JP2023072795A - Holding device, clothing treatment device and clothing treatment method - Google Patents

Abstract

To improve a technology for holding an object to be treated.SOLUTION: A clothing treatment device includes: a Hand part 315 for holding an object T to be treated; a holding success/failure determination part for determining whether holding the object T to be treated has succeeded, when holding the object T to be treated by the Hand part 315; and a state change part for, in the case where it is determined by the holding success/failure determination part that holding of the object T to be treated has failed, changing the position, the posture or the shape of the object T to be treated before holding the object T to be treated again by the Hand part 315.SELECTED DRAWING: Figure 5

Description

TECHNICAL FIELD The present disclosure relates to a gripping device for gripping an object to be processed such as clothing, a clothing processing device, and a clothing processing method.

A processing apparatus for unfolding and folding an object to be processed such as clothing has been proposed. For example, Patent Literature 1 discloses a processing apparatus provided with a plurality of holding devices capable of holding arbitrary points of an object to be processed.

JP 2020-054473 A

When an object to be processed is gripped by a hand of a robot arm or the like, the direction in which the hand approaches the object to be processed greatly affects the success or failure of gripping. Therefore, if the gripping of the object to be processed fails, it is unlikely that gripping will succeed even if the approach is repeated from the same direction. In particular, when gripping an object made of a hard material with an open/closed hand with two fingers, if you approach the object from the surface direction, the surface of the object will be pushed with your fingertips. The object to be processed cannot be gripped. In order to change the approach direction of the hand and retry gripping, it is necessary to widen the movement range of the hand, which increases the number of parts and enlarges the size of the device. was there.

An object of the present disclosure is to improve techniques for gripping an object to be processed.

A gripping device according to the present disclosure includes a gripping unit for gripping an object to be processed, and a gripping success/failure determination unit for determining whether or not the object to be processed has been successfully gripped when the gripping unit grips the object to be processed. and a state changing unit that changes the position, orientation, or shape of the processing object before the gripping unit grips the processing object again when the gripping success/failure determination unit determines that gripping of the processing object has failed. , provided.

A clothing processing apparatus according to the present disclosure includes a gripping device for gripping an object to be processed, and a control device for controlling the gripping device. The gripping device includes a gripping unit for gripping an object to be processed, a gripping success/failure determination unit for determining whether or not the object to be processed has been successfully gripped when the gripping unit grips the object to be processed, and a gripping success/failure determination unit. a state changing unit that changes the position, posture, or shape of the processing target before the gripping unit grips the processing target again when the determination unit determines that the processing target has failed to be gripped. .

The method for processing clothes according to the present disclosure comprises the steps of determining whether or not the object to be processed has been successfully gripped when the object to be processed is gripped by a gripping unit for gripping the object to be processed; and changing the position, posture, or shape of the processing object before gripping the processing object again by the gripping unit when it is determined that the processing has failed.

Any combination of the above constituent elements, and conversion of expressions of the present invention into methods, devices, systems, recording media, computer programs, etc. are also effective as aspects of the present invention.

According to the technique of the present disclosure, it is possible to improve the technique for gripping the object to be processed.

1 is a perspective view of the clothes processing apparatus according to Embodiment 1 Schematic front configuration diagram of the clothes processing apparatus according to Embodiment 1 Schematic side view of the clothes processing apparatus according to Embodiment 1 FIG. 4 is a diagram schematically showing how the object to be processed T is gripped by the hand portion of the holding portion according to the first embodiment; FIG. 4 is a diagram schematically showing how the object to be processed T is gripped by the hand portion of the holding portion according to the first embodiment; 1 is a functional block diagram of a gripping device and a control device according to Embodiment 1. FIG. 4 is a flow chart showing the procedure of the clothes processing method according to the first embodiment;

(Knowledge, etc. on which this disclosure is based)
A laundry processing apparatus according to the present disclosure holds an object to be processed by a plurality of holding devices, and controls the holding devices to fold the object to be processed. In order to process the object to be processed quickly, it is necessary to grip the object to be processed accurately and quickly by the gripping device provided in the holding device. In order to make the gripping device approach from the direction that is easy to grip according to the position, posture, shape, etc. of the object to be processed, it is necessary to widen the operating range of the gripping device. becomes bloated.

