JP2012187666A - Robot control device, article pick-out system, program, and robot control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot control device using a robot for gripping a pick-out portion of each of articles in random positions, and picking out the article.SOLUTION: The robot control device includes a direction selecting part for selecting a gripping direction having a minimum angle to a predetermined direction as a selected direction out of gripping directions set at the plurality of pick-out portions, respectively, based on the position and position information of the articles having the plurality of pick-out portions, and a control part for controlling the robot to grip the pick-out portion where the selected direction is set as the gripping direction out of the plurality of pick-out portions, and to pick out the article.

Description

  The present invention relates to a robot control device, an article take-out system, a program, and a robot control method.

In recent years, various industrial robots have been used in factory production lines and the like. In particular, since the (vertical) articulated robot has a structure similar to a human arm, it can perform various operations on behalf of a human.
For example, in Patent Document 1, a specific part having a simple shape is detected from an image of an article (work) imaged by a camera, and a take-out part (picking part) calculated based on the relative positional relationship with the specific part is defined as a robot. A picking device for picking up by picking up with a hand is disclosed.
In this way, it is possible to recognize the workpiece from the image captured by the camera and take out the workpiece.

Japanese Patent Laid-Open No. 5-134931

  However, for example, when the workpieces are supplied while being stacked or separated on the tray, each workpiece takes a random posture. Therefore, in the picking device of Patent Document 1, there is a case where there is a workpiece that cannot be recognized because the specific part does not face the direction of the camera. Furthermore, there may be a workpiece that cannot be gripped because the picking portion is not facing the approaching direction of the robot hand.

  The main present invention that solves the above-described problems is based on position / posture information of an article having a plurality of take-out parts, and the angle formed with a predetermined direction among the gripping directions set for the plurality of take-out parts is minimized. A direction selection unit that selects the gripping direction to be selected as a selection direction, and controls the robot to grip the take-out part in which the selection direction is set as the gripping direction and take out the article out of the plurality of take-out parts And a control unit.

  Other features of the present invention will become apparent from the accompanying drawings and the description of this specification.

  According to the present invention, even if the posture of an article is random, the article can be taken out by grasping the taking-out site using a robot.

It is a block diagram which shows the structure of the robot control apparatus in one Embodiment of this invention. It is a block diagram which shows the outline of a structure of the whole article picking-up system provided with the robot control apparatus in one Embodiment of this invention. It is a perspective view which shows an example of the shape of a workpiece | work. It is a figure which shows an example of arrangement | positioning of the extraction part in the workpiece | work shown in FIG. It is a figure which shows an example of the relative coordinate and holding | grip direction of each taking-out site | part input into the input part. It is a flowchart explaining operation | movement of the program for making a computer implement | achieve the function of the direction selection part 14, the coordinate calculation part 15, the site | part selection part 16, and the control part 17. FIG. It is a figure explaining the method of selecting the selection direction Ds. It is a figure explaining the method of selecting the selection direction Ds. It is a figure explaining the method of selecting selection part Ps. It is a figure which shows an example of the relative coordinate of each taking-out site | part input into the input part 13, a holding | grip direction, and a priority.

  At least the following matters will become apparent from the description of this specification and the accompanying drawings.

=== Overall Configuration of Article Pickup System ===
Hereinafter, with reference to FIG. 2 thru | or FIG. 4, the outline of the structure of the whole article | item taking-out system provided with the robot control apparatus in one Embodiment of this invention mentioned later is demonstrated.

  2 includes a robot controller 1, a stereo camera 2, and an articulated robot 3, and as an example, five workpieces Wn (1 ≦ n ≦) stored in a tray 9 are included. 5) is taken out.

  Each workpiece Wn has a shape shown in FIG. 3, for example, and takes a random posture in the tray 9. Further, each workpiece Wn includes, for example, as shown in FIG. 4, seven grippable extraction parts Pm (1 ≦ m ≦ 7). Here, each extraction part Pm actually consists of two points that the hand 31 contacts when gripped by the articulated robot 3, and can be represented by the coordinates of the midpoint of the line segment connecting the two points. .

