JP2020196622A - Controller and control method for robotic system - Google Patents

Abstract

To enhance handling and storage efficiency for operation objects of different attributes.SOLUTION: A controller for a robotic system including an operation robot to manipulate an operation object to load the operation object onto a pallet and/or unload the operation object from the pallet comprises: a data acquiring unit for acquiring first data including information about the operation object and information about the pallet before loading the operation object onto the pallet and/or unloading the operation object from the pallet; a data storage unit for storing the first data; and a robot control unit for, e.g., creating a control sequence for loading the operation object onto the pallet and/or unloading the operation object from the pallet based on the first data before loading the operation object onto the pallet and/or unloading the operation object from the pallet, and instructing the robot to execute a task for loading the operation object onto the pallet and/or unloading the operation object from the pallet based on the control sequence.SELECTED DRAWING: Figure 6

Description

The present disclosure generally relates to robot systems, and more particularly to control devices, control methods, distribution systems, programs, and recording media of robot systems that operate objects such as articles.

Many robots (eg, machines configured to perform physical movements automatically / independently) are now widely used in many fields due to their ever-increasing performance and decreasing cost. .. For example, a robot can be used to perform various tasks such as maneuvering and moving an object in manufacturing, assembling, packing, transferring, transporting, transporting, and the like. In performing the work, the robot can iterate human movements, thereby replacing or reducing dangerous or repetitive human movements.

As a system (robot system) using such a robot, for example, Patent Document 1 describes a transport container storage mechanism for temporarily storing a transport container in order to automate and save labor from the receipt of goods to the delivery of goods. , An automatic distribution system including an article automatic delivery mechanism in which articles in a transport container are automatically aggregated in a shipping container based on delivery information has been proposed.

JP-A-2018-167950

However, despite technological advances, robots often lack the sophistication needed to recreate human involvement in performing larger and / or more complex tasks. Therefore, automation and high functionality in robot systems are not yet sufficient, there are not a few tasks that are difficult to replace human involvement, and for example, the handleability and storage efficiency of operation targets with different attributes are sufficient. It was difficult to increase. Therefore, there is still a need for technological improvements to manage various movements and / or dialogues between robots and further promote automation and sophistication of robot systems. Therefore, the present disclosure provides a control device and a control method for a robot system that realizes a high degree of cooperation between units including a robot and can sufficiently improve the handleability and storage efficiency of operation targets having different attributes, for example. The purpose is.

The present invention employs the following configuration in order to solve the above-mentioned problems.

[1] That is, the control device according to the present disclosure operates the operation target in order to load the operation target on the pallet (palletizing) and / or unload the operation target from the pallet (depalletization). An operation robot, for example, a device for controlling a robot system including a robot for operating an article by a robot arm such as a palletizing robot, a depalletizing robot, a piece picking robot, a fetching robot, a devanning robot, and an end effector. .. Then, the control device (1) loads the operation target on the pallet and / or outputs the information on the operation target and the information on the pallet before unloading the operation target from the pallet. A data acquisition unit for acquiring the first data including the data, (2) a data storage unit for storing the first data, (3) loading the operation target on the pallet, and / or the said from the pallet. Prior to unloading the operation target, a control sequence for loading the operation target on the pallet and / or unloading the operation target from the pallet is created or created based on the first data. Instruct the operating robot to acquire and / or execute a task for loading and / or unloading the operating object from the pallet based on the control sequence. It is equipped with a robot control unit.

Here, the "operation target" indicates an object operated by the operation robot provided in the robot system, for example, one or more articles (items), a bottle, a container, a box, etc. in which they are placed or housed. Including a container, the container may be packed or unpacked, and a portion (eg, top surface) of the container may be open. Further, in other embodiments and examples, the "operation target" may be a concept including shelves, pallets, conveyors, other temporary storage places, and the like. Further, the "pallet" refers to a cargo handling platform provided with a surface for collectively placing articles in a unit quantity for cargo handling, transportation, and storage. Examples thereof include flat pallets, box pallets, post pallets, and the like. It may or may not have an outlet. Further, the "information about the article" and the "information about the pallet" indicate the information associated with the identification information of the article and the information associated with the identification information of the pallet, respectively. Further, the "control sequence" indicates the sequence of operations preset when controlling one or more units provided in the robot system to execute individual tasks (a robot is a kind of "unit"). It is.). Furthermore, "before" means that time point and before that time point, and "after" means that time point and after that point point.

Further, the "information about the operation target" includes at least the position information of the operation target and the information of the "stock keeping unit (SKU)" of the operation target. The "stock keeping unit (SKU)" indicates the minimum management unit when ordering and ordering an operation target and inventory management. For example, even for the same operation target, there are differences in attributes such as package, quantity, and content. It is distinguished and the operation target can be classified by the SKU in a unit smaller than the operation target unit. For example, if the operation target is a clothing article, and even if the clothing is the same, there are three colors and four sizes, S, M, L, and LL, it is regarded as "12SKU". The SKU can be freely set by the business operator, and the SKU may be set without distinguishing the color and size. However, in the following cases, it is generally considered that SKUs should be managed separately (Distribution Systems Research Institute: GTIN Setting Guidelines-GTIN Allocation Guidelines Revised Edition-December 2018 Edition, 10 page).

・ When there is an element that must be identified as a different product in the transaction ・ When you want to appeal the difference between products to consumers ・ When you want to analyze the sales of products separately (example)
・ When the size is different: Large bag, medium bag, small bag ・ When the net content (weight, capacity, number, etc.) is different: 100g, 200g, 500ml, 650ml
・ When the packaging form is different: Bagged, canned, bottled ・ When the color is different: Pink, blue, white ・ When the taste is different: Curry taste, barbecue taste ・ When the aroma is different: Jasmine, bouquet ・ When the sales unit is different : 3 pieces, 5 pieces, 15 pieces ・ When the contents (combination) are different in the set product: 2 pieces of seasoning and 3 pieces of cooking oil, 3 pieces of seasoning and 2 pieces of cooking oil

According to such a configuration, before the operation target is loaded on the pallet and / or the operation target is unloaded from the pallet, the information about each of the operation target and the pallet is grasped, and based on the first data including the information. The task based on the control sequence created is executed. Therefore, the operation of loading the operation target on the pallet and / or unloading the operation target from the pallet can be efficiently and smoothly performed.

[2] In the above configuration, the data acquisition unit loads the operation target on the pallet and / or unloads the operation target from the pallet, and then obtains information about the operation target and the operation target. The second data including the information about the pallet may be acquired, and the data storage unit may be configured to store the second data.

According to such a configuration, it is possible to grasp the information about each of the operation target and the pallet after the operation target is loaded on the pallet and / or the operation target is unloaded from the pallet. As a result, the state or status of the pallet after the operation target is loaded and / or the operation target is unloaded can be reliably grasped and tracked.

[3] In the above configuration, the robot control unit has the control sequence so that the SKUs load a plurality of different types of operation targets on the pallet based on the first data and / or the second data. May be configured to create or obtain.

According to such a configuration, since the operation target to be loaded on the pallet and the SKU of the operation target loaded on the pallet can be grasped from the first data and the second data, the operation targets having different SKUs can be separated from each other. Even when loaded on the same pallet (so-called mixed loading), it is possible to monitor and track the loading status of those operation targets. Therefore, the loading rate of the pallets can be increased and the utilization efficiency of the pallets can be improved. In addition, since the filling information / empty information of the pallet can be grasped, the next step is to select the pallet when loading the operation target on the pallet and / or unloading the operation target from the pallet. It can be done efficiently. Further, it is possible to prevent the useless space on the pallet from being fragmented (defragmentation), and it is possible to further facilitate the centralized management of the operation target and the position information of the pallet.

[4] In the above configuration, the control so that the arrangement of the operation target having the same or similar inventory management unit (SKU) in the pallet is aggregated based on the first data and the second data. It may be configured to create or obtain a sequence. Here, "approximate" means that, among the attributes defining the SKU (color, size, etc., as described above), a predetermined number or more of the attributes are common. In addition, this configuration includes a case where only operation targets having the same or similar SKUs are loaded on the same pallet (so-called single loading), and a case where operation targets having different SKUs are loaded on the same pallet (so-called mixed loading). In the case of mixed loading, the operation targets having the same or similar SKUs can be aggregated and loaded (for example, stacked in the vertical direction).

According to such a configuration, since the SKU of the operation target to be loaded on the pallet and the operation target to be loaded on the pallet can be grasped from the first data and the second data, they are the same or the same on the pallet. It becomes easier to aggregate and arrange operation targets having similar SKUs. As a result, the loading rate of the pallets can be increased and the utilization efficiency of the pallets can be improved regardless of whether the pallets are mounted alone or mixedly. In addition, since the operation targets having the same or similar SKU are aggregated, the next step is to efficiently select the pallet when the operation target is loaded on the pallet and / or the operation target is unloaded from the pallet. Can be done as a target.

