JP2020125916A - Transfer target workpiece storage system - Google Patents

Abstract

To provide a transfer target workpiece storage system capable of accurately recognizing a transfer target workpiece.SOLUTION: The transfer target workpiece storage system includes: three-dimensional measuring means (step S2) for three-dimensionally measuring a transfer target workpiece among a plurality of loaded workpieces; determination means (step S3) for determining whether or not a boundary of the transfer target workpiece is clear when the transfer target workpiece is measured by the three-dimensional measuring means (step S2); comparison means (step S4) for comparing the transfer target workpiece with a predetermined content, when it is determined that the boundary of the transfer target workpiece is clear by the determination means (step S3); and storage instruction means (step S6) for storing the transfer target workpiece in storage means, if the comparison result by the comparison means (step S4) is within a predetermined range.SELECTED DRAWING: Figure 2

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer target work storage system that stores a transfer target work for transferring a plurality of cardboard boxes and the like stacked on a pallet.

In recent years, in the physical distribution industry, automation of operations such as sorting, loading, and unloading in a warehouse has been required, and various automation systems have been introduced (for example, refer to Patent Document 1).

JP, 06-055477, A

However, when performing the work of separating the work such as a plurality of cardboard boxes stacked on the pallet one by one, that is, the depalletizing work process, the boundary part of the adjacent work may not be detected well, so it is transferred. There is a problem that the position and orientation of the target work may not be recognized accurately.

Therefore, in order to solve such a problem, a method of estimating the transfer target work by model matching can be considered.

However, if the shape of the work is not held on the upper-level system side such as the warehouse management system, or if only the approximate range of the shape of the work is determined, or the shape of the work that was originally instructed and transfer There are situations such as when the shape of the workpiece that arrived at the site is different, the prerequisites for performing the above model matching may not be met, and the position and orientation of the workpiece to be transferred cannot be accurately recognized. There was a problem that the above problems could not be solved.

Therefore, in view of the above problems, it is an object of the present invention to provide a transfer target work storage system capable of accurately recognizing a transfer target work.

The above-mentioned object of the present invention is achieved by the following means. In addition, although the reference numerals of the embodiments described later are given in the parentheses, the present invention is not limited thereto.

The transfer target work storage system according to the invention of claim 1 is a transfer target work (for example, a broken line shown in FIG. 4A) among a plurality of loaded works (for example, the work Wa shown in FIG. 1). Three-dimensional measuring means (for example, step S2 shown in FIG. 2) for three-dimensionally measuring the workpiece Wa at the position indicated by N,
When the transfer target work (for example, the work Wa at the position indicated by the broken line N shown in FIG. 4A) is measured by the three-dimensional measuring means (for example, step S2 shown in FIG. 2), the transfer is performed. Determination means (for example, step S3 shown in FIG. 2) for determining whether or not the boundary of the target work (for example, the work Wa at the position shown by the broken line N shown in FIG. 4A) is clear,
The determination unit (eg, step S3 shown in FIG. 2) determines that the boundary of the transfer target work (eg, the work Wa at the position indicated by the broken line N shown in FIG. 4A) is clear. In this case, the transfer target work (for example, the work Wa at the position indicated by the broken line N shown in FIG. 4A) and a comparison means (for example, step S4 shown in FIG. 2) for comparing predetermined contents,
If the result of comparison by the comparison means (for example, step S4 shown in FIG. 2) is within a predetermined range, it is at the position indicated by the broken line N shown in FIG. 4(a). A storage instruction unit (for example, step S6 shown in FIG. 2) for storing the work Wa) in a storage unit (for example, the measurement result storage unit 56 shown in FIG. 1) is provided.