  In FIG. 4, the take-out parts P <b> 1 to P <b> 6 can lift the work Wn by closing the hand 31 of the articulated robot 3, whereas the take-out part P <b> 7 opens the work 31 by opening the hand 31. It becomes possible to lift Wn. In this specification, both the case where the hand 31 is closed and the case where the hand 31 is opened are referred to as “gripping”.

  The stereo camera 2 is disposed above a work table on which the tray 9 is stationary. Further, the three-dimensional information IMG output from the stereo camera 2 is input to the robot control device 1. Further, the control signal CNT output from the robot control device 1 is input to the articulated robot 3.

In FIG. 2, “Σ ₀ ” indicates, for example, a world coordinate system with the base end of the articulated robot 3 as the origin, and x (Σ ₀ ), y (Σ ₀ ), and z (Σ ₀ ) are respectively The x-axis, y-axis, and z-axis of the world coordinate system are shown. On the other hand, in FIG. 4, “Σ _W ” indicates a local coordinate system having, for example, an arbitrary point (such as the center of gravity) of the workpiece Wn as an origin, and X (Σ _W ), Y (Σ _W ), Z (Σ _W ) Respectively indicate the X axis, the Y axis, and the Z axis of the local coordinate system.

と表される４行４列の同次変換行列を用いて、ワークＷｎの位置および姿勢をＴ_Ｗｎと表すこととすると、各ワークＷｎ（の原点）のワールド座標系における位置および姿勢を示す同次変換行列（位置・姿勢情報）は、Σ_０Ｔ_Ｗｎと表すことができる。以下、このような同次変換行列で示されるワールド座標系における位置および姿勢を、座標Σ_０Ｔ_Ｗｎのように称することとする。 here,

With homogeneous transformation matrix of 4 rows and 4 columns, denoted, the indicating when the position and attitude of the workpiece Wn and be expressed as T _Wn, the position and orientation in the world coordinate system of each workpiece Wn (origin) The next transformation matrix (position / attitude information) can be expressed as Σ ₀ T _Wn . Hereinafter, the position and orientation in the world coordinate system represented by such a homogeneous transformation matrix will be referred to as coordinates Σ ₀ T _Wn .

と表すことができる。一方、Ｒ（３×３）は、姿勢（各座標軸を中心とする回転）を示す３行３列の行列であり、例えば図２に示すように、ｘ軸回りにθｘ、ｙ軸回りにθｙ、ｚ軸回りにθｚだけ回転させた場合には、

と表されるＲｘ、Ｒｙ、およびＲｚの積として表すことができる。 In the homogeneous transformation matrix, P (3 × 1) is a 3 × 1 matrix indicating the position (translation),

It can be expressed as. On the other hand, R (3 × 3) is a 3 × 3 matrix indicating the posture (rotation around each coordinate axis). For example, as shown in FIG. 2, θx around the x axis and θy around the y axis. When rotated by θz around the z axis,

Can be expressed as a product of Rx, Ry, and Rz.

Also, if it represents the position and orientation of the exit site Pm and T _Pm, relative positions and homogeneous transformation matrix representing the posture viewed from the origin of the workpiece Wn of the exit site Pm (position and orientation information) it can be expressed as Σ _W T _Pm. Hereinafter, the relative position and orientation indicated by such a homogeneous transformation matrix will be referred to as relative coordinates Σ _{W TPm} .

=== Outline of the operation of the entire article take-out system ===
Hereinafter, an outline of the operation of the entire article take-out system will be described.
The stereo camera 2 corresponds to a three-dimensional information acquisition device, images a work Wn in a camera area such as a work table on which the tray 9 is placed, and outputs three-dimensional information IMG. Further, the robot control device 1 outputs a control signal CNT based on the three-dimensional information IMG. The articulated robot 3 is controlled according to the control signal CNT, and grips the workpieces Wn in the tray 9 with the hand 31 and takes them out one by one.
In this manner, the articulated robot 3 can be controlled based on the three-dimensional information IMG acquired by the stereo camera 2, and the workpieces Wn in the tray 9 can be taken out one by one.

=== Configuration of Robot Control Device ===
Hereinafter, with reference to FIG. 1, the structure of the robot control apparatus in one Embodiment of this invention is demonstrated.