[5] In the above configuration, the robot control unit calculates an index indicating handleability when unloading the operation target from the pallet based on the second data, and the operation is based on the index. The control sequence may be configured to create or acquire an object and the control sequence including identification of the pallet on which the operation object is loaded. Here, the "handleability" indicates the difficulty level of the work of operating the operation target by the robot, and is not particularly limited. Specifically, for example, the operation robot grips the operation target loaded on the pallet. Examples include the difficulty level of the operation, the difficulty level of moving the operation target grasped by the operation robot (complexity of the route, etc.), and the like. Further, the "index" may be quantitatively quantified, or may be qualitatively classified into, for example, ranks.

According to this configuration, when there are a plurality of candidates for the operation target to be unloaded, it is possible to select a pallet loaded with the operation target that is easy for the operation robot to operate and the operation target based on the index indicating the handleability. it can. As a result, the robot can more reliably grasp and move the operation target of the unloading target, so that the work efficiency and the work accuracy (success rate) can be improved.

[6] In the above configuration, the data storage unit stores a plurality of position information (arrangement information) of the operation target on the pallet in the operation target unit or the pallet unit and as two-dimensional information or three-dimensional information. It may be configured as follows.

According to such a configuration, the position of the operation target placed on the pallet can be grasped in the operation target unit or the layer unit. In addition, the arrangement of a plurality of operation targets stacked on the pallet can be centrally managed as plane information or three-dimensional information. Therefore, for example, by specifying one operation target, the operation targets loaded on the pallet can be collectively specified. As a result, for example, it is possible to improve work efficiency by reducing work man-hours at the time of inventory management and inventory.

[7] In the above configuration, the robot system further includes a sensor that images the operation target or the pallet on which the operation target is stacked, and the robot control unit identifies the operation target by the sensor. The control sequence for loading the operation target on the pallet may be created or acquired so that the information (identification code or identification tag representing the information) can be measured.

According to such a configuration, even when the operation target is loaded on the pallet, the identification information of the operation target can be measured and confirmed by the sensor. In this case, as long as the identification information of the operation target is attached to at least the side surface, even if the operation target is stacked on the pallet, the identification information can be exposed so that the identification information can be visually recognized. By capturing the information with a sensor such as a camera, it becomes easier to recognize the information. Therefore, even when the operation target is still loaded on the pallet, the operation target can be easily identified and specified. At this time, if the position information of a plurality of operation targets on the pallet is stored as two-dimensional information or three-dimensional information as in the above [6], one operation target is specified and loaded on the pallet. It is possible to more easily specify the operation target to be operated in a batch for each pallet. As a result, work efficiency at the time of inventory management and inventory can be further improved.

[8] In the above configuration, the robot control unit performs the operation on the pallet before loading and / or unloading the operation target from the pallet on the pallet. It may be configured to determine that the loading and / or unloading of the target from the pallet has been completed.

According to such a configuration, it is determined that the loading and / or unloading operation of the operation target is completed before the loading and / or unloading of the operation target from the pallet is completed. be able to. Therefore, the operation of the task to be executed as the next step can be started smoothly and in a timely manner, the occurrence of work delay can be suppressed, and the advanced cooperation between the units becomes possible.

[9] In the above configuration, the data acquisition unit may be configured to acquire the measured value or the estimated value of the information regarding the operation target and / or the information regarding the palette. As a result, the position of the operation target on / outside the pallet, the position of the pallet, and the position of the identification information attached to the operation target can be actually measured and confirmed by a sensor such as a camera, or the master can be used without actual measurement. It can be estimated based on the data.

[10] Further, the distribution system according to the present disclosure includes a control device having each of the above configurations and a robot system including the operation robot.

[11] In the above configuration, the control device identifies the robot system and a region related to the robot system, and a task based on the control sequence (a unit task, a task configured by combining a plurality of unit tasks). ) Is calculated, and the task is executed by the robot system across the tasks related to the transportation of the pallet by the robot system and the operation of the operation target, and within the adjacent and / or overlapping areas. It may be configured to include a plurality of tasks.

[12] Further, the program according to the present disclosure is configured as a program for causing the computer to function as a control device having each of the above configurations.

[13] Further, the recording medium according to the present disclosure is configured as a non-transient computer-readable recording medium on which the above program is recorded.

[14] Further, the control method according to the present disclosure is a robot system including an operation robot that operates the operation target in order to load the operation target on the pallet and / or unload the operation target from the pallet. It is a control method and is executed by using a control device having a data acquisition unit, a data storage unit, and a robot control unit. Then, (1) the data acquisition unit relates to the information regarding the operation target and / or the pallet before loading and / or unloading the operation target from the pallet. The first data including the information is acquired, (2) the data storage unit stores the first data, and (3) the robot control unit loads the operation target on the pallet and / or , To load the operation target on the pallet and / or to unload the operation target from the pallet based on the first data before unloading the operation target from the pallet. To create or acquire the control sequence of, and to load the operation target on the pallet and / or to unload the operation target from the pallet based on the control sequence. Is commanded to the operating robot.

It is a schematic flow diagram which shows the exemplary work sequence in which the robot system which concerns on one Embodiment of this disclosure can operate. (A) and (B) are perspective views schematically showing the appearance of an exemplary transfer robot according to one or more embodiments of the present disclosure. It is a perspective view schematically showing the appearance of the exemplary operating robot in one or more embodiments of the present disclosure. (A) and (B) are perspective views schematically showing the appearance of an exemplary operating robot in one or more embodiments of the present disclosure. It is a block diagram which shows an example of the hardware configuration and the functional configuration of the robot system which concerns on one Embodiment of this disclosure. It is a front view (partial functional configuration diagram) which shows an example of the work flow executed by the robot system which concerns on one Embodiment of this disclosure, and an example of the functional configuration of the control device provided in the robot system. FIG. 5 is a flow chart showing an example of a procedure for operating the robot system according to the embodiment according to the present disclosure and executing the first task. FIG. 5 is a flow chart showing an example of a procedure for operating the robot system according to the embodiment according to the present disclosure and executing the second task. It is a schematic plan view which shows the exemplary environment in which the robot system which concerns on one Embodiment of this disclosure can operate.

According to the present disclosure, a robot system in which a plurality of units (for example, various robots, various devices, control devices provided integrally or separately from them, etc.) are highly integrated, the control devices thereof, and the like are provided. A distribution system and a method for that purpose are provided. That is, the robot system according to the embodiment of the present disclosure is, for example, an integrated system capable of autonomously executing one or more tasks.

Here, the "task" includes, for example, a task in which a robot or the like accesses an operation target, and for moving those operation targets from one place to another, storing, storing, taking out, organizing, and the like. Tasks, tasks for classifying those operation targets into a plurality of groups, tasks for imaging, observing, and managing operation targets, and the like can be included.

In addition, "tasks" include warehousing (receipt, transportation, loading (palletizing), unloading (depalletizing), storage, etc.) of operation targets in the distribution system, replenishment of operation targets (opening, filling, replenishment, etc.), and , Can include a combination of multiple tasks performed in the goods issue (picking up, picking up, packing, loading, palletizing, etc.) to be operated. Further, the "task" includes, for example, grasping or lifting the operation target at a designated position, moving it along a designated route, and designating a designated position for rearranging, holding, or replacing the operation target. It may include releasing, unloading, and placing in.

Further, the robot system according to the present disclosure can access the operation target via a plurality of units such as a robot, whereby the robot system can access the operation target in the warehousing process, the replenishment process, the warehousing process, and the like. Can be automated for the work of. Further, the robot system according to the present disclosure classifies (groups) operation targets as appropriate based on differences in SKUs, for example, moves or arranges them to a target position or a designated place, and accesses those operation targets. It is also possible to relocate or reclassify at that location or to another location, and rearrange or replace them according to the characteristics of the operation target. In this case, the robot system reads one or more specific positions of the operation target or one or more identification information (for example, a barcode or a quick response (QR) code (registered trademark)) attached on the surface, and is required. Correspondingly, by collating with the master data, the operation target can be identified and / or specified, and the information associated with the article or the like can be acquired.

Further, the robot system according to the present disclosure may be provided with a sensor such as an image sensor for identifying the position and state of the operation target (for example, a posture such as orientation) and / or the surrounding environment of the operation target. The image sensor can acquire an image of a work position (for example, a pickup position of an operation target, a drop position, a position in the middle of a route, etc.) in a task executed by each unit of the robot system, and an image of an operation target at each position. it can. Further, the robot system according to the present disclosure can process images of the operation target in a predetermined order (for example, from the top to the bottom of the operation target, from the outer edge, from the inside, etc.). At this time, for example, the state of the operation target is obtained by identifying or classifying the outer shape or environment of the operation target based on the colors, brightness, changes in their values, etc. of adjacent pixels in the image to be operated. And the situation can be judged as appropriate.

The robot system according to the present disclosure acquires and executes a control sequence for executing a task for accessing and operating an operation target and a task for transporting, moving, placing, storing, etc. the operation target. be able to. Such a control sequence may include a combination of basic control sequences for driving the actuating mechanism of each unit. The robot system can create or acquire a control sequence for executing various tasks by, for example, machine learning such as motion planning or deep learning.