According to the invention of claim 2, in the transfer target work storage system according to claim 1, the transfer target work (for example, step S3 shown in FIG. 2) is transferred to the transfer target work (for example, When it is determined that the boundary of the work Wa at the position shown by the broken line N shown in FIG. 4A is unclear, the transfer target work (for example, the position shown by the broken line N shown in FIG. 4A). It is judged that the boundary part of the work Wa) in (1) is unclear, and it is presumed to be a transfer target work (for example, the cut out part T shown in FIG. 4C) including the unclear part, or If the result of comparison by the comparison means (for example, step S4 shown in FIG. 2) is outside the predetermined range, the work to be transferred (for example, at the position indicated by the broken line N shown in FIG. 4A). Estimating means for judging that the boundary portion of a certain work Wa) is unclear and presuming that it is a transfer target work (for example, the cut-out portion T shown in FIG. 4B) including the unclear portion ( For example, steps S7 and S8 shown in FIG.
The transfer target work estimated by the estimation means (for example, step S7 and step S8 shown in FIG. 2) (for example, the estimated transfer target work Wa1 shown in FIG. 4B and the transfer target work Wa1 shown in FIG. 4C are shown. Shift operation means (for example, step S9 shown in FIG. 2, robot 2 shown in FIG. 1) for moving the estimated transfer target work Wa2) by a predetermined distance,
The transfer target work (for example, the estimated transfer target work illustrated in FIG. 4B) that has been displaced by a predetermined distance by the shift operation unit (for example, step S9 illustrated in FIG. 2 and the robot 2 illustrated in FIG. 1). Wa1 and a three-dimensional re-measurement means (for example, step S12 and step S13 shown in FIG. 2) for three-dimensionally measuring the estimated transfer target work Wa2 shown in FIG. 4C again.
The transfer target work (for example, the work Wa deviated by the shift amount Y1 illustrated in FIG. 5B) that is three-dimensionally measured again by the three-dimensional remeasurement unit (for example, step S12 and step S13 illustrated in FIG. 2). And re-measurement comparing means for comparing predetermined contents (for example, step S14 shown in FIG. 2),
The transfer target work (for example, the work Wa deviated by the shift amount Y1 illustrated in FIG. 5B) that is three-dimensionally measured again by the three-dimensional remeasurement unit (for example, step S12 and step S13 illustrated in FIG. 2). Is further included in the storage means (for example, the measurement result storage unit 56 shown in FIG. 1) and a remeasurement storage instruction means (for example, step S15 shown in FIG. 2).

Furthermore, according to the invention of claim 3, in the transfer target work storage system according to claim 2, the remeasurement storage instruction means (for example, step S15 shown in FIG. 2) is the remeasurement comparison means ( For example, in step S14 shown in FIG. 2, the transfer target work (for example, FIG. 5B, which is three-dimensionally measured again by the three-dimensional remeasurement unit (for example, step S12 and step S13 shown in FIG. 2). If the result of comparing the work Wa) deviated by the shift amount Y1 shown in) and the predetermined content is outside a predetermined range indicating whether or not the error is large, a predetermined warning is issued and the three-dimensional remeasurement means is provided. (For example, the work to be transferred (for example, the work Wa deviated by the shift amount Y1 shown in FIG. 5B) that is three-dimensionally measured again in step S12 and step S13 shown in FIG. It is characterized by being stored in the measurement result storage unit 56) shown in FIG.

On the other hand, according to the invention of claim 4, in the transfer target work storage system according to any one of claims 1 to 3, the predetermined content is a predetermined transfer specification, or The instruction is from the upper system side.

On the other hand, according to the invention of claim 5, in the transfer target work storage system according to any one of claims 2 to 4, the shift operation means (for example, step S9 shown in FIG. The shown robot 2) uses the robot hand (for example, the robot hand 22 shown in FIG. 1) of the robot (for example, the robot 2 shown in FIG. 1) to perform the estimation means (for example, steps S7 and S8 shown in FIG. 2). 4) the transfer target work (for example, the estimated transfer target work Wa1 shown in FIG. 4B and the estimated transfer target work Wa2 shown in FIG. 4C) is moved by a predetermined distance. ,
The three-dimensional remeasurement means (for example, step S12 and step S13 shown in FIG. 2) retracts the robot hand (for example, the robot hand 22 shown in FIG. 1) and then the shift operation means (for example, FIG. 2). In step S9 shown in FIG. 1, the transfer target work displaced by a predetermined distance by the robot 2 shown in FIG. 1 (for example, the estimated transfer target work Wa1 shown in FIG. 4B and the transfer target work Wa1 shown in FIG. 4C) are shown. It is characterized in that the estimated transfer target work Wa2) is three-dimensionally measured again.