  The robot control device 1 shown in FIG. 1 includes a recognition processing unit 11, a storage unit 12, an input unit 13, a direction selection unit 14, a coordinate calculation unit 15, a part selection unit 16, and a control unit 17. ing.

The three-dimensional information IMG is input to the recognition processing unit 11, and the coordinates Σ ₀ T _Wn of each workpiece Wn output from the recognition processing unit 11 are input to the storage unit 12. Also, exit site information INF which is input to the input unit 13 is input to the storage unit 12 as relative coordinate sigma _W T _Pm and gripping direction Dm of the exit site Pm.

The direction selection unit 14, selects a direction Ds coordinate sigma ₀ T _Wn from the storage unit 12 workpiece Wn is input, which is output from the direction selection unit 14 is input to the coordinate calculation unit 15. The coordinate calculation unit 15 also receives the coordinates Σ ₀ T _Wn of the workpiece _Wn and the relative coordinates Σ _W T _{Pk of} the take-out part Pk described later from the storage unit 12. Furthermore, the site selecting unit 16, the coordinate sigma ₀ T _Pk sites Pk removed from the coordinate calculating unit 15 is inputted, a selected site Ds output from the region selector 16 is input to the coordinate calculation unit 15. Then, the coordinate Σ ₀ TPs of the selected part _Ps is input from the coordinate calculation unit 15 to the control unit 17, and the control signal CNT is output from the control unit 17.

=== Operation of the robot controller ===
Hereinafter, the operation of the robot control apparatus according to the present embodiment will be described with reference to FIGS. 5 to 7 as appropriate.

The recognition processing unit 11 performs position / posture recognition processing based on the three-dimensional information IMG acquired by the stereo camera 2 and calculates the coordinates Σ ₀ T _Wn of each workpiece Wn. Specifically, for example, by extracting an edge from the three-dimensional (image) information IMG and performing matching with the three-dimensional information (3D-CAD data, etc.) of one workpiece as shown in FIG. Recognizing the workpiece Wn, the coordinate Σ ₀ T _Wn is calculated. The coordinate sigma ₀ T _Wn of each workpiece Wn is stored in the storage unit 12.

The input unit 13 receives the removal part information INF of the workpiece Wn. Here, the extraction site information INF includes, for example, as shown in FIG. 5, relative coordinates Σ _W T _Pm of each extraction site Pm and a gripping direction Dm set for each extraction site Pm. Is remembered.

As described above, each extraction part Pm is represented by the coordinates of the midpoint of the line segment connecting the two points that the hand 31 of the articulated robot 3 contacts, and the relative coordinates Σ _W T _Pm are the local coordinates of the midpoint. The position and posture in the system are shown. On the other hand, the gripping direction Dm is the direction in which the hand 31 approaches when gripping the take-out site Pm, and is represented by the direction of each coordinate axis in the local coordinate system. For example, when grasping the take-out part P1, the hand 31 is moved closer to the Z-axis positive direction of the local coordinate system, and when grasping the take-out part P4, the hand 31 is moved in the negative direction of the X-axis of the local coordinate system. It will be approached from.

  In the robot control device 1, the functions of the direction selection unit 14, the coordinate calculation unit 15, the part selection unit 16, and the control unit 17 are realized by a computer including the recognition processing unit 11, the storage unit 12, and the input unit 13, for example. can do. FIG. 6 shows an operation of a program for causing a computer to realize functions corresponding to the direction selection unit 14, the coordinate calculation unit 15, the region selection unit 16, and the control unit 17.

  When the processing of the program is started (S1), the loop processing from S2 to S9 is performed for each work Wn (1 ≦ n ≦ 5).

In the loop processing, first, the coordinates Σ ₀ T _Wn of the workpiece _Wn are read from the storage unit 12 (S2). Then, based on the coordinates Σ ₀ T _Wn , one of the gripping directions Dm of each extraction part Pm is selected as the selection direction Ds (S3). Therefore, the process of S3 realizes a function corresponding to the direction selection unit 14.

  In the process of S3, the gripping direction that minimizes the “angle formed with the predetermined direction” is selected as the selection direction Ds among the gripping directions Dm of the respective extraction sites Pm.

