DE102020114577B4 - Steuerung und steuerverfahren für robotersystem - Google Patents

Steuerung und steuerverfahren für robotersystem Download PDF

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Publication number
DE102020114577B4
DE102020114577B4 DE102020114577.2A DE102020114577A DE102020114577B4 DE 102020114577 B4 DE102020114577 B4 DE 102020114577B4 DE 102020114577 A DE102020114577 A DE 102020114577A DE 102020114577 B4 DE102020114577 B4 DE 102020114577B4
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Germany
Prior art keywords
pallet
operating
robot
data
information
Prior art date
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Active
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DE102020114577.2A
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German (de)
English (en)
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DE102020114577A1 (de
Inventor
Isamu Arase
Satoshi Tendo
Rosen Diankov
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mujin Inc
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Mujin Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/428,870 external-priority patent/US10647528B1/en
Priority claimed from US16/428,714 external-priority patent/US10679379B1/en
Priority claimed from US16/428,645 external-priority patent/US10696493B1/en
Priority claimed from US16/428,809 external-priority patent/US10618172B1/en
Priority claimed from US16/428,843 external-priority patent/US10696494B1/en
Application filed by Mujin Inc filed Critical Mujin Inc
Publication of DE102020114577A1 publication Critical patent/DE102020114577A1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0216—Codes or marks on the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25294—Part, workpiece, code, tool identification
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2641—Fork lift, material handling vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40538—Barcode reader to detect position
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Quality & Reliability (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Warehouses Or Storage Devices (AREA)
DE102020114577.2A 2019-05-31 2020-05-31 Steuerung und steuerverfahren für robotersystem Active DE102020114577B4 (de)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
US16/428,870 US10647528B1 (en) 2019-05-31 2019-05-31 Robotic system for palletizing packages using real-time placement simulation
US16/428,714 US10679379B1 (en) 2019-05-31 2019-05-31 Robotic system with dynamic packing mechanism
US16/428,714 2019-05-31
US16/428,870 2019-05-31
US16/428,645 US10696493B1 (en) 2019-05-31 2019-05-31 Robotic system with packing mechanism
US16/428,809 US10618172B1 (en) 2019-05-31 2019-05-31 Robotic system with error detection and dynamic packing mechanism
US16/428,843 US10696494B1 (en) 2019-05-31 2019-05-31 Robotic system for processing packages arriving out of sequence
US16/428,809 2019-05-31
US16/428,843 2019-05-31
US16/428,645 2019-05-31
JP2019-208587 2019-11-19
JP2019208587A JP6661208B1 (ja) 2019-05-31 2019-11-19 ロボットシステムの制御装置及び制御方法

Publications (2)

Publication Number Publication Date
DE102020114577A1 DE102020114577A1 (de) 2020-12-03
DE102020114577B4 true DE102020114577B4 (de) 2022-05-05

Family

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Application Number Title Priority Date Filing Date
DE102020114577.2A Active DE102020114577B4 (de) 2019-05-31 2020-05-31 Steuerung und steuerverfahren für robotersystem

Country Status (3)

Country Link
JP (3) JP6661208B1 (ja)
CN (1) CN112008713A (ja)
DE (1) DE102020114577B4 (ja)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107352210B (zh) * 2017-07-05 2023-11-17 上海交通大学 基于托盘的病理切片自动搬运装置及方法与系统
JP7434000B2 (ja) 2020-03-13 2024-02-20 株式会社東芝 物品処理管理装置、物品処理制御システム、及びプログラム
JP7328173B2 (ja) * 2020-03-30 2023-08-16 株式会社日立製作所 ピッキング制御装置
CN111571600B (zh) * 2020-06-02 2021-10-29 珠海格力智能装备有限公司 码垛机器人的控制方法及装置、码垛机器人
CN114030800A (zh) * 2020-07-24 2022-02-11 深圳市海柔创新科技有限公司 货物搬运方法、装置、服务器以及搬运机器人
CN112692837A (zh) * 2021-01-11 2021-04-23 成都海瑞斯轨道交通设备有限公司 一种用于铁路货车车体检修的焊接机器人系统及焊接方法
CN113858191B (zh) * 2021-08-02 2023-06-16 深兰机器人(上海)有限公司 共享机器人的控制方法及相关装置
CN114229489A (zh) * 2021-11-12 2022-03-25 江西绿萌科技控股有限公司 机器人卸垛方法、装置、卸垛机器人及存储介质
DE102022206056A1 (de) 2022-06-15 2023-12-21 BSH Hausgeräte GmbH Organisationssystem für einen Haushalt
KR102657029B1 (ko) * 2024-01-11 2024-04-12 에이엠알랩스 주식회사 자동화 공정 연동 운영을 위한 물류운송로봇