On the other hand, according to the invention of claim 6, in the transfer target work storage system according to any one of claims 2 to 4, the shift operation means (for example, step S9 shown in FIG. The shown robot 2) uses the robot hand (for example, the robot hand 22 shown in FIG. 1) of the robot (for example, the robot 2 shown in FIG. 1) to perform the estimation means (for example, steps S7 and S8 shown in FIG. 2). 4) the transfer target work (for example, the estimated transfer target work Wa1 shown in FIG. 4B and the estimated transfer target work Wa2 shown in FIG. 4C) is moved by a predetermined distance. After that, the transfer target work moved by the predetermined distance (for example, the estimated transfer target work Wa1 shown in FIG. 4B, the estimated transfer target work Wa2 shown in FIG. 4C), Once transferred to a place different from the original transfer place,
The three-dimensional remeasurement means (for example, step S12 and step S13 shown in FIG. 2) is a transfer target work temporarily transferred to the different place (for example, estimated transfer shown in FIG. 4B). It is characterized in that the target work Wa1 and the estimated transfer target work Wa2 shown in FIG. 4C are three-dimensionally measured again.

On the other hand, according to the invention of claim 7, in the transfer target work storage system according to any one of claims 2 to 4, the shift operation means (for example, step S9 shown in FIG. 2, FIG. 1). 2) using the robot hand (for example, the robot hand 22 shown in FIG. 1) of the robot (for example, the robot 2 shown in FIG. 1), the estimation means (for example, step S7 and step shown in FIG. 2). The transfer target work estimated in S8) (for example, the estimated transfer target work Wa1 shown in FIG. 4B and the estimated transfer target work Wa2 shown in FIG. 4C) is moved by a predetermined distance. After that, the transfer target work displaced by the predetermined distance (for example, the estimated transfer target work Wa1 shown in FIG. 4B, the estimated transfer target work Wa2 shown in FIG. 4C) is moved. Transfer,
The three-dimensional remeasurement means (for example, step S12 and step S13 shown in FIG. 2) is the transfer target work being transferred (for example, the estimated transfer target work shown in FIG. 4B). Wa1 and the estimated transfer target work Wa2 shown in FIG. 4C are three-dimensionally measured again.

Next, the effects of the present invention will be described with reference numerals in the drawings. In addition, although the reference numerals of the embodiments described later are given in the parentheses, the present invention is not limited thereto.

According to the invention of claim 1, the transfer target work (for example, the work Wa located at the position indicated by the broken line N shown in FIG. 4A) that has been correctly recognized at the transfer site is automatically stored. By doing so, it is possible to improve the recognition accuracy from the next time onward, and thus it is possible to accurately recognize the transfer target work.

Further, according to the invention of claim 2, even if the boundary part of the transfer target work is unclear, the shift operation is performed and the result of the remeasurement is automatically stored, so that the subsequent recognition can be performed. It is possible to further improve the accuracy, and thus it is possible to recognize the transfer target work more accurately.

Further, according to the invention of claim 3, the result of re-measurement is automatically stored, and if there is a large error from the predetermined transfer specifications or the instruction from the host system side, a warning is issued. The operator can immediately recognize that the one with a large error is stored.

Further, as the predetermined content to be compared, as shown in the invention according to claim 4, it is preferable that a predetermined transfer specification or an instruction from the host system side is given.