  As the “predetermined direction”, a direction suitable for moving the work Wn can be selected by bringing the hand 31 of the articulated robot 3 closer when the work Wn is gripped and taken out. For example, in FIG. 2, the height direction (direction perpendicular to the plane of the tray 9) can be selected as the “predetermined direction”. Further, for example, when the work table on which the tray 9 is placed is inclined or when the stereo camera 2 disposed above the work table becomes an obstacle, the “predetermined direction” is appropriately set obliquely upward. You may choose as

In the present embodiment, since the gripping direction Dm is represented by the direction of each coordinate axis of the local coordinate system, the “angle formed with the predetermined direction” is a unit vector (positive direction and negative direction) of each coordinate axis of the local coordinate system. ) Can be calculated as an angle formed by the unit vector in the “predetermined direction”. The unit vector of each coordinate axis in the local coordinate system can be obtained from coordinates Σ ₀ T _Wn indicating the (position and) orientation of the workpiece Wn.

と表すこととすると、Ａ、Ｂ、Ｃは、それぞれローカル座標系のＸ軸、Ｙ軸、Ｚ軸の単位ベクトル（正方向）のワールド座標系における姿勢を示している。そのため、例えば、「所定の方向」をワールド座標系のｚ軸の正方向と一致させ、ローカル座標系のＸ軸、Ｙ軸、Ｚ軸の単位ベクトル（正方向）がワールド座標系のｚ軸の単位ベクトル（正方向）となす角度をそれぞれθｉ、θｊ、θｋとすると、
ａ_ｚ＝ｃｏｓθｉ、
ｂ_ｚ＝ｃｏｓθｊ、
ｃ_ｚ＝ｃｏｓθｋ
となる。 Furthermore, by making the “predetermined direction” coincide with the direction of any coordinate axis in the world coordinate system, the calculation of the “angle with respect to the predetermined direction” can be omitted. Here, the coordinate Σ ₀ T _Wn of the workpiece Wn is

A, B, and C represent the postures in the world coordinate system of unit vectors (positive direction) of the X axis, Y axis, and Z axis of the local coordinate system, respectively. Therefore, for example, the “predetermined direction” is matched with the positive direction of the z-axis of the world coordinate system, and the unit vectors (positive direction) of the X-axis, Y-axis, and Z-axis of the local coordinate system are the z-axis of the world coordinate system. If the angles formed with the unit vector (positive direction) are θi, θj, and θk, respectively,
a _z = cos θi,
b _z = cos θj,
c _z = cos θk
It becomes.

Therefore, a _{z, b z,} the magnitude of each positive and negative and the absolute value of c _z, the "angle between a predetermined direction" is the minimum gripping direction, i.e., it is possible to determine the selection direction Ds. For example, when the workpiece Wn has the posture shown in FIG. 7, | c _z |> | a _z |, | c _z |> | b _z |, and c _z > 0, and the local coordinates The positive direction of the Z axis of the system is selected as the selection direction Ds (Ds = Z). For example, when the workpiece Wn is in the posture shown in FIG. 8, | b _z |> | a _z |, | b _z |> | c _z |, and b _z <0. The negative direction of the Y axis in the local coordinate system is selected as the selection direction Ds (Ds = −Y).

Next, the relative coordinates Σ _W T _Pk of the extraction part Pk in which the selection direction Ds is set as the gripping direction Dm among the extraction parts Pm are read from the storage unit 12 (S4). Then, from the relative coordinates sigma _W T _Pk coordinate sigma ₀ T _Wn and exit site Pk workpiece Wn, the coordinates sigma ₀ T _Pk of exit site Pk,
(Σ ₀ T _Pk ) = (Σ ₀ T _Wn ) (Σ _W T _Pk )
Is calculated (S5). Therefore, the process of S5 realizes a function corresponding to the coordinate calculation unit 15.

Next, when there are a plurality of extraction parts Pk in which the selection direction Ds is set as the gripping direction Dm (S6: YES), a plurality of extractions are present based on the coordinates Σ ₀ T _Pk calculated in the process of S5. One of the parts Pk is selected as the selected part Ps (S7). Therefore, the process of S7 realizes a function corresponding to the part selection unit 16. Here, as an example, assuming that the selection direction Ds = Z, there are two extraction sites P1 and P2 in which the selection direction Ds (= Z) is set as the gripping direction Dm.

