, wherein: the data deriving unit derives second data, including the information about the operating object and the information about the pallet after loading the operating object onto the pallet and / or unloading the operating object from the pallet; and the data storage unit stores the second data. The control according to Claim 1 or 2 wherein the robot control unit generates or derives the control sequence based on the first data and the second data so that a plurality of kinds of the operating items in which storage units are different from each other are loaded onto a pallet. The control according to the Claim 2 wherein the robot control unit generates or derives the control sequence based on the first data and the second data, so that the operating items having the same or similar storage units are placed in a concentrated manner on the pallet. The control according to one of the Claims 2 to 4th , wherein the robot control unit calculates an index based on the second data which indicates the handling characteristics for unloading the operating object from the pallet, and based on the index generates or derives the control sequence, including the identification of the operating object and the pallet loaded with the operating object. The control according to one of the Claims 1 to 5 wherein the data storage unit stores position information about a plurality of the operating items on the pallet as two-dimensional information or three-dimensional information for each of the operating items and each of the pallets. The control according to one of the Claims 1 to 6th wherein: the robot system furthermore contains a sensor for imaging the operating object or the pallet loaded with the operating object; and the robot control unit generates or derives the control sequence for loading the operating object onto the pallet to enable the sensor to measure identification information about the operating object. The control according to one of the Claims 1 to 7th , wherein the robot control unit determines that the loading of the operating object onto the pallet and / or the unloading of the operating object from the pallet are / is completed before the loading of the operating object onto the pallet and / or the unloading of the operating object from the pallet are / is completed . The control according to one of the Claims 1 to 8th , wherein the data derivation unit derives actually measured values or estimated values of the information about the operating object and / or the information about the pallet. A logistics system comprising: the control according to one of the Claims 1 to 9 ; and a robot system including the operating robot. The logistics system according to Claim 10 wherein: the controller identifies the robot system and an area associated with the robot system and calculates tasks based on the control sequence; and the tasks include a task relating to transporting the pallet and operating the operating object by the robot system and a plurality of tasks to be performed by the robot system over adjacent and / or overlapping areas. A program configured to cause a computer to act as the controller according to any one of Claims 1 to 9 to act. A tangible, non-perishable computer-readable medium on which the program according to Claim 12 is recorded. A control method for a robot system that includes an operating robot configured to operate an operating object to load the operating object onto a pallet and / or unload the operating object from the pallet, the control method being performed by a controller which has a data extraction unit, a data storage unit and a robot control unit, wherein: the data deriving unit derives first data which includes information about the operating object and information about the pallet before the operating object is loaded onto the pallet and / or the operating object is unloaded from the pallet; the data storage unit stores the first data; and the robot control unit generates or derives, based on the first data, a control sequence for loading the operating object onto the pallet and / or unloading the operating object from the pallet before loading the operating object onto the pallet and / or unloading the operating object from the pallet and based on the control sequence, instructs the operating robot to perform a task of loading the operating object onto the pallet and / or unloading the operating object from the pallet.

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