Here, for example, in a conventional robot system used in a typical distribution system, when performing tasks related to warehousing, replenishment, and warehousing of an operation target, sufficient high-level interaction between a plurality of units is sufficiently performed. In many cases, operator assistance was indispensable between different tasks that were executed in succession. Further, for example, in a conventional robot system, it is possible to access, for example, an operation target in response to an order, but there are many cases where an operator needs to classify or order the ordered products. .. Further, in the conventional robot system, for example, when changing the unit that operates the operation target or changing the operation procedure of the operation target, it is difficult to change them by autonomous dialogue between the units. In many cases. In particular, it has been extremely difficult to change the control sequence autonomously or automatically, especially when the unit includes a unit that requires work including a task that requires the intervention or assistance of an operator. Further, conventionally, when loading an operation target on a pallet or the like, it is difficult for the SKU to automate the work of mixed loading of different operation targets on the same pallet, which requires the intervention of an operator, which hinders the full automation of the distribution system. It was.

Further, in the conventional robot system, as a basic control sequence, a task of grasping an operation target at a certain position, moving to another certain position in that state, and releasing the operation target is executed. However, it cannot be said that the storage efficiency of the operation target and the work efficiency of each unit can be sufficiently improved only by such a basic operation, and in particular, from the viewpoint of improving the storage efficiency of the operation target, the operator Intervention and support (coordination, redo, complementation, system outage, etc.) may be required.

In contrast, the various embodiments of the robotic system according to the present disclosure illustrated below, unlike conventional robots, coordinate and coordinate interactions between separate units (eg, operating robots, transfer robots, etc.) to perform tasks. It can be controlled and coordinated between different units. As a result, the intervention and support of the operator, which has been conventionally required, can be reduced, and the storage efficiency, work efficiency, and economic efficiency of the operation target can be improved. Further, by acquiring and managing information on the operation target and the pallet at an appropriate timing at the time of palletizing and depalletizing the operation target, it is possible to realize automation of the work in which different SKUs are mixedly loaded on the same pallet.

In addition, the robot system according to the present disclosure reliably identifies the operation area, operation path, position and state of the operation target, or a combination thereof for each unit, and smoothly and cross-cutting tasks executed by different units. Can be executed. Further, at that time, the storage efficiency of the operation target can be optimized based on the shape information, the identification information, the position information, and the like of the operation target, so that the space utilization efficiency can be further improved. To that end, robotic systems according to the present disclosure are based on one or more algorithms for ordering tasks in different units, one or more protocols for controlling interactions between units, and information about the state of the operation target. , Each unit can create or acquire a suitable control sequence that can realize highly coordinated operation and execute it.

Hereinafter, embodiments according to an example of the present disclosure will be described with reference to the drawings. However, the embodiments described below are merely examples, and are not intended to exclude the application of various modifications and techniques not specified below. That is, an example of the present disclosure can be implemented in various modifications without departing from the spirit of the present disclosure. Further, in the description of the following drawings, the same or similar parts are designated by the same or similar reference numerals, and the drawings are schematic and do not necessarily match the actual dimensions and ratios. Further, the drawings may include parts having different dimensional relationships and ratios from each other. Further, it goes without saying that the embodiments described below are only a part of the embodiments of the present disclosure and not all the embodiments. In addition, any other embodiment obtained by one of ordinary skill in the art based on the embodiments of the present disclosure without the need for creative action is included in the scope of protection of the present disclosure.

Also, in each embodiment, the techniques introduced herein can be implemented without those specific details. Further, well-known functions, such as specific functions or routines, will not be described in detail in order to avoid unnecessarily obscuring the present disclosure. Also, structures or processes that are well known and often associated with robotic systems and subsystems may also be omitted in detail for the purpose of clarification. References herein such as "an embodiment", "one embodiment", etc., include the particular features, structures, materials, or properties described in at least one embodiment of the present disclosure. Means that it is included. For this reason, the representation of such phrases herein does not necessarily refer to the same embodiment. On the other hand, such references are not necessarily mutually exclusive. Moreover, certain features, structures, materials, or properties can be combined in any suitable manner in one or more embodiments. It should be understood that the various embodiments illustrated are merely descriptive indications and are not necessarily shown at actual scale.

Also, many embodiments or embodiments in the present disclosure include processes, steps, routines, blocks, etc. executed by a programmable computer or controller, and are computer executable? Alternatively, it can take the form of an instruction that can be executed by the control device. Those skilled in the art of such related arts should understand that the techniques of the present disclosure may be implemented in computer or control system systems other than those shown in each embodiment. The techniques described herein are performed within a specific purpose computer or data processor programmed, configured, or constructed to execute one or more instructions that can be executed on the computers described below. can do.

Thus, the terms "computer" and "control device" commonly used herein include any data processor, including Internet devices and handheld devices (palmtop computers, wearable computers, cellular or mobile phones, etc. Includes multi-processor systems, including processor-based or programmable household electrical equipment, network computers, mini-computers, etc.). The information handled by these computers and control devices can be provided to any suitable display medium, including, for example, a liquid crystal display (LCD).

Instructions for performing work that can be performed on a computer or control unit may be stored in hardware, firmware, or any other computer-readable, non-transient recording medium that includes a combination of hardware and firmware. it can. Also, each instruction can be included in any suitable memory device, including, for example, a flash drive and / or other suitable medium.

The terms "coupled" and "connected" and similar terms may be used to describe the structural relationships between components. However, it is not intended that these terms are synonymous with each other. Specifically, in certain embodiments, "connected" can be used to indicate that two or more elements are in direct contact with each other. Unless explicitly stated otherwise from the context, the term "coupled" means that two or more elements are direct or indirectly (with other intervening elements between them). Being in contact with each other, or two or more elements cooperating or interacting with each other (as in a causal relationship, such as those relating to signal transmission / reception or function calls), or It can be used to indicate both.

[Application example]
FIG. 1 is a schematic flow chart showing an exemplary work sequence by a physical distribution system including a robot system according to an embodiment of the present disclosure. In the work sequence, for example, an operation target (in the present embodiment, for example, an operation target placed on a warehousing process P10 for receiving a container such as a carton box containing an article in a distribution center or the like, for example, a rack The replenishment process P20 for replenishing and storing the ordered goods, and the shipping process P30 for picking up and delivering the ordered goods from the operation targets replenished and stored in the rack are included.

In the warehousing process, in step S101, first, the operation target carried by the vehicle or the like is received, and unloading is performed using, for example, a devanning robot. In step S102, for example, a sorting system is used to convey the operation target to the standby position of the transshipment pallet by a conveyor or the like. Next, in step S103, the conveyed operation target is loaded onto an appropriate pallet by, for example, a palletizing robot.

In the replenishment process P20, in step S104, in order to unpack the pallet loaded with the operation target by using, for example, a pallet AGV (an automatic guided vehicle configured to mount or lift and move the pallet). It is transported to the position of, and is unloaded from the pallet by, for example, a depalletizing robot. In step S105, for example, using a top cutting machine, the upper surface portion is cut (top cut) so as to open the upper surface of the operation target and unpacked, and the operation target is moved to the standby position of the storage rack by a conveyor or the like. To carry. Next, in step S106, the operation target is stored in an appropriate position on the rack by, for example, a fetching robot, and the rack is used, for example, using a rack AGV (automated guided vehicle configured to mount or lift and move the rack). Transport to the storage location of and store in an appropriate state.

In the warehousing process P30, when an article is ordered, in step S107, the rack containing the operation target containing the ordered article is transported to the take-out position by using, for example, a rack AGV, for example, a fetching robot. Takes out the target operation target from the rack. In step S108, for example, a piece picking robot is used to pick up an ordered item from the operation target and transfer it to a shipping container or the like. Then, in step S109, for example, a packing machine is used to pack the shipping container or the like, and in step S110, the packed shipping container is loaded on, for example, an appropriate cart or vehicle and delivered (shipped).

As described above, the robot system according to the embodiment of the present disclosure is a devanning robot, a palletizing robot, as an operation robot which is a transfer / sorting unit configured to execute an operation for moving an operation target between different places. , Deparating robots, fetching robots, piece picking robots, packing machines and the like can be included. Further, the robot system according to the embodiment of the present disclosure may include a sorting system, a pallet AGV, a rack AGV, and the like as a transfer robot that is a transport unit.

Here, FIGS. 2A and 2B are perspective views schematically showing the appearance of the exemplary transfer robots 11 and 12 according to one or more embodiments of the present disclosure. The transfer robots 11 and 12 can include mobile / wheeled robots such as rack AGVs configured to transfer pallets between predetermined positions. For example, the transfer robots 11 and 12 have external dimensions capable of moving under and / or between pallets. Further, the transfer robots 11 and 12 can include a lifting mechanism (fork) configured to lift the pallet from the ground (transport path surface).

The transfer robots 11 and 12 can be guided and steered (navigated) by various mechanisms. For example, the transfer robots 11 and 12 themselves so as to follow a predetermined path given as floor marking (for example, painting, tape, etc.) based on a command from the control device of the robot system according to the embodiment of the present disclosure. Can run. In addition, the transfer robots 11 and 12 can calculate the current position via a mapping / positioning mechanism (for example, a dead reckoning system, a laser-based system, and / or a wireless communication signal-based system), and the current position can be calculated. Based on, it is possible to move along the specified route and route.