On the other hand, in re-measurement, it is preferable that the robot hand (for example, the robot hand 22 shown in FIG. 1) is retracted and then re-measured as shown in the invention according to claim 5. Alternatively, as shown in the invention according to claim 6, it is preferable that the transfer is once performed at a place different from the original transfer place, and then the measurement is performed again. Furthermore, as shown in the invention according to claim 7, it is preferable to perform remeasurement during transfer.

1 is a schematic overall view of a transfer target work storage system according to an embodiment of the present invention. It is a flowchart figure which shows the control procedure of the transfer target work storage system which concerns on the same embodiment. (A) is a perspective view showing an example in which the shape of one work is measured before performing a depalletizing work process, and (b) is a perspective view showing an example of a package appearance before performing a depalletizing work process. FIG. 1C is a perspective view showing an example in which one work is removed from the packing shown in FIG. 1B, a new packing is imaged, and the shape of one work is measured. (A) is a perspective view showing an example in which an upper surface side of a package is imaged, and (b) shows a case where a portion where a transfer target work is located is cut out from (a) and a boundary portion between adjacent works is clear. And (c) is a perspective view showing a case where a portion where a transfer target work is located is cut out from (a) and a boundary portion between adjacent works is unclear. (A) is a perspective view showing an example in which the upper surface side of the package is imaged, and (b) is a perspective view showing a state in which the workpiece is displaced from the package as shown in (a) by a shift amount.

An embodiment of a transfer target work storage system according to the present invention will be specifically described below with reference to the drawings. In the following description, the up, down, left, and right directions indicate the up, down, left, and right as viewed from the front of the figure.

As shown in FIG. 1, the transfer target work storage system 1 includes a robot 2, a robot control device 3 that controls the robot 2, a camera 4, and an image processing device 5. It should be noted that the symbol W indicates the packing form of the works Wa formed of a plurality of corrugated cardboard boxes and the like which are stacked adjacent to each other on the pallet P placed on the conveyor belt conveyor B.

The robot 2 includes a base 20 fixed to an installation surface such as a floor or a wall, a robot arm 21 having a base end rotatably connected to the base 20, and a robot arm 21 attached to the tip of the robot arm 21. The robot hand 22 is capable of gripping Wa by suction, sandwiching, supporting, or the like.

On the other hand, the robot controller 3 controls the operation of the robot 2 based on the data output from the image processing device 5 or the data output from the robot 2.

The camera 4 is composed of a three-dimensional vision sensor capable of acquiring three-dimensional point cloud information indicating the three-dimensional coordinates of a plurality of works Wa loaded adjacently on the pallet P.

The image processing apparatus 5 can output the predetermined data to the outside of the image processing apparatus 5 and the CPU 50, the input unit 51 that can input the predetermined data to the image processing apparatus 5 from the outside with a mouse, a keyboard, a touch panel, or the like. An output unit 52, a ROM 53 including a writable flash ROM that stores a predetermined program and the like, a RAM 54 that functions as a work area and a buffer memory, and a display unit 55 including an LCD (Liquid Crystal Display), The measurement result storage unit 56 stores a measurement result of a work Wa or the like, which will be described later.

Thus, when using the transfer target work storage system as described above, the operator uses the input unit 51 of the image processing apparatus 5 shown in FIG. 1 to store the program stored in the ROM 53 shown in FIG. Command to start. As a result, the CPU 50 (see FIG. 1) of the image processing device 5 performs the processing shown in FIG. Hereinafter, description will be given with reference to FIG. The processing contents of the program shown in FIG. 2 are merely examples, and the present invention is not limited to this.