The inventors have discovered such a problem and have come to constitute the subject matter of the present disclosure in order to solve the problem. The gripping device and the clothing processing device according to the present disclosure determine whether or not the gripping of the processing target is successful when gripping the processing target by the gripping unit for gripping the processing target, and determines whether the gripping of the processing target is successful. When determined, the position, posture, or shape of the processing object is changed before the processing object is gripped again by the gripping unit. Accordingly, when the gripping portion fails to grip the processing object, by changing the state of the processing object, the processing object can be easily gripped without changing the operation of the gripping portion. Therefore, the operating range of the gripping portion and the size of the gripping device can be suppressed.

Hereinafter, embodiments will be described in detail with reference to the drawings. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially the same configurations may be omitted.

It should be noted that the accompanying drawings and the following description are provided to allow those skilled in the art to fully understand the present disclosure and are not intended to limit the claimed subject matter thereby.

(Embodiment 1)
Embodiment 1 will be described below with reference to FIGS. 1 to 7. FIG. Regarding the three directions of the clothes processing apparatus 1, when viewed from the front, the left and right width directions are indicated by arrows in the X direction (left direction X1 and right direction X2), and the front and rear depth directions are indicated by arrows in the Y direction (forward direction). Y1, backward direction Y2), and vertical height directions are described as Z directions (upward direction Z1, downward direction Z2) indicated by arrows.

[1-1. composition]
[1-1-1. Overall configuration of clothes processing apparatus]
The clothes processing apparatus 1 is a device that holds, recognizes, folds, and stores an object T to be processed, which is a deformable thin object. As shown in FIG. 1, the clothes processing apparatus 1 includes a housing 100, and a receiving section 200, a holding device 300, a work plate device 400, an imaging device 500, and a housing 100. It includes a support section 600 , a storage device 700 and a control device 900 . In addition, the receiving unit 200 and the processing space above it are configured in one housing, and the storage device 700 and the like are configured in another housing, and the respective housings are connected to be integrated. good too.

The processing object T is a deformable thin object typified by, for example, fabrics such as clothes and towels, films, paper, sheets, and the like. The shape may be rectangular like towels, or substantially rectangular like T-shirts, running shirts, long-sleeved shirts, and trousers.

The housing 100 includes a frame 110 forming a rectangular parallelepiped frame and an outer shell 120 provided on a predetermined surface of the rectangular parallelepiped. The frame 110 and the shell 120 may be integrally formed.

The receiving part 200 is a receiving part that receives the processing target T from the outside. As shown in FIGS. 1 to 3, the receiving portion 200 has a box-like shape with an open top. The receiving part 200 is arranged at the bottom of the clothes processing apparatus 1 so as to be easily accessible by the user, and is arranged so that it can be taken in and out in the depth direction (Y direction). For example, the receiving portion 200 is provided with a guide rail 210 at its lower portion and is pulled forward in the Y1 direction. The object to be processed T is put into the pulled-out receiving section 200 from above. The receiving part 200 is returned in the rearward direction Y2 along the guide rails 210 and housed in the housing 100 when the processing object T is put therein.

The holding device 300 is a device that holds a processing object T in order to process the processing object T. As shown in FIG. The holding device 300 includes a holding section 310 that holds the processing target T, and a moving mechanism that moves the holding section 310 in three directions: width direction (X direction), depth direction (Y direction), and height direction (Z direction). 320 and. A plurality of holding devices 300 are provided, and hold and lift the processing object T placed in the receiving part 200, and cooperate with the work plate device 400 on which the processing object T can be placed temporarily to perform processing. Unfolding and folding are performed while changing the grip of the object T.