The robot system according to the embodiment of the present disclosure includes, for example, a target position of a pallet to be transported, a holding position of the pallet, and identification of the pallet via a control device as a stand-alone device or a part of another unit. Information, routes, motion plans, or combinations thereof can be transmitted to the transfer robots 11 and 12. Based on the communication command information, the transfer robots 11 and 12 move to, for example, the holding position of the pallet to be transferred, lift the pallet, transfer the pallet to the specified position, and / or specify the pallet. You can perform tasks such as placing them in positions. Further, the transfer robots 11 and 12 can execute or complete the task by returning the pallet to be transferred to, for example, the original holding position or a different storage position.

3 and 4, respectively, are perspective views and side views schematically showing the appearance of the exemplary operating robots 13 and 14 in one or more embodiments of the present disclosure. The operation robots 13 and 14 can include, for example, a robot configured to transfer the operation target 16 (see FIG. 4) between predetermined positions. For example, the operation robots 13 and 14 are attached to end effectors 131 and 141 such as a gripper (gripper) capable of gripping an operation target by vacuum suction or a hand type for picking, and the tip portion thereof. It has structural members such as robot arms 132 and 142. As a result, the operation robots 13 and 14 can grip the operation target from the upper direction or the lateral direction. Further, the operation robots 13 and 14 may be fixedly provided at a predetermined position or may be provided so as to be movable. In addition, the end effector 141 of the operation robot 14 may have a plate-shaped guide or the like for supporting (holding) the operation target 16 from below like a so-called devanning gripper, and may have a devanning robot or fetching. It functions well as a robot.

The operating robots 13 and 14 can be driven, for example, based on a command from the control device of the robot system according to the embodiment of the present disclosure. Further, the operation robots 13 and 14 can calculate the current position of the operation target, and can operate the operation target along the designated route and the route based on the current position. The robot system according to the embodiment of the present disclosure includes, for example, a target position and a pickup position of an operation target, identification information of the operation target, a route, an operation plan, via a control device as a stand-alone device or a part of another unit. Alternatively, the combination thereof can be transmitted to the operation robots 13 and 14. Based on the communication command information, the operation robots 13 and 14 move, for example, the end effectors 131 and 141 to the gripping position of the operation target, grip the operation target, lift it, transfer it to the designated position, and / or You can perform tasks such as placing it in a specified position.

[Configuration example]
FIG. 5 is a block diagram showing an example of the hardware configuration and the functional configuration of the robot system according to the embodiment of the present disclosure. For example, the robot system 500 can include electronic / electrical equipment such as a processor 502, a storage device 504, a communication device 506, an input-output device 508, an operating device 512, a transfer motor 514, a sensor 516, or a combination thereof. .. The robot system 500 can include one or more of each of these elements and each device.

Also, each of these elements and each device can be coupled to each other via a wired and / or wireless connection. For example, the robot system 500 includes a system bus, a peripheral component interconnect (PCI) bus or a PCI-express bus, HyperTransport or an Industrial Standard Configuration (ISA) bus, a small computer system interface (SCSI) bus, a universal serial bus (USB), and the like. Buses such as the IIC (I2C) bus, or the IEEE 1394 standard bus (also referred to as "Firewire") can be included.

The robot system 500 can also include, for example, a bridge, an adapter, a control device, or a device for other signals to provide a wired connection between the devices. Wireless connections include, for example, cellular communication protocols (eg, 3G, 4G, LTE, 5G, etc.), wireless local area network (LAN) protocols (eg, wireless fidelity (WIFI)), peer-to-peer or device-to. Device communication protocols (eg, Bluetooth®, Near-Field Communication (NFC), etc.), Mono Internet (IoT) protocols (eg, NB-IoT, LTE-M, etc.), and / or other radios. It can be based on a communication protocol.

The processor 502 is a data processor (eg, a central processing unit (CPU)) configured to execute instructions (eg, software instructions) stored in a storage device 504 (eg, computer memory), a special purpose computer, and /. Or an onboard server) can be included. The processor 502 can execute program instructions to control / interact with other devices, thereby causing the robot system 500 to perform various actions, tasks, and / or operations in the task.

The storage device 504 may include a non-transient computer-readable recording medium having program instructions (eg, software) stored therein. Some examples of storage device 504 include volatile memory (eg, cache and / or random access memory (RAM)), non-volatile memory (eg, flash memory and / or magnetic disk drive), portable memory drive, cloud. Examples include storage devices.

In some embodiments, the storage device 504 further stores processing results, predetermined data, predetermined thresholds, predetermined parameters, and the like, and can access them as appropriate. For example, the storage device 504 can store master data 552 including information data associated with an operating object that can be steered by the robot system 500.

The master data 552 contains dimensions, shapes (eg, computer-generated templates for possible states, computer-generated models for recognizing different states of operation, etc.) and color schemes for objects operated by the robot system 500. , Images, identification information (eg, barcodes, quick response (QR) codes®, logos, etc., where they are expected to be located, etc.), expected weights, or combinations thereof. Further, the master data 552 is the position of the center of mass (center of gravity) of each operation target, and the measured values (for example, force, torque, pressure, contact reference value, etc.) of the sensor expected according to one or more movements / movements. Various measurements, etc.), or combinations thereof, etc., and related information regarding the subject and its maneuvering can be included.

Further, for example, the storage device 504 can store the target tracking data 554 regarding the tracking of the operation target by the robot system 500. Target tracking data 554 may include logs of operated objects that have been scanned or manipulated. In addition, the target tracking data 554 includes image data (eg, photo, point cloud, live) of the operation target at one or more positions (for example, a designated pickup position or drop position, and / or a position on a conveyor belt). The position and / or state (orientation, etc.) of the operation target at one or more positions may be included (such as providing a video).

The communication device 506 can include a circuit configured to communicate with an external device or a remote device via a network. For example, the communication device 506 can include a receiver, a transmitter, a regulator / demodulator (modem), a signal detector, a signal encoder / decoder, a connector port, a network card, and the like. The communication device 506 can be configured to transmit, receive, and / or process electrical signals according to one or more communication protocols (eg, Internet Protocol (IP), wireless communication protocol, etc.). The robot system 500 uses the communication device 506 to exchange information between units of the robot system 500 and / or for purposes such as data collection, analysis, reporting, troubleshooting, and the like. Information can be exchanged with 500 external systems / devices.

The input-output device 508 may include a user interface device configured to communicate information with and / or receive information from the operator. For example, the input-output device 508 can include a display 510 and / or other output device for communicating information to the operator, such as a speaker, a tactile circuit, or a tactical feedback device. The input-output device 508 also includes control or reception devices such as keyboards, mice, touch screens, microphones, user interface (UI) sensors (eg, cameras for receiving motion commands), wearable input devices, and the like. Can be done. The robot system 500 can use the input-output device 508 to interact with the operator in performing tasks, actions, tasks, operations, or a combination thereof performed by the robot system 500.

Appropriate units in the robot system 500 perform structural members connected by joints for movement (eg, rotation and / or translation), such as grip (pickup, grip), rotation (spin), welding, etc. End effectors configured to perform, robotic arms configured to steer end effectors, etc.) can be included (see also FIGS. 3 and 4 for example). The robot system 500 also includes actuating devices 512 (eg, motors, actuators, wires, man-made) configured to drive or steer (eg, displace and / or orient) the structural members at or around the joints. It can include muscles, electroactive polymers, etc.) and a transfer motor 514 configured to transfer the unit from one position to another.

The robot system 500 may include sensors 516 for driving or maneuvering the structural members and / or for obtaining information used to perform transfer operations and the like of each unit. Sensors 516 are such that they detect or measure one or more physical properties of the robot system 500 (eg, the state, condition, position, etc. of one or more joints or structural members) and / or the characteristics of the surrounding environment. It can include various devices configured in. The sensor 516 may include an accelerometer, a gyroscope, a force sensor, a strain gauge, a torque sensor, and the like, as well as an image sensor 522, a position sensor 524, a contact sensor 526, and the like.

Sensors 516 are configured as one or more imaging sensors 522 to detect the surrounding environment, eg, visible and / or infrared cameras, 2D and / or 3D imaging cameras (2D vision and / or). Or 3D vision), ranging devices such as riders or radars, and the like. The imaging sensor 522 is, for example, a digital image and / or a point cloud (point cloud) used to control each unit and control device when applying automatic inspection, robot guidance, or other robots. Display data can be generated.

The robot system 500 acquires and analyzes an image of a designated area (for example, an area including a gripping position, a pickup position, a drop position, another working position, etc.) of the operation target in order to operate the operation target. , Each position can be identified. For example, the image sensor 522 can include the above-mentioned camera, distance measuring device, and the like configured to generate image data and distance data of a designated area. The robot system 500 can determine, for example, a gripping position, a pickup position, a drop position, and other working positions of the operation target based on the acquired image and / or distance measurement data. It should be noted that the work may include scanning the operation target in order to log the operation target at the time of transportation / receipt. In this case, the imaging sensor 522 is one or more scanners configured to scan the operating object's identification information during transport of the operating object (eg, a barcode scanner and / or a QR code scanner®). ) Can be included.