In the process of S7, the extraction part having the highest “height in a predetermined direction” is selected as the selection part Ps from among a plurality of extraction parts Pk (k = 1 or 2). Note that the “predetermined direction” is the same direction as in the process of S3, and the “predetermined height” is the positive value of the position vector of the extraction site Pk in the world coordinate system in the “predetermined direction”. It can be calculated as a projection. Further, the position vector of the extraction site Pk in the world coordinate system can be obtained from the coordinates Σ ₀ T _Pk indicating the position (and orientation) of the extraction site Pk.

と表すこととすると、Ｄは、取り出し部位Ｐｋのワールド座標系における位置を示している。したがって、ｄ_ｚが「所定の方向の高さ」を示し、例えば、ワークＷｎが図９に示すような姿勢をとっている場合には、取り出し部位Ｐ１またはＰ２のうち、取り出し部位Ｐ２が選択部位Ｐｓとして選択される（Ｐｓ＝Ｐ２）。 Furthermore, for example, the calculation of “the height in the predetermined direction” can be omitted by making the “predetermined direction” coincide with the positive direction of the z-axis of the world coordinate system. Here, the coordinate Σ ₀ T _Pk of the extraction part Pk is

D represents the position of the extraction part Pk in the world coordinate system. Therefore, d _z indicates "predetermined direction height", for example, when the workpiece Wn is taking an attitude as shown in FIG. 9, of the exit site P1 or P2, exit site P2 is selected sites Selected as Ps (Ps = P2).

  On the other hand, in S6, when there is only one extraction site Pk in which the selection direction Ds is set as the gripping direction Dm (S6: NO), the one extraction site Pk is set as the selection site Ps (S8). Here, as an example, if it is assumed that the selection direction Ds = X, there is a single extraction portion P3 in which the selection direction Ds (= X) is set as the gripping direction Dm.

Finally, the control signal CNT is output based on the coordinate Σ ₀ T _Ps of the selected part Ps of the work Wn, and the articulated robot 3 is controlled so as to grasp the selected part Ps and take out the work Wn in the “predetermined direction”. (S9). Therefore, the process of S9 realizes a function corresponding to the control unit 17. Since the selection direction Ds is a gripping direction in which the “angle formed with the predetermined direction” is the smallest, the articulated robot 3 may be controlled to take out the workpiece Wn in the selection direction Ds.

  Then, by performing the loop processing from S2 to S9 on each workpiece Wn, all the workpieces W1 to W5 can be taken out, and the processing ends (S10).

  In this way, the robot control apparatus 1 controls the multi-joint robot 3 so as to grip the take-out part Pk in which the selection direction Ds is set as the gripping direction Dm and take out the workpiece Wn. And since each workpiece | work Wn is provided with the some pick-up site | part Pm, even if the workpiece | work Wn attitude | position is random, the articulated robot 3 hold | grips any pick-up site | part with the hand 31, and takes out the workpiece | work Wn. be able to.

  Further, the robot control device 1 selects, as the selection direction Ds, the gripping direction in which the “angle formed with the predetermined direction” is the smallest among the gripping directions Dm of the picked-up parts Pm of the workpiece Wn. Then, in consideration of the inclination of the work table, the arrangement of obstacles, and the like, the hand 31 of the articulated robot 3 is approached and a direction suitable for moving the workpiece Wn is selected as the “predetermined direction”. The operable range of the articulated robot 3 can be widened.

  Furthermore, when there are a plurality of extraction sites Pk, the robot controller 1 selects the extraction site having the highest “height in a predetermined direction” as the selection site Ps from among the plurality of extraction sites Pk. Yes. Therefore, when the hand 31 of the articulated robot 3 approaches the work Wn, interference with other works can be suppressed.

  Note that other methods may be used as a method of selecting the selection site Ps when there are a plurality of extraction sites Pk. For example, as shown in FIG. 10, a priority order Rm may be further set for each extraction part Pm, and the selection part Ps may be selected based on the priority order Rm in the process of S7 of FIG. In this case, when there are a plurality of extraction sites Pk having the same priority Rm, the selection site Ps may be further selected based on “the height in a predetermined direction”.