First, the CPU 50 (see FIG. 1) acquires three-dimensional point cloud information indicating the three-dimensional coordinates of the work Wa acquired by the camera 4, measures the shape of the work Wa from the three-dimensional point cloud information, and The measurement result is stored in the measurement result storage unit 56 (step S1). More specifically, before the work of separating the works Wa stacked on the pallet P one by one, that is, the depalletizing work process, the shape of the works Wa shown in FIG. 3A is measured. That is, one work Wa is taken out from the package W (see FIG. 1) in which the depalletizing work process is performed, and the camera 4 causes the three-dimensional point group indicating the three-dimensional coordinates of the one work Wa taken out. Get information. Then, the CPU 50 acquires the three-dimensional point cloud information and measures the shape of the work Wa from the three-dimensional point cloud information. That is, since the three-dimensional point cloud information has three-dimensional coordinates in the X direction, the Y direction, and the Z direction, the height H of the work Wa, the height H of the work Wa, and the like as shown in FIG. Since the width W and the length L are known, the shape of the work Wa can be measured. Then, the measurement result of the work Wa is stored in the measurement result storage unit 56 by the CPU 50. It should be noted that this work is performed on all the works Wa. As a result, when a predetermined work Wa is transferred from the package W, the position of the transfer target work Wa can be recognized.

By the way, when measuring the shape of one work Wa, the following method is not limited to the above method. That is, the camera 4 acquires the three-dimensional point cloud information indicating the three-dimensional coordinates of the package W (see FIG. 3B) on which the depalletizing work process is performed. After that, as shown in FIG. 3C, one workpiece Wa is taken out from the package W, and a three-dimensional point indicating the three-dimensional coordinates of the package W1 in the state where the one workpiece Wa is not taken out. The group information is acquired by the camera 4. Then, the CPU 50 acquires the three-dimensional point cloud information indicating the three-dimensional coordinates of the package shapes W and W1 acquired by the camera 4, and takes the difference. Accordingly, since the three-dimensional point cloud information has three-dimensional coordinates in the X direction, the Y direction, and the Z direction, as shown in FIG. 3C, the height H and the width of the extracted work Wa. Since W and the length L are known, the shape of the work Wa can be measured. Then, if this work is continued until all the works Wa are taken out from the package W, the height H, width W, and length L of all the works Wa can be known. , The shape of the work Wa can be measured. The measurement result of the work Wa is stored in the measurement result storage unit 56 by the CPU 50.

Then, after the step S1 is completed, a predetermined transfer specification (including information on the shape of the transferred work) or an instruction from the warehouse management system (not shown) (of the transferred work) Based on the shape information), the CPU 50 recognizes and measures the workpiece Wa to be transferred from the package W shown in FIG. 1 (step S2). More specifically, the camera 4 captures an image of the upper surface side of the package W as shown in FIG. 4A, and three-dimensional point cloud information indicating the three-dimensional coordinates of the package W on the upper surface side is acquired. Then, the CPU 50 acquires the three-dimensional point cloud information. Then, the CPU 50 collates the acquired three-dimensional point cloud information with the measurement result of the workpiece Wa measured in step S1 stored in the measurement result storage unit 56, and then transfers it in advance. 4 or the transfer target work Wa which is an instruction target from a warehouse management system (not shown) is recognized to be at a position indicated by a broken line N shown in FIG. Subsequently, the CPU 50 cuts out the recognized portion at the position of the broken line N shown in FIG. 4A as shown in FIGS. 4B and 4C, and the three-dimensional point group of the cut-out portion T. The work Wa to be transferred is measured from the information.

Next, the CPU 50 extracts a point cloud having a large difference in depth value from an adjacent point from the three-dimensional point cloud information of the cut out portion T, and confirms whether a feature such as a depth edge is clear. That is, since there are often slight gaps or dents in the boundary portion between the adjacent works Wa, the features such as depth edges are likely to appear clearly in the slight gaps or dents. Therefore, the CPU 50 confirms whether the features such as the depth edge are clear, and confirms whether the boundary portion between the adjacent works Wa is clear (step S3).

As shown in FIG. 4B, if the boundary portion K1 between the adjacent works Wa is clear (step S3: YES), the CPU 50 determines the three-dimensional point cloud information of the cut-out portion T and the predetermined information. The specifications of the transfer or the shape of the transferred work instructed by the warehouse management system (not shown) are compared (step S4).

