JP2021524812A - アイテム検証のための制御デバイス及び方法 - Google Patents
アイテム検証のための制御デバイス及び方法 Download PDFInfo
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Abstract
Description
図2は、本発明の第1の実施形態による、制御ユニット100と共にコンテナ300からアイテムを把持するためのシステムを図示する。このシステムでは、最上レベルにコンテナ300が設けられ、少なくとも1つのアイテムを保管するように構成される。コンテナ300からアイテムを把持するように構成され、ロボットシステム200によって把持されたアイテムに関する情報を記録するように構成されたロボットシステム200が設けられる。本発明の第1の実施形態による制御ユニット100は、ロボットシステム200によって記録された情報を受信するように構成され、ロボットシステム200によってピッキングされたアイテムが、コンテナ300中にあると予想されるアイテムから予想されるものと一致する動力学特性を有することを検証するように構成される。
[修正及び変形]
Claims (15)
- センサユニットを備えるロボットシステムでの動作のための制御ユニットであって、前記ロボットシステムは、コンテナからアイテムを把持するように構成され、前記制御ユニットは、
前記コンテナ中にあると予想されるアイテムの識別情報を受信することと、前記ロボットシステムによって把持された前記アイテムの動力学特性を示す情報を前記センサユニットから受信することと、前記受信された識別情報及び前記受信された動力学特性情報に基づいて、前記ロボットシステムによって把持された前記アイテムが前記コンテナ中にあると予想される前記アイテムと一致することを検証することとを行うように構成された検証ユニットを備える、制御ユニット。 - 前記制御ユニットは、
前記アイテムが一致しないと前記検証ユニットが判断すると、撮像ユニットからの前記アイテムの識別情報と前記アイテムの前記動力学特性を示す情報とを受信することと、前記アイテムの前記動力学特性を示す情報と共に前記アイテムの前記識別情報に基づいて統計モデルを訓練することとを行うように構成された訓練ユニットを更に備える、請求項1に記載の制御ユニット。 - 前記制御ユニットは、
所定の方法で移動するように前記ロボットシステムに命令するように構成された命令ユニットを更に備える、請求項1又は2に記載の制御ユニット。 - 前記命令ユニットは、前記検証ユニットが前記アイテムの検証を実行する前に前記ロボットシステムに命令するように構成される、請求項3に記載の制御ユニット。
- 前記命令ユニットは、前記検証ユニットが前記アイテムを検証できないときに前記ロボットシステムに命令するように構成される、請求項3又は4に記載の制御ユニット。
- 前記アイテムの前記動力学特性を示す情報は、力情報、トルク情報、剪断力情報、加速情報、音情報、及び圧力情報のうちの少なくとも1つを備える、請求項1〜5のうちのいずれか一項に記載の制御ユニット。
- 前記検証ユニットは、前記アイテムの前記動力学特性に基づいて、前記アイテムが破損しているか、不完全であるか、及び/又は複数のアイテムを備えるかどうかを識別するように更に構成される、請求項1〜6のうちのいずれか一項に記載の制御ユニット。
- センサユニットを備え、アイテムを把持するように構成されたロボットシステムと、請求項1〜7のうちのいずれか一項に記載の制御ユニットと、を備える、システム。
- 前記システムは、前記アイテムの識別情報を受信するように構成された撮像ユニットを更に備える、請求項8に記載のシステム。
- 前記センサユニットは、力センサ、トルクセンサ、剪断力センサ、加速センサ、マイクロフォン、及び圧力センサのうちの少なくとも1つを備える、請求項8又は9に記載のシステム。
- 複数のグリッド空間を備えるグリッドパターンを形成するように、実質的に水平な平面において、X方向に延在する平行なレール又はトラックの第1のセット及び前記第1のセットを横断するY方向に延在する平行なレール又はトラックの第2のセットと、
前記レールの下に位置し、各スタックが単一のグリッド空間の設置面積内に位置するように配置されたコンテナの複数のスタックと、
少なくとも1つの輸送デバイスと、ここで、前記少なくとも1つの輸送デバイスは、前記レール上の前記スタックの上方で、前記X方向及びY方向に横方向に選択的に移動するように配置され、コンテナを輸送するように配置されるものであり、
前記少なくとも1つの輸送デバイスによって輸送されたコンテナを受け取るように構成されたピッキングステーションと、
請求項8〜10のうちのいずれか一項に記載のシステムであって、前記コンテナからアイテムを把持するように構成されたシステムと、を備える、保管システム。 - 前記少なくとも1つの輸送デバイスは、前記保管システムにおける単一のグリッド空間のみを占有する設置面積を有し、それにより、1つのグリッド空間を占有する輸送デバイスは、前記X及びY方向に隣接するグリッド空間を占有又は横断する輸送デバイスを妨害しない、請求項11に記載の保管システム。
- センサユニットを備えるロボットシステムの使用に供する方法であって、前記ロボットシステムは、コンテナからアイテムを把持するように構成され、前記方法は、
前記コンテナ中にあると予想されるアイテムの識別情報を受信することと、
前記ロボットシステムによって把持された前記アイテムの動力学特性を示す情報を前記センサユニットから受信することと、
前記受信された識別情報及び前記受信された動力学特性情報に基づいて、前記ロボットシステムによって把持された前記アイテムが前記コンテナ中にあると予想される前記アイテムと一致することを検証することと
を行うステップを備える、方法。 - 前記方法は、
前記アイテムが一致しないと前記検証するステップが判断すると、前記アイテムの識別情報と前記アイテムの前記動力学特性を示す情報とを受信することと、
前記アイテムの前記動力学特性を示す情報と共に前記アイテムの前記識別情報に基づいて統計モデルを訓練することと
を行うステップを更に備える、請求項13に記載の方法。 - 前記方法は、
所定の方法で移動するように前記ロボットシステムに命令すること
を行うステップを更に備える、請求項13又は14に記載の方法。
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