  As described above, the robot control device 1 selects, as the selection direction Ds, the gripping direction in which the “angle formed with the predetermined direction” is the smallest among the gripping directions Dm of the respective pick-up parts Pm of the workpiece Wn (article). Even if the workpiece Wn posture is random, the hand of the articulated robot 3 is controlled by controlling the articulated robot 3 so that the workpiece Wn is taken out by gripping the extraction part Pk in which the selection direction Ds is set as the gripping direction Dm. The workpiece Wn can be taken out by gripping any of the take-out portions with 31.

  In addition, when there are a plurality of extraction sites Pk in which the selection direction Ds is set as the gripping direction Dm, the extraction site having the highest “height in a predetermined direction” is selected from the plurality of extraction sites Pk. Is selected, and the articulated robot 3 is controlled so as to grasp the selected part Ps and take out the work Wn, so that when the hand 31 of the articulated robot 3 approaches the work Wn, interference with other works is prevented. Can be suppressed.

  Further, by further setting the priority order Rm for each take-out part Pm, the workpiece Wn can be taken out by grasping the selected part Ps selected based on the priority order Rm.

  Further, when the workpiece Wn is gripped and taken out, the range 31 of the articulated robot 3 can be operated by bringing the hand 31 of the articulated robot 3 closer and taking it out in a “predetermined direction” suitable for moving the workpiece Wn. Can be taken widely.

  In addition, when the workpiece Wn is gripped and taken out, the operable range of the articulated robot 3 can be widened by taking it out in the selection direction Ds that is the gripping direction in which the “angle formed with the predetermined direction” is the smallest. it can.

Further, the product of the homogeneous transformation matrix Σ ₀ T _Wn indicating the position and orientation of the workpiece Wn in the world coordinate system and the homogeneous transformation matrix Σ _W T _Pk indicating the position and orientation of the extraction part Pk in the local coordinate system is by calculating the coordinates sigma ₀ T _Pk of exit site Pk, based on the coordinates Σ ₀ T _Pk, it is possible to control the multi-joint robot 3 to take out the workpiece Wn grip the exit site Pk.

Further, in the article take-out system shown in FIG. 2, by performing position / posture recognition processing based on the three-dimensional information IMG acquired by the stereo camera 2, the coordinates Σ ₀ T _Wn of each workpiece _Wn are calculated, The robot 3 can be controlled to take out the workpieces Wn in the tray 9 one by one.

Further, in a program for causing a computer to realize a function corresponding to at least the direction selection unit 14 of the robot control device 1, “predetermined direction” among the gripping directions Dm respectively set for the plurality of take-out parts Pm included in the workpiece Wn. The articulated robot 3 is controlled on the basis of the coordinates Σ ₀ T _Pk of the extraction part Pk in which the selection direction Ds is set as the gripping direction Dm by selecting the gripping direction in which “the angle formed” is the smallest as the selection direction Ds. The workpiece Wn can be taken out by grasping the take-out part Pk.

  Further, among the gripping directions Dm set for each of the plurality of take-out parts Pm included in the workpiece Wn, the gripping direction having the smallest “angle with respect to the predetermined direction” is selected as the selection direction Ds, and the selection direction is selected as the gripping direction Dm. Even if the posture of the workpiece Wn is random by controlling the articulated robot 3 so that the workpiece Wn is picked up by holding the picked-up part Pk in which Ds is set, any of the picking-up is performed by the hand 31 of the articulated robot 3. The workpiece Wn can be taken out by grasping the part.

  In addition, the said embodiment is for making an understanding of this invention easy, and is not for limiting and interpreting this invention. The present invention can be changed and improved without departing from the gist thereof, and the present invention includes equivalents thereof.

  In the above embodiment, the stereo camera 2 is used to acquire the three-dimensional information IMG of the work on the tray 9, but the present invention is not limited to this. Instead of the stereo camera 2, three-dimensional information may be acquired using, for example, a camera and a laser scanner.

  In the above-described embodiment, the robot control apparatus 1 controls the articulated robot 3 shown in FIG. 2, for example, but is not limited to this. The robot controlled by the robot control device 1 only needs to be able to grasp and take out the selected part Ps of the workpiece, and may be another type of robot.