Next, the CPU 50 reads the information stored in the ROM 53 as to whether it is within the allowable error or not, and confirms whether the comparison result compared in step S4 is within the previously stored allowable error or not. (Step S5). If it is within the allowable error (step S5: YES), the workpiece Wa of the cutout portion T shown in FIG. 4B is stored in the measurement result storage unit 56 as the workpiece Wa to be transferred (step S6).

On the other hand, if it is out of the allowable error (step S5: NO), the CPU 50 determines that the boundary portion between the adjacent works Wa is unclear, and the CPU 50 transfers all the cutout parts T shown in FIG. 4B to the transfer target work Wa1. Is estimated (step S7).

On the other hand, as shown in FIG. 4C, if the boundary portion K2 between the adjacent works Wa is unclear (in the figure, the unclearness is indicated by a broken line) (step S3: NO), The CPU 50 estimates that it is a transfer target work including an unclear part (step S8). That is, in the present embodiment, it is estimated that all the cutout portions T shown in FIG. 4C are the transfer target work Wa2.

Next, the CPU 50 slightly moves, that is, shifts the estimated transfer target work Wa1 or the estimated transfer target work Wa2 after the processing in step S7 or step S8 to specify the transfer target, In order to perform the shift operation, the CPU 50 outputs the shift operation to the robot controller 3 via the output unit 52 (see FIG. 1) (step S9). In response to this, the robot control device 3 controls the robot 2 (see FIG. 1) based on the information, and thus estimates it by the robot hand 22 (see FIG. 1) of the robot 2 (see FIG. 1). The transfer target work Wa1 or the transfer target work Wa2 changes from the state shown in FIG. 5A to the state shown in FIG. 5B (estimated transfer target work Wa1 or estimated transfer target work). Only a part of Wa2 is displaced by the displacement amount Y1).

Next, the CPU 50 confirms the result of the shift operation (step S10). More specifically, the camera 4 acquires the three-dimensional point group information indicating the three-dimensional coordinates of the package W after the shifting operation shown in FIG. 5B. Then, the CPU 50 obtains the three-dimensional point group information indicating the three-dimensional coordinates of the package W after the shifting operation acquired by the camera 4, and determines the package W before the shifting operation (see FIG. 5A). The difference from the 3D point group information indicating the 3D coordinates is calculated. Thereby, as shown in FIG. 5B, the CPU 50 estimates if only a part of the estimated transfer target work Wa1 or the estimated transfer target work Wa2 is displaced by the shift amount Y1. It is determined that the transfer target work Wa1 or the estimated transfer target work Wa2 did not work together. On the other hand, if the estimated transfer target work Wa1 or the estimated transfer target work Wa2 is entirely displaced by the shift amount Y1, the estimated transfer target work Wa1 or the estimated transfer target work Wa2 is integrated. Is determined to have operated.

Thus, in this way, it is determined whether or not the estimated transfer target work Wa1 or the estimated transfer target work Wa2 has operated as a unit (step S11: NO), The transfer target work Wa that has been moved (the work Wa deviated by the shift amount Y1 shown in FIG. 5B) is remeasured (step S12).

On the other hand, if they are operating together (step S11: YES), the estimated transfer target work Wa1 or the estimated transfer target work Wa2 is remeasured as the transfer target work (step S13).

By the way, in the above re-measurement, re-measurement is performed by the following method. That is, after the robot hand 22 is retracted, the camera 4 acquires the 3D point group information acquisition indicating the 3D coordinates of the transfer target work to be remeasured. Then, the CPU 50 acquires the three-dimensional point cloud information, and measures the shape of the transfer target work based on the acquired three-dimensional point cloud information.