Further, the sensor 516 is configured as a position sensor 524 to detect the position of the above-mentioned structural member (for example, a robot arm and / or an end effector) and / or a joint in each unit of the robot system 500. For example, a position encoder, a potentiometer and the like can be included. The robot system 500 can use position sensors 524 to track the position and / or state (orientation, etc.) of structural members and / or joints while performing work in a task.

In addition, the sensor 516, as a contact sensor 526, is configured to measure properties associated with direct contact between multiple physical structures or surfaces, such as pressure sensors, force sensors, strain gauges, piezoelectric resistance. / It can include piezoelectric sensors, capacitive sensors, elastic resistance sensors, other tactile sensors and the like. The contact sensor 526 can measure the characteristics of the end effector on the operation target, for example, corresponding to the grip operation. Therefore, the contact sensor 526 is configured to be able to detect a physical quantity corresponding to the degree of contact or attachment between the operation target and the gripper (gripper), and is a quantified measured value (for example, force, torque). , Pressure, contact reference value, various measured values related to them, etc.) can be output. The contact reference value includes a reading value of one or more forces or torques related to the force applied to the operation target by the end effector.

In the above description and the following description, the robot system 500 is described as an example in a warehouse or a distribution system, but is not limited thereto, and may be manufactured, assembled, packed, healthcare, and / or other types. It can be configured to perform various tasks in other environments / for other purposes in order to perform automated tasks. In addition, the robot system 500 can include other units (not shown) such as a manipulator, a service robot, and a modular robot. The robot system 500 also operates in a warehouse or distribution / transport hub, for example, and various unloading / loading robots, sorting for transferring an operation target from a cage cart or pallet to a conveyor or other pallet. System, unpacking robot for unpacking the operation target, pallet cutting machine, container switching robot for transferring the operation target from one container to another, packing robot for packing the operation target, packing machine, Or a combination thereof can be provided.

[Operation example]
FIG. 6 is a front view (partial functional configuration diagram) showing an example of a work flow executed by the robot system according to the embodiment of the present disclosure and an example of the functional configuration of the control device provided in the robot system. .. The robot system 600 in the present embodiment includes, for example, a control device 610 as a device provided in a warehouse or the like which is a storage, replenishment / storage, and delivery base of a distribution system and adjusts and controls the operation of each unit in the robot system 600. obtain. Further, the robot system 600 can be said to be a system in which the warehousing process shown in FIG. 1 is particularly suitable for loading the operation target on the pallet in the warehousing process P10 and unloading the operation target from the pallet.

As described above, the control device 610 is configured as a stand-alone device or a part of another unit, and includes transfer robots 11 and 12 (exemplified as transfer robot 11 in FIG. 6; the same applies hereinafter) and operation robots 13 and 14 (FIG. 6). In 6, the operation robot 13 having a hand-type end effector for picking is exemplified instead of the gripper. The same shall apply hereinafter), and the operation in the task executed by the unit such as another robot or the transport means is adjusted and operated. Can be controlled. More specifically, the control device 610 is connected to a sensor 516 including a transfer robot 11, an operation robot 13, and an image pickup sensor 522, and if necessary, a warehouse management system (WMS: Warehouse Management) (not shown). System), other higher-level systems, and / or interconnected with external systems.

Further, the control device 610 includes a data acquisition unit 612, a data storage unit 614, and a robot control unit 616, and as can be understood from the comparison with FIG. 5, the control device 610 mainly includes the processor 502, the storage device 504, and the like. And communication device 506. In particular, the processor 502 can function as the data acquisition unit 612 and the robot control unit 616, and the storage device 504 can function as the data storage unit 614. The robot system 600 can be configured to execute a first task for loading the operation target 16 on the pallet 15 and / or a second task for unloading the operation target 16 from the pallet 15.

[First task: Loading the operation target 16 on the pallet 15]
In the first task, the tasks A1 to A5 shown below are executed in an appropriate order and at an appropriate timing in combination.
A1: The pallet 15 stored in the storage area 101 is transported from the storage position to the access position 601 (stop position SL) in the classification area 103 by the transfer robot 11.
A2: The operation robot 13 picks up and grips the operation target 16 temporarily placed on the transfer position 602 (transfer position OL) on the conveyor in the classification area 103, for example.
A3: The gripped operation target 16 is moved from the transfer position 602 to the access position 601.
A4: The operation target 16 is loaded at an empty designated position on the pallet 15 held by the stationary transfer robot 11.
A5: The pallet 15 on which the operation target 16 is stacked is returned from the access position 601 to the storage position in the storage area 101 by the transfer robot 11.

In this embodiment, an example in which the transfer robot 11 holds and moves the pallet 15 which is the loading destination of the operation target 16 is not limited thereto. For example, the operation target 16 may be loaded and unloaded while the pallet 15 having a configuration that cannot be placed on the transfer robot 11 is placed on the ground, and the pallet 15 may be transported by a different means (conveying means) from that of the transfer robot 15. It may be moved by a forklift or the like). Further, the operation target 16 may be loaded and unloaded while the pallet 15 is placed on a conveyor which is another transport means, and the pallet 15 is predetermined along a transport path defined by the conveyor. It may be transported to a point and finally moved from the conveyor by a different transport means (forklift, etc.).

Here, FIG. 7 is a flow chart showing an example of a procedure for operating the robot system according to the embodiment according to the present disclosure to execute the first task. First, in block 701, the data acquisition unit 612 acquires, for example, the first data including the information about the operation target 16 before executing the task A1 and the information about each palette 15, and the data storage unit 614 obtains the first data. The first data is stored in association with the operation target 16 and the palette 15.

For example, the data acquisition unit 612 takes an image of the operation target 16 temporarily placed on the transfer position 602 of the classification area 103 by an image sensor 522 such as 3D vision, processes the image data, and if necessary. Based on the master data 552, information regarding the operation target 16 such as identification information, position information, shape information, weight, and mass center can be acquired. Alternatively, the information regarding the operation target 16 and the pallet 15 can be estimated or specified from the tracking information of the operation target 16 and the pallet 15 in the master data 552. As a method for identifying / tracking the operation target 16, for example, the methods described in Japanese Patent Application No. 2019-118678, Japanese Patent Application No. 2019-080213, US Patent Application 16 / 258, 120, etc. by the present applicant shall be applied. Can be done. Alternatively, the data acquisition unit 612 can also acquire information about the operation target 16 from a higher-level system such as WMS. In this case, the operation target 16 is arranged in advance before being arranged at the transfer position 602. You can also get information about.

Next, in the block 702, the robot control unit 616 determines the pallet 15 for loading the operation target 16 based on the information regarding the operation target 16 and the information regarding each pallet 15 stored in the storage area 101. To do. Then, information about the operation target 16 (SKU, size, shape, weight, quantity, etc.), information about the pallet 15 (size, shape, free area, load capacity, quantity, plane of the operation target 16 already loaded, and Based on the height position, etc., information about the operation target 16 already loaded, etc.), for example, it is suitable for improving the storage efficiency of the entire warehouse while aggregating the operation target 16 as much as possible in SKU units. Candidates for the pallet 15 can be selected.

In this case, the arrangement of the operation target 16 having the same or similar SKU on the pallet 15 may be aggregated, or only such an operation target 16 may be loaded (single) on the pallet 15. Alternatively, a plurality of types of operation targets 16 having different SKUs may be loaded (mixed) on the pallet. These can be appropriately selected depending on the usage pattern of the pallet 15. For example, when the operation target 16 is temporarily stacked on the pallet 15 (temporary placement), in addition to the above information, the operability of the operation target 16 after the temporary placement (for example, the ease of unloading the ordered product). Etc.), etc., select single loading / mixed loading on each pallet 15, appropriately select the operation target 16 to be loaded on the pallet 15, or appropriately determine the loading order of each operation target 16. Such control can be performed. Further, one or more optimum pallets 15 can be selected in consideration of the transport route to the classification area 103 of the pallets 15 on which the operation target 16 is stacked.

In addition, based on each of the above information, regardless of temporary placement, and in both single and mixed loading, for example, information on the pallet 15 (particularly, free area, plane and height position). Etc.), the operation target 16 can be selected and stacked on the pallet 15. Further, for example, in consideration of the information (conditions) regarding the operation target 16 that comes in, the ratio of single loading and mixed loading is adjusted, and the degree of mixed loading in each pallet 15 at the time of mixed loading is adjusted. be able to. Further, a plurality of pallets 15 on which the operation target 16 can be stacked may be arranged, and the loading operations on the pallets 15 may be performed in parallel. Further, a pallet 15 having more preferable conditions may be selected. It is also possible to further improve work efficiency. Further, of course, the operation target 16 may be temporarily placed on another temporary storage means or temporary storage place before the operation target 16 is directly loaded on the pallet 15.

Next, in the block 703, the robot control unit 616 designates the transfer robot 11 for transferring the determined one or more pallets 15 from the storage area 101 to the access position 601 of the classification area 103, and each transfer robot. A control sequence including the transport path of the pallet 15 by 11 is created or acquired by, for example, machine learning. Based on the control sequence, the robot control unit 616 commands the designated transfer robot 11 to execute task A1 for transporting the pallet 15 to the access position 601.