  In the above embodiment, for example, five workpieces having the shape shown in FIG. 3 are taken out, but the present invention is not limited to this. A plurality of types of workpieces may be mixed on the tray 9, and in this case, an extraction site may be set for each type of workpiece.

In the above embodiment, the functions of the direction selection unit 14, the coordinate calculation unit 15, the site selection unit 16, and the control unit 17 are realized by a computer including the recognition processing unit 11, the storage unit 12, and the input unit 13. However, the present invention is not limited to this. For example, the control unit 17, it is possible to use a known mounting method, the computer further comprising a control unit 17, equipped with a program for outputting the coordinate sigma ₀ T _Ps at the selected site Ps in the processing of S9 in FIG. 6 May be. Further, for example, a program for further performing position / posture recognition processing of the recognition processing unit 11 may be installed in the computer.

1 Robot control device 2 Stereo camera (3D information acquisition device)
3 Articulated Robot 9 Tray 11 Recognition Processing Unit 12 Storage Unit 13 Input Unit 14 Direction Selection Unit 15 Coordinate Calculation Unit 16 Site Selection Unit 17 Control Unit 31 Hand W1 to W5 Workpiece

Claims (9)

A direction for selecting, as a selection direction, a gripping direction that minimizes an angle with a predetermined direction among gripping directions set for each of the plurality of pick-up parts based on position / posture information of an article having a plurality of pick-up parts. A selection section;
A control unit that controls the robot so as to grip the take-out part of which the selection direction is set as the gripping direction and take out the article out of the plurality of take-out parts;
A robot control apparatus comprising: When there are a plurality of extraction parts with the selection direction set as the gripping direction, a part selection unit that selects the extraction part having the highest height in the predetermined direction as the selection part among the plurality of extraction parts Further comprising
The robot control apparatus according to claim 1, wherein the control unit controls the robot to grip the selected part and take out the article. A priority is set for each of the plurality of take-out parts,
In the case where there are a plurality of extraction sites with the selection direction set as the gripping direction, the device further includes a site selection unit that selects the extraction site with the highest priority as the selection site among the plurality of extraction sites. ,
The robot control apparatus according to claim 1, wherein the control unit controls the robot to grip the selected part and take out the article.   The robot control apparatus according to claim 1, wherein the control unit controls the robot to take out the article in the predetermined direction.   The robot control apparatus according to claim 1, wherein the control unit controls the robot to take out the article in the selection direction. A recognition processing unit that recognizes the article and calculates position / posture information of the article in a world coordinate system;
In the local coordinate system of the article, an input unit for inputting the position / posture information of the plurality of extraction parts and the gripping direction;
Based on the position / posture information of the article in the world coordinate system and the position / posture information of the plurality of extraction parts in the local coordinate system, the position / posture information of the plurality of extraction parts in the world coordinate system is calculated. A coordinate calculation unit to
Further comprising
6. The control unit according to claim 1, wherein the control unit controls the robot to take out the article based on position / posture information of the plurality of take-out parts in the world coordinate system. The robot control device described in 1. A robot controller according to claim 6;
A three-dimensional information acquisition device for acquiring three-dimensional information of the article;
The robot for taking out the article under the control of the control unit;
With
The article extraction system, wherein the recognition processing unit calculates position / posture information of the article based on the three-dimensional information. A control unit that controls a robot so as to grip and take out any of the plurality of take-out parts from an article having a plurality of take-out parts, and position / posture information of the article and positions / positions of the plurality of take-out parts A computer to which posture information and a gripping direction set for each of the plurality of extraction parts are input,
Based on the position / posture information of the article, a function of selecting, as a selection direction, a gripping direction that minimizes an angle formed with a predetermined direction among the gripping directions;
A function of inputting, to the control unit, position / posture information of an extraction part in which the selection direction is set as the gripping direction among the plurality of extraction parts;
A program to realize Based on the position / posture information of an article having a plurality of take-out parts, a gripping direction that makes a minimum angle with a predetermined direction is selected as a selection direction from among the gripping directions set for each of the plurality of take-out parts,
A method for controlling a robot, comprising: controlling a robot so as to grip and take out the article by picking out a pick-up part in which the selection direction is set as the gripping direction among the plurality of pick-up parts.

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