On the other hand, after determining whether the estimated transfer target work Wa1 or the estimated transfer target work Wa2 integrally operates, the CPU 50 outputs information instructing execution of transfer to the output unit 52 (FIG. 1)) to the robot controller 3. In response to this, the robot control device 3 controls the robot 2 on the basis of the information, so that the robot hand 22 of the robot 2 executes the transfer of the transfer target work Wa (Wa1, Wa2). Becomes At this time, the CPU 50 outputs the instruction content to the robot control device 3 via the output unit 52 so that the transfer target works Wa (Wa1, Wa2) are transferred to another place once during transfer. To do. In response to this, the robot control device 3 controls the robot 2 based on the information, and thus the transfer target work Wa (Wa1, Wa2) is temporarily moved to another place by the robot hand 22 of the robot 2. Will be posted. After that, the camera 4 acquires the three-dimensional point cloud information acquisition indicating the three-dimensional coordinates of the transfer target work Wa (Wa1, Wa2) that has been transferred to another place. Then, the CPU 50 acquires the three-dimensional point cloud information and measures the shape of the transfer target work Wa (Wa1, Wa2) based on the acquired three-dimensional point cloud information.

On the other hand, after determining whether the estimated transfer target work Wa1 or the estimated transfer target work Wa2 integrally operates, the CPU 50 outputs information instructing execution of transfer to the output unit 52 ( (See FIG. 1) to the robot controller 3. In response to this, the robot control device 3 controls the robot 2 on the basis of the information, so that the robot hand 22 of the robot 2 executes the transfer of the transfer target work Wa (Wa1, Wa2). Becomes At this time, when the transfer target work Wa (Wa1, Wa2) is being transferred and the transfer target work Wa (Wa1, Wa2) is located in the air, three-dimensional point group information indicating three-dimensional coordinates by the camera 4 is displayed. To get to get. Then, the CPU 50 acquires the three-dimensional point cloud information and measures the shape of the transfer target work Wa (Wa1, Wa2) based on the acquired three-dimensional point cloud information.

Thus, after re-measurement is performed by using the above method, the CPU 50 causes the re-measured three-dimensional point cloud information and predetermined transfer specifications or the warehouse management system ( The shape of the transferred work instructed from (not shown) is compared (step S14).

Next, the CPU 50 reads out the information of a predetermined range stored in the ROM 53, which indicates whether or not the error is large, and the comparison result compared in step S14 is within the predetermined range stored in advance. Check if If the difference is out of the predetermined range, the difference is too large. Therefore, the CPU 50 displays the warning content on the display unit 55 and sets the re-measured transfer target work Wa (Wa1, Wa2) as the transfer target work. It is stored in the measurement result storage unit 56. If the difference is within the predetermined range, the difference is not too large, and therefore the CPU 50 does not display the warning content on the display unit 55 and measures the re-measured transfer target work Wa (Wa1, Wa2) as the transfer target work. The result is stored in the result storage unit 56 (step S15).

Next, the CPU 50 causes the output unit 52 (see FIG. 1) to output the information for instructing the transfer based on the information of the transfer target work stored in the measurement result storage unit 56 in step S6 or step S15. It is output to the robot control device 3 via (step S16). In response to this, the robot control device 3 controls the robot 2 on the basis of the information, so that the robot hand 22 of the robot 2 executes the transfer of the transfer target work Wa (Wa1, Wa2). Become. If a transfer instruction is issued temporarily during the remeasurement, this instruction becomes the final transfer instruction.

Therefore, according to the present embodiment described above, by automatically storing the transfer target work that can be accurately recognized at the transfer site, it is possible to improve the recognition accuracy from the next time onward. , It is possible to accurately recognize the work to be transferred.

Further, according to the present embodiment, even if the boundary portion of the transfer target work is unclear, by performing the shift operation and automatically storing the re-measured result, the recognition accuracy of the next time or later can be further improved. Therefore, the work to be transferred can be recognized more accurately.

Furthermore, according to the present embodiment, the result of remeasurement is automatically stored, and a warning is issued if there is a large error between the predetermined transfer specification or the instruction from the host system side. Therefore, the operator can immediately recognize that the one with a large error is stored.

The contents illustrated in the present embodiment are merely examples, and various modifications and changes can be made within the scope of the gist of the present invention described in the claims.