At the same time as task A1 or before and after task A1, in block 704, the robot control unit 616 temporarily places the operation target 16 at the transfer position 602 based on the information about the operation target 16, and the operation robot 13 Then, for example, a control sequence for picking up, grasping, and moving from the transfer position 602 to the access position 601 is created or acquired by, for example, machine learning. Based on the control sequence, the robot control unit 616 commands the operation robot 13 to perform tasks A2 and A3 for grasping the operation target 16 by the operation robot 13 and moving to the access position 601.

The timing of executing these tasks A2 and A3 is not particularly limited. For example, the robot control unit 616 operates at least a part of the operations in the control sequence before the pallet 15 reaches the access position 601. You may command the robot 13. In this case, before the pallet 15 reaches the access position 601, the operation robot 13 completes grasping the operation target 16 and moving to the access position 601. Immediately after the arrival of the pallet 15, the operation target 16 is loaded on the pallet. The task A4 to be attached can be executed.

Next, in the block 705, the control device 610 images the operation target 16 and the palette 15 at the access position 601 by the image sensor 522 such as 3D vision, and processes the image data to operate the operation target. Check the state and status of 16 and pallet 15. In block 705, the robot control unit 616 further bases the information on the operation target 16 and the information on the pallet 15 (in particular, the loading status and aggregation status of the operation target 16 on the pallet, and the availability status on the pallet 15). Then, a position on the pallet 15 for stacking the operation target 16 and a control sequence including the movement path of the operation target 16 to the position are created or acquired by, for example, machine learning. Based on the control sequence, the robot control unit 616 executes the task A4 for dropping the operation target 16 to a vacant designated position on the pallet 15 held by the stationary transfer robot 11. To command.

At this time, the robot control unit 616 can use, for example, an arbitrary position on the pallet 15 held by the transfer robot 11 stopped at the access position 601 as reference coordinates when the operating robot 13 accesses the pallet 15. .. The stationary position of the pallet 15 can be calculated based on the access position 601 at which the transfer robot 11 holding the pallet 15 stops, but the position of the pallet 15 on the transfer robot 11 may deviate from the standard position. Therefore, the control device 610 calculates the positions of the transfer robot 11 and the pallet 15 from the image data of the pallet 15 at the access position 601 and the data acquisition unit 612 determines the relative position information between the transfer robot 11 and the pallet 15. Can be obtained. Then, the robot control unit 616 corrects the position information of the pallet 15 at the access position 601 based on the relative position information of the two, and based on the corrected position information of the pallet 15, for the task A4. It is preferable to create or acquire a control sequence by, for example, machine learning.

After the loading of the operation target 16 on the pallet 15 is completed in this way, in the block 706, the robot control unit 616 transfers the pallet 15 on which the operation target 16 is loaded from the access position 601 to the storage area 101 by the transfer robot 11. A control sequence including a transport route to be returned to the storage position is created or acquired by, for example, machine learning. Based on the control sequence, the robot control unit 616 commands the transfer robot 11 to execute task A5 for transferring and returning the pallet 15 to the storage area 101.

After the first task of loading the operation target 16 on the pallet 15 is completed, in the block 707, the data acquisition unit 612 receives information about the pallet 15 on which the operation target 16 is loaded, and the pallet 15. The second data including the information on the loading position of the operation target 16 in the above is acquired, and the data storage unit 614 stores the second data in association with the operation target 16 and the pallet 15.

In other words, the robot control unit 616 aggregates the arrangements of the operation target 16 on the pallet 15 based on the second data when the operation target 16 is loaded on the pallet 15 from the next time onward. It is possible to create or acquire a control sequence for densely storing the operation target 16 so as to eliminate unnecessary space as much as possible. Further, in this case, based on the characteristics of the operation target 16, for example, the operation targets 16 having the same or similar SKUs are aggregated, or the operation targets 16 having the same or similar shape and dimensions are aggregated. You can also create or get control sequences that are stored. The second data regarding the loading status of the operation target 16 on the pallet 15 acquired in this way is updated for each operation target 16 and for each loading operation of the operation target 16, and the second task (from the pallet 15) described later. It can be appropriately used in the unloading of the operation target 16).

Further, the data storage unit 614 two-dimensionally obtains the position (arrangement) information of the plurality of operation targets 16 on the palette 15 in units of 16 operation targets or layers of the palette 15 based on the second data thus obtained. It can be stored as information or as three-dimensional information over the entire palette 15.

Further, the operation target 16 may have an identification code or an identification tag as identification information, for example, on its side surface. In this way, even when the operation target 16 is stacked on the pallet 15, the identification information of the operation target 16 can be visually exposed from the outside of the pallet 15. Then, by confirming the identification information of the operation target 16 with the image sensor 522 or the like, the operation target 16 can be easily identified and specified even when the operation target 16 is still loaded on the pallet 15. .. In this case, as described above, if the position information of the plurality of operation targets 16 on the pallet 15 is stored as two-dimensional information or three-dimensional information, the operation target 16 can be specified and loaded on the pallet 15. The operation target 16 being operated can be easily specified for each layer on the palette 15 or for each palette 15. The image sensor 522 is in a state in which the transfer robot 11 holding the pallet 15 is stationary, or a state in which the transfer robot 11 holding the pallet 15 is moving, that is, a state in which the pallet 15 is stationary or moving. In either case, the palette 15 can be configured to image.

Further, the robot control unit 616 is configured to determine that the loading of the operation target 16 on the pallet 15 is completed before the loading operation (task A4) of the operation target 16 on the pallet 15 is actually completed. You may. For example, when all or most of the operation target 16 is moved onto the pallet 15 by the operating state of the end effector of the operation robot 13 or by tracking the movement of the operation target 16 by the image sensor 522, or the operation. When a part of the target 16 comes into contact with the pallet 15 or the already loaded operation target 16, it can be determined that the loading of the operation target 16 is completed.

The robot system 600 executes a first task (loading the operation target 16 on the pallet 15) and a second task (operation from the pallet 15) in which the unit tasks B1 to B5 shown below are combined in an appropriate order and at a timing. Unloading of target 16) can be carried out.

[Second task: Unloading the operation target 16 from the pallet 15]
In the second task, the tasks B1 to B5 shown below are executed in a combination in an appropriate order and at an appropriate timing.
B1: The pallet 15 stored in the storage area 101 and loaded with the operation target 16 is transported from the storage position to the access position 601 (stop position SL) in the classification area 103 by the transfer robot 11.
B2: The operation target 16 on the pallet 15 held by the transfer robot 11 stationary at the access position 601 is picked up and gripped by the operation robot 13, for example.
B3: The gripped operation target 16 is moved from the access position 601 to the transfer position 602.
B4: The operation target 16 is dropped at the transfer position 602 and temporarily placed.
B5: The rack 15 from which the operation target 16 has been unloaded is returned from the access position 601 to the storage position in the storage area 101 by the transfer robot 11.

Similar to the description of the first task, the present embodiment describes an example in which the transfer robot 11 holds and moves the pallet 15 which is the unloading target of the operation target 16, but the present invention is not limited to this.

Here, FIG. 8 is a flow chart showing an example of a procedure for operating the robot system according to the embodiment according to the present disclosure to execute the second task. First, in block 801 the data acquisition unit 612 acquires, for example, first data including information on the operation target 16 before executing the task B1 and information on each palette 15, and the data storage unit 614 obtains the first data. The first data is stored in association with the operation target 16 and the palette 15.

For example, the data acquisition unit 612 operates the operation target 16 such as identification information, position information, shape information, weight, and mass center based on the second data stored in the data storage unit 614 and the master data 552 as needed. It is possible to acquire information about the data, identification information of the pallet 15 on which the operation target 16 is loaded, and storage position information. Then, in the block 802, the robot control unit 616 unloads the operation target 16 based on the information about the operation target 16 and the information about each pallet 15 stored in the storage area 101. Can be selected, and one or more optimum pallets 15 can be determined in consideration of the transport route to the classification area 103 and the like.

Next, in the block 803, the robot control unit 616 designates the transfer robot 11 for transferring the determined one or more pallets 15 from the storage area 101 to the access position 601 of the classification area 103, and each transfer robot. A control sequence including the transport path of the pallet 15 by 11 is created or acquired by, for example, machine learning. Based on the control sequence, the robot control unit 616 commands the designated transfer robot 11 to execute task B1 for transporting the pallet 15 to the access position 601.

When the end effector of the operating robot 13 is not at the access position 601, the robot control unit 616 executes a task to move the end effector of the operating robot 13 to the access position 601 at the same time as the task B1 or before and after the task B1. Is commanded to the operation robot 13. In this case, by completing the movement of the operation robot 13 before the pallet 15 reaches the access position 601, the task B2 of unloading the operation target 16 from the pallet 15 is executed immediately after the arrival of the pallet 15. can do.

When the transfer robot 11 arrives at the access position 601, in the block 804, the control device 610 images the operation target 16 and the palette 15 at the access position 601 by the image sensor 522 such as 3D vision, and processes the image data. The state and status of the operation target 16 and the pallet 15 are confirmed by. In block 804, the robot control unit 616 further sets the operation target 16 on the pallet 15 based on the information on the operation target 16 and the information on the pallet 15 (particularly, the loading status and the aggregation status of the operation target 16 on the pallet). A control sequence for picking up the operation target 16 including the designation of the position and the movement path of the end effector to the position and moving from the access position 601 to the transfer position 602 is created or acquired by, for example, machine learning. To do. Based on the control sequence, the robot control unit 616 grips the operation target 16 on the pallet 15 held by the transfer robot 11 stationary at the access position 601 and moves the operation target 16 to the transfer position 602. Command the operating robot 13 to execute tasks B2 and B3.