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080131255A1 (en) 2006-11-30 2008-06-05 Transbotics Corporation Palletizing systems and methods
US9102055B1 (en) 2013-03-15 2015-08-11 Industrial Perception, Inc. Detection and reconstruction of an environment to facilitate robotic interaction with the environment
US9714145B1 (en) 2012-07-20 2017-07-25 Amazon Technologies, Inc. Container stacking configurations
JP2018008824A (ja) 2011-10-17 2018-01-18 シムボティック エルエルシー パレット構築システム
US20180060765A1 (en) 2016-08-23 2018-03-01 X Development Llc Autonomous Condensing Of Pallets Of Items In A Warehouse
JP2018167950A (ja) 2017-03-29 2018-11-01 トーヨーカネツソリューションズ株式会社 自動物流システム
DE102018006465A1 (de) 2017-08-23 2019-02-28 Fanuc Corporation Artikelstapelvorrichtung und maschinelle Lernvorrichtung
JP2019080213A (ja) 2017-10-26 2019-05-23 理想科学工業株式会社 画像形成装置
JP2019118678A (ja) 2018-01-09 2019-07-22 株式会社三共 遊技機

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JP3586639B2 (ja) * 2000-11-20 2004-11-10 村田機械株式会社 配送センター
JP2002154616A (ja) * 2000-11-20 2002-05-28 Murata Mach Ltd デパレタイズシステム
JP2003104563A (ja) * 2001-09-28 2003-04-09 Maki Mfg Co Ltd 入荷設備
JP3969334B2 (ja) * 2003-04-04 2007-09-05 株式会社ダイフク 物品の積付方法
WO2017018113A1 (ja) * 2015-07-29 2017-02-02 株式会社オートネットワーク技術研究所 対象物のハンドリングシミュレーション装置、対象物のハンドリングシミュレーションシステム、対象物のハンドリングをシミュレーションする方法、対象物の製造方法及び対象物のハンドリングシミュレーションプログラム

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080131255A1 (en) 2006-11-30 2008-06-05 Transbotics Corporation Palletizing systems and methods
JP2018008824A (ja) 2011-10-17 2018-01-18 シムボティック エルエルシー パレット構築システム
US9714145B1 (en) 2012-07-20 2017-07-25 Amazon Technologies, Inc. Container stacking configurations
US9102055B1 (en) 2013-03-15 2015-08-11 Industrial Perception, Inc. Detection and reconstruction of an environment to facilitate robotic interaction with the environment
US20180060765A1 (en) 2016-08-23 2018-03-01 X Development Llc Autonomous Condensing Of Pallets Of Items In A Warehouse
JP2018167950A (ja) 2017-03-29 2018-11-01 トーヨーカネツソリューションズ株式会社 自動物流システム
DE102018006465A1 (de) 2017-08-23 2019-02-28 Fanuc Corporation Artikelstapelvorrichtung und maschinelle Lernvorrichtung
JP2019080213A (ja) 2017-10-26 2019-05-23 理想科学工業株式会社 画像形成装置
JP2019118678A (ja) 2018-01-09 2019-07-22 株式会社三共 遊技機

Also Published As

Publication number Publication date
JP6661208B1 (ja) 2020-03-11
JP2020196623A (ja) 2020-12-10
JP6661211B1 (ja) 2020-03-11
JP2020196622A (ja) 2020-12-10
DE102020114577A1 (de) 2020-12-03
CN112008713A (zh) 2020-12-01
JP2020196121A (ja) 2020-12-10

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