For example, in the present embodiment, the work Wa has a box shape, but the work Wa is not limited to this, and the work Wa can be applied to any shape such as an octagon.

Further, in the present embodiment, an example in which works Wa of the same size are loaded has been shown, but the present invention is not limited to this, and is applicable to works in which works of different sizes or different types are loaded.

On the other hand, in the present embodiment, an example in which the camera 4 is separately provided has been described, but the present invention is not limited to this, and the camera 4 may be incorporated in the robot 2. Further, the example in which the robot control device 3 and the image processing device 5 are separately provided has been described, but the robot control device 3 and the image processing device 5 may be integrated.

1 Work Storage System for Transferring 2 Robot 22 Robot Hand 3 Robot Control Device 4 Camera 5 Image Processing Device 50 CPU
56 measurement result storage unit (storage means)
W Packaging Wa Work Wa1, Wa2 Estimated transfer target work Y1 Shift amount T (the part where the transfer target work is located)

Claims (7)

A three-dimensional measuring means for three-dimensionally measuring a transfer target work among a plurality of loaded works,
When measuring the transfer target work by the three-dimensional measuring means, a determination means for determining whether the boundary of the transfer target work is clear,
When the determination unit determines that the boundary of the transfer target work is clear, a comparison unit that compares the transfer target work with predetermined contents,
A transfer target work storage system comprising: a storage instruction unit that stores the transfer target work in a storage unit if the result of comparison by the comparison unit is within a predetermined range. When the determination means determines that the boundary of the transfer target work is unclear, it is determined that the boundary part of the transfer target work is unclear, and transfer including the unclear part is performed. If it is estimated that the work is a target work, or if the comparison result is outside the predetermined range, it is determined that the boundary part of the transfer target work is unclear, and the unclear part is Including the estimation means to estimate that it is a transfer target work,
Shift operation means for moving the transfer target work estimated by the estimating means by a predetermined distance,
Three-dimensional re-measurement means for three-dimensionally measuring again the transfer target work that has been moved by a predetermined distance by the shift operation means,
Re-measurement comparing means for comparing the predetermined content with the transfer target work that has been three-dimensionally measured again by the three-dimensional re-measuring means,
The transfer target work storage system according to claim 1, further comprising a remeasurement storage instruction unit that stores in the storage unit the transfer target work that has been three-dimensionally measured again by the three-dimensional remeasurement unit. The remeasurement storage instruction means determines whether or not the result of comparing the predetermined content with the transfer target work re-three-dimensionally measured by the three-dimensional re-measurement means by the re-measurement comparison means. The transfer target work according to claim 2, wherein a predetermined warning is issued and a transfer target work which has been three-dimensionally measured again by the three-dimensional re-measurement means is stored in the storage means when the transfer target work is outside the predetermined range. Target work storage system. The transfer target work storage system according to any one of claims 1 to 3, wherein the predetermined content is a predetermined transfer specification or an instruction from a host system side. The shift operation means uses the robot hand of the robot to move the transfer target work estimated by the estimation means by a predetermined distance,
5. The three-dimensional re-measurement means performs three-dimensional measurement again on the transfer target work that has been moved by the predetermined distance by the shift operation means after the robot hand is retracted. The work storage system to be transferred according to item 1. The shift operation means shifts the transfer target work estimated by the estimating means by a predetermined distance by using the robot hand of the robot, and then moves the transfer target work shifted by the predetermined distance, Once transferred to a place different from the original transfer place,
The transfer target work storage according to any one of claims 2 to 4, wherein the three-dimensional remeasurement unit measures the transfer target work once transferred to the different location three-dimensionally again. system. The shift operation means uses the robot hand of the robot to move the transfer target work estimated by the estimation means by a predetermined distance, and then transfers the transfer target work moved by the predetermined distance. Put it,
The transfer target work storage system according to any one of claims 2 to 4, wherein the three-dimensional remeasurement means performs three-dimensional measurement again on the transfer target work being transferred.

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