Further, in this case, the handleability when unloading the operation target 16 from the pallet 15 is shown based on the information on the operation target 16 and the information on the pallet 15 (second data) and / or the processing result of the image data. An index may be calculated. Then, based on the index indicating the handleability, the operation target 16 and the control sequence including the identification of the pallet 15 on which the operation target 16 is stacked are configured to be created or acquired by, for example, machine learning. May be good.

Further, at this time, similarly to the first task, the control device 610 calculates the positions of the transfer robot 11 and the pallet 15 from the image data of the pallet 15 at the access position 601 and the data acquisition unit 612 calculates the transfer robot 11 And the relative position information of the palette 15 can be acquired. Then, the robot control unit 616 corrects the position information of the pallet 15 at the access position 601 based on the relative position information of the two, and based on the corrected position information of the pallet 15, for task B2. It is preferable to create or acquire a control sequence by, for example, machine learning.

Next, in the block 805, the control device 610 has the operation target 16 held at the transfer position 602 by the image sensor 522 such as 3D vision, and the transfer position 602 (for example, the final position on the conveyor). Etc.) and process the image data to confirm the state and status on the operation target 16 and the transfer position 602. In block 805, the robot control unit 616 further creates or acquires a designated position for transferring the operation target 16 and a control sequence including the movement path of the operation target 16 to the designated position by, for example, machine learning. .. Based on the control sequence, the robot control unit 616 commands the operation robot 13 to execute the task B4 for dropping the operation target 16 to the designated position at the transfer position 602. When the operation target 16 is directly transferred to a container or the like prepared at the transfer position 602, the availability of the container may be confirmed by the image sensor 522 to improve the storage efficiency. ..

After the unloading of the operation target 16 from the pallet 15 is completed in this way, in the block 806, the robot control unit 616 transfers the pallet 15 from which the operation target 16 has been unloaded from the access position 601 to the storage area 101 by the transfer robot 11. A control sequence including a transport route to be returned to the storage position is created or acquired by, for example, machine learning. Based on the control sequence, the robot control unit 616 commands the transfer robot 11 to execute task B5 for transferring the pallet 15 to the storage area 101.

After the second task of unloading the operation target 16 from the pallet 15 is completed, in the block 807, the data acquisition unit 612 receives information about the pallet 15 on which the operation target 16 is unloaded, and the pallet 15. The second data including the information of the loading position of the other operation target 16 loaded on the operation target 16 is acquired, and the data storage unit 614 stores the second data in association with the operation target 16 and the pallet 15. As described above, the second data regarding the loading status of the operation target 16 on the pallet 15 is updated for each operation target 16 and also for each unloading operation of the operation target 16. Further, the data storage unit 614 stores the position information of the plurality of operation targets 16 on the pallet 15 in 16 units of operation targets or 15 units of pallets based on the second data, and also as two-dimensional information or three-dimensional information. What can be memorized is the same as in the case of the first task.

Further, as in the case of the first task, if the operation target 16 has identification information on the side surface, for example, the identification information of the operation target 16 is captured even when the operation target 16 is stacked on the pallet 15. It can be confirmed by the sensor 522, and even when the operation target 16 is still stacked on the pallet 15, the operation target 16 can be easily identified by actual measurement. Further, the image pickup sensor 522 can be configured to take an image of the rack 15 while the transfer robot 11 holding the pallet 15 is stationary or the transfer robot 11 holding the pallet 15 is moving. ..

Further, the robot control unit 616 is configured to determine that the unloading of the operation target 16 from the pallet 15 is completed before the unloading work (task B2) of the operation target 16 from the pallet 15 is actually completed. You may. For example, when all or most of the operation target 16 moves to the outside of the pallet 15 due to the operating state of the end effector of the operation robot 13 or by tracking the movement of the operation target 16 with the image sensor 522, or. When all or part of the operation target 16 is separated from the pallet 15 or the operation target 16 loaded under the operation target 16, it can be determined that the unloading of the operation target 16 is completed.

According to the control device 610 and the control method of the robot systems 500 and 600 configured as described above, the operation target 16 is operated before being loaded on the pallet 15 or before the operation target 16 is unloaded from the pallet 15. Information about each of the target 16 and the palette 15 is grasped, and tasks (first and second tasks) based on a control sequence created or acquired by, for example, machine learning or the like are executed based on the first data including the information. To. As a result, the operation of loading the operation target 16 on the pallet 15 or the operation of unloading the operation target 16 from the pallet 15 can be efficiently and smoothly performed. At that time, it is possible to realize a high degree of cooperation between the units in the robot systems 500 and 600 (for example, the transfer robot 11 and the operation robot 13), thereby improving the functionality of the robot systems 500 and 600. be able to.

[Other application examples]
FIG. 9 is a schematic plan view showing an exemplary environment in which the robot system according to the embodiment of the present disclosure can operate. Similar to the robot system 600, the robot system 100 may be provided in, for example, a warehouse that is a warehousing, replenishment / storage, and warehousing base of a distribution system. Further, the robot system 100 may be configured to execute or execute one or more tasks and / or a task composed of a plurality of appropriate tasks combined. These tasks may be suitably performed or performed by a robot system 100 that includes one or more units (eg, various robots, various devices, control devices provided integrally or separately from them, and the like).

As shown in FIG. 9, the robot system 100 includes one or more transfer robots 11 and 12 (for example, pallet AGV) as transport units, and a transfer / sorting unit configured to move an operation target between different locations. One or more operating robots 13 (for example, peace picking robots) and their control devices (not shown in FIG. 9A) can be included.

The tasks executed by the robot system 100 are configured by combining each unit so as to execute individual tasks in an appropriate order in order to achieve a predetermined purpose, or each unit appropriately performs various different tasks. It can be configured to be selected and executed. In the robot system 100, each unit is a variety of different articles distributed and / or stored in a pallet 15 or container 16 in a storage area 101, and / or a predetermined warehousing order, packing order, or characteristics of the articles. One or more tasks can be performed to access a variety of different articles classified based on (SKU, etc.).

The transfer robot 11 can execute, for example, a task of transferring the pallet 15 on which the container 16 containing the ordered article is stacked between the storage area 101 and the transfer area 102. On the other hand, the transfer robot 12 can take out (pick up) the container 16 in which the ordered items are stored from the transferred rack 15. Further, the transfer robot 12 may execute a task of transferring the container 16 between the transfer area 102 and the classification area 103 (area for grouping articles: stop position SL of the container 16 in FIG. 9). it can. On the other hand, the operation robot 13 picks up the ordered article from the container 16 in the classification area 103, and the transfer position OL (for example, a container for packing the ordered article, a box, a conveyor or a temporary storage place on which the ordered article is placed) and / or It is possible to perform the task of moving to another shipping container or the like.

When executing a task, for example, when a shipping order is placed, when a stored article is rearranged, when an article is replenished, etc., the robot system 100 is used for each unit and / or a group. It is possible to identify different areas in which the modified units operate. For example, the robot system 100 can identify the storage area 101 in which the transfer robot 11 operates, the transfer area 102 in which the transfer robot 12 operates, and the classification area 103 in which the transfer robot 12 and / or the operation robot 13 operates. The areas in which the transfer robots 11 and 12 and the operation robot 13 operate are not limited to the above. For example, the transfer robot 11 may further operate in the transfer area 102 according to an appropriate control sequence, and the transfer robot 12 may operate. Further, it can be configured to operate in the storage area 101.

In addition, the regions in which the units operate may be adjacent to each other or may partially overlap each other. For example, the storage area 101 may be adjacent to the transport area 102, and the transport area 102 may partially overlap the classification area 103. In this case, the transfer robots 11 and 12 can operate in different areas by accessing the pallet 15 in the transfer area 102, for example, as shown in FIG. As a result, the robot system 100 can reduce the possibility of potential collisions between different types of units and / or the possibility of becoming obstacles to each other. The operation robot 13 can be fixedly arranged at a predetermined position, and in this case, the transfer robot 12 enters the classification area 103 without colliding with other units or causing traffic congestion during movement. It becomes easier to do.

Further, the robot system 100 can use an appropriate route for guiding and manipulating the transportation units such as the transfer robots 11 and 12. For example, the robot system 100 can use the first path P1 for manipulating one or more transfer robots 11 and / or the second path P2 for manipulating one or more transfer robots 12. .. The first path P1 and the second path P2 may be set to be separated by a distance or a space so as not to overlap each other, as shown in FIG. 9, for example, but the present invention is not limited to this.

Further, the first route P1 and the second route P2 are provided with floor markings (for example, painting, tape, etc.) that can be traced when transport units such as transfer robots 11 and 12 move by themselves. You may. As a result, the robot system 100 identifies the shape / position of the floor marking, and when instructing the transportation unit to calculate the route and / or to order the positions (for example, the pickup position and / or the drop position to be transported). The identified information can be used for. Further, the first route P1 and the second route P2 include a series of links (for example, a route between pallets 15) and a node (for example, an intersection position of the route or a designated position when changing the movement direction). be able to.

Further, the robot system 100 can calculate an efficient route in which the transport units such as the transport robots 11 and 12 move between the pickup position and the drop position of the transport target and do not interfere with other units. .. These transport units can calculate their current position within their route, for example using a location / navigation system, and move along a designated route and route based on their current position.

As described above, the robot system 100 can set a task as a series of tasks executed by a plurality of units, and the plurality of units are integrated tasks based on the characteristics of the individual tasks. Each unit can be tuned and controlled so that the execution of can be optimized, for example, defining the range of operations that require multiple units or operating over multiple specified areas. Adjustments such as defining the range can be made.

For example, in order to respond to a shipping order, in order to fulfill the order, a storage position of the ordered article in the storage area 101, for example, a pallet 15 on which the article is loaded, or a container 16 in which the ordered article is stored. Identify the pallet 15 loaded with, transfer the pallet 15 to the transport area 102, transfer the container 16 from the pallet 15 to the classification area 103, and deliver the ordered article from the container 16 to a target position, eg, shipping. Transfer to a container and / or conveyor, return the container 16 to the pallet 15, return the pallet 15 to the storage area 101, or set a task to perform an appropriate combination of those tasks. , Can be executed.

Further, in order to deal with the receipt and replenishment of goods, in order to determine the available storage position, for example, according to the demand forecast, the container 16 capable of storing the article and the container 16 as the storage position of the article are used. Determining the pallet 15 that can be loaded, storing the warehousing or replenishing article in the container 16, loading the container 16 in which the article is warehousing or replenished on the pallet 15, and placing the pallet 15 in a predetermined corresponding storage position. Tasks can be set up and executed to be transported or to perform an appropriate combination of those tasks.

Further, in order to control each unit, for example, the robot system 100 has a command (command) for operating an operating device in each unit, a setting condition, an operation plan, a position, identification information, a route, a current unit position, and the like. State and progress information, or a combination thereof, can be generated. The generated information can be communicated between the units, and the various generated information can be shared between the control device and each unit to execute the task.

In the above description of the robot system 100, the state in which the task related to the delivery (shipment) of the article is being executed is mainly described, but when the task related to the warehousing or replenishment of the article is executed, the task is executed. Basically, it can be dealt with by creating or acquiring a control sequence for operating the robot system 100 by, for example, machine learning, and executing a task based on the control sequence in a procedure opposite to the above description. ..

Although the embodiments as an example of the present disclosure have been described in detail above, the above description is merely an example of the present disclosure in all respects, and is for facilitating the understanding of the present invention. , Is not intended to limit the interpretation of the present invention. Further, it goes without saying that various improvements and modifications can be made without departing from the scope of the present disclosure, and each element provided in the embodiment and its arrangement, material, condition, shape, size, etc. are exemplified or specified. It is not limited to the one, and can be changed as appropriate.

In other words, the embodiments according to the present disclosure do not preclude other configurations, nor do they limit the disclosure to the above embodiments. Various modifications equivalent to the above embodiments according to the present disclosure can be realized within the scope of the present disclosure. For example, the order of implementation of processes, steps, routines, or blocks can be performed in a different order, with alternative embodiments within the scope of the present disclosure, and some processes, steps, routines, or blocks. May be deleted, moved, added, subdivided, combined, and / or modified within the scope of the present disclosure. Also, each of these processes, steps, routines, or blocks may be implemented in a variety of different ways. Further, even if the processes, steps, routines, or blocks are continuously implemented in the above embodiment, those processes, steps, routines, or blocks can be implemented in parallel. Or it may be performed discontinuously at different times. Furthermore, the particular numbers presented herein may have different values or ranges.

Moreover, the above-described embodiment is not limited to the “best mode” that can be assumed as a specific embodiment of the present disclosure, and may be implemented by many alternative methods. Moreover, the details of the embodiments may vary significantly in that particular embodiment, but may still be incorporated into the techniques of the present disclosure. In addition, the particular term used in describing a particular feature or aspect of the present disclosure is limited to the particular property, feature, or aspect, or particular embodiment in the present disclosure to which the term is associated. Thus, the invention is not limited to any particular meaning, except to the extent of the claims. Further, although the present invention is defined in the form of an arbitrary number of claims, it goes without saying that various aspects are assumed within the scope of the present disclosure.

11, 12 ... Transfer robot, 13, 14 ... Operation robot, 15 ... Pallet, 16 ... Operation target, Container, 40 ... Vehicle, 100, 500, 600 ... Robot system, 101 ... Storage area, 102 ... Transfer area, 103 ... Classification area, 131, 141 ... End effector, 132, 142 ... Robot arm, 502 ... Processor, 504 ... Storage device, 506 ... Communication device, 508 ... Input-output device, 510 ... Display, 512 ... Acting device, 514 ... Transfer Motor, 516 ... sensor, 522 ... image sensor, 524 ... position sensor, 526 ... contact sensor, 552 ... master data, 554 ... target tracking data, 601 ... access position, 602 ... transfer position, 610 ... control device, 612 ... Data acquisition unit, 614 ... data storage unit, 616 ... robot control unit, OL ... transfer position, P1 ... first path, P2 ... second path, SL ... stop position.

Claims (12)

A control device for a robot system including an operation robot that operates the operation target in order to load the operation target on the pallet and / or unload the operation target from the pallet.
Prior to loading and / or unloading the operation target from the pallet, information on the operation target and first data including information on the pallet are acquired and , And / or, after the operation target is loaded onto the pallet and / or the operation target is unloaded from the pallet, the information regarding the operation target and the data for acquiring the second data including the information regarding the pallet. Acquisition department and
A data storage unit that stores the first data and the second data,
Loading of the operation target on the pallet and / or loading of the operation target on the pallet based on the first data and the second data before unloading the operation target from the pallet. Attaching and / or creating or acquiring a control sequence for unloading the operation target from the pallet, and loading and / or loading the operation target on the pallet based on the control sequence. Alternatively, a robot control unit that commands the operating robot to execute a task for unloading the operation target from the pallet.
With
The robot control unit loads the operation target on the pallet and / or loads the operation target on the pallet before the unloading of the operation target from the pallet is completed. Alternatively, it is determined that the unloading of the operation target from the pallet is completed.
Control device. Based on the first data and the second data, the robot control unit creates or acquires the control sequence so that a plurality of types of operation targets having different inventory management units are loaded on the pallet.
The control device according to claim 1. Based on the first data and the second data, the robot control unit creates or creates the control sequence so that the arrangement of the operation target having the same or similar inventory management unit in the pallet is aggregated. get,
The control device according to claim 2. The robot control unit calculates an index indicating the handleability when unloading the operation target from the pallet based on the second data, and based on the index, the operation target and the operation target. Creates or obtains the control sequence, including the identification of the stacked pallets.
The control device according to any one of claims 1 to 3. The data storage unit stores a plurality of position information of the operation target on the pallet in the operation target unit or the pallet unit and as two-dimensional information or three-dimensional information.
The control device according to any one of claims 1 to 4. The robot system further includes a sensor that images the operation target or the pallet on which the operation target is stacked.
The robot control unit creates or acquires the control sequence for loading the operation target on the pallet so that the sensor can measure the identification information of the operation target.
The control device according to any one of claims 1 to 5. The data acquisition unit acquires the measured value or the estimated value of the information regarding the operation target and / or the information regarding the palette.
The control device according to any one of claims 1 to 6. The control device according to any one of claims 1 to 7.
A robot system including the operating robot and
A logistics system equipped with. The control device identifies the robot system and the area associated with the robot system, calculates a task based on the control sequence, and calculates the task.
The task includes tasks related to the transfer of the pallet by the robot system and the operation of the operation target, and a plurality of tasks executed by the robot system across adjacent and / or overlapping areas.
The distribution system according to claim 8. A program for causing a computer to function as the control device according to any one of claims 1 to 7. A non-transient computer-readable recording medium on which the program according to claim 10 is recorded. A control method for a robot system including an operation robot that operates the operation target in order to load the operation target on the pallet and / or unload the operation target from the pallet, and is a data acquisition unit and data. It is executed using a control device having a storage unit and a robot control unit.
A first unit in which the data acquisition unit includes information on the operation target and information on the pallet before loading and / or unloading the operation target from the pallet. A number including information on the operation target and information on the pallet after the data is acquired and the operation target is loaded onto the pallet and / or the operation target is unloaded from the pallet. 2 Get the data,
The data storage unit stores the first data and the second data,
Before the robot control unit loads the operation target on the pallet and / or unloads the operation target from the pallet, the operation target is loaded onto the pallet based on the first data. A control sequence for loading and / or unloading the operation target from the pallet is created or acquired, and based on the control sequence, the operation target is loaded onto the pallet and the operation target is loaded. / Or, instruct the operation robot to execute a task for unloading the operation target from the pallet.
The robot control unit loads the operation target on the pallet and / or loads the operation target on the pallet before the unloading of the operation target from the pallet is completed. Alternatively, it is determined that the unloading of the operation target from the pallet is completed.
Control method.

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