As shown in FIGS. 1 to 3, the clothes processing apparatus 1 includes two holding devices 300A and 300B as holding devices 300. As shown in FIG. The holding device 300A has one holding portion 310A as the holding portion 310, and a moving mechanism 320A for moving the holding portion 310A in three directions. The holding device 300B has two holding portions 310B and 311B as the holding portion 310, and a moving mechanism 320B for moving each of the holding portions 310B and 311B in three directions.

The holding portions 310A, 310B, and 311B are relatively movable in the width direction, the depth direction, and the height direction with respect to a work plate 410 of a work plate device 400, which will be described later. For example, the moving mechanisms 320A, 320B can be positioned such that the retainers 310A, 310B, 311B are aligned along the edge of the working plate 410. FIG.

The holding devices 300A and 300B are communicably connected to a control device 900, which will be described later, by wire or wirelessly. The controller 900 controls the operations of the holding units 310A, 310B, 311B and the moving mechanisms 320A, 320B.

Moving mechanisms 320A and 320B used in holding devices 300A and 300B will be described using the configuration of moving mechanism 320A of holding device 300A. The configuration of the moving mechanism 320B of the holding device 300B is basically the same as that of the holding device 300A except for the number of holding portions. Therefore, for the holding device 300B, the reference numeral "A" in the reference numeral for the holding device 300A is replaced with "B", and the description thereof is omitted.

The movement mechanism 320A, as shown in FIG. 2, includes a width direction movement mechanism 330A, a height direction movement mechanism 340A, and a depth direction movement mechanism 350A.

The width direction moving mechanism 330A moves the holding portion 310A in the width direction (X direction). The width direction moving mechanism 330A has a width direction driving portion 332A that serves as a driving force source for moving the holding portion 310A, and an X guide 334A that serves as a movement guide. Although not shown in detail, the width direction driving section 332A is a motor capable of forward and reverse rotation and has a pinion gear. The X guide 334A is a rack gear and a rail to which the power of the width direction driving portion 332A is transmitted via a pinion gear, and is arranged such that its longitudinal direction is along the width direction. The width direction driving portion 332A slides along the X guide 334A when energized. When the width direction driving portion 332A moves in the width direction along the X guide 334A, the holding portion 310A fixed to the width direction driving portion 332A also moves in the width direction.

The height direction moving mechanism 340A moves the holding portion 310A in the height direction (Z direction) together with the width direction moving mechanism 330A. The height direction moving mechanism 340A has a height direction driving portion 342A that serves as a driving force source for moving the width direction moving mechanism 330A, and a Z guide 344A that serves as a movement guide. The height direction drive unit 342A is a motor capable of forward and reverse rotation. Although not shown in detail, the height direction driving portion 342A has a transmission shaft that is fixed to the left end of the frame of the width direction movement mechanism 330A and transmits driving force to the right end. The two left and right Z guides 344A include a rack and pinion and are arranged such that their longitudinal direction extends along the height direction. The two left and right Z guides 344A are connected at their upper ends and configured in an arch shape. By energizing the height direction driving portion 342A, the width direction moving mechanism 330A moves along the height direction.

The depth direction moving mechanism 350A moves the entire holding device 300A (the height direction moving mechanism 340A, the width direction moving mechanism 330A and the holding section 310A) in the depth direction (Y direction). The depth direction moving mechanism 350A has a depth direction driving section 352A that serves as a power source for moving the height direction moving mechanism 340A, and a plurality of Y guides 354 that serve as movement guides. Although not shown in detail, the depth direction driving section 352A is a motor capable of forward and reverse rotation and has a pinion gear. The depth direction driving portion 352A is fixed to the left end of the connecting portion on the top of the frame of the height direction moving mechanism 340A, and has a transmission shaft that transmits driving force to the right end. The Y guides 354 are rack gears and rails to which the power of the depth direction driving portion 352A is transmitted, and are arranged at the upper and lower ends of the left and right Z guides 344A so that the longitudinal direction of the Y guides 354 extends along the depth direction.

Regarding transmission of driving force to the Y guide 354, the power of the depth direction driving portion 352A is transmitted to the upper Y guide 354 through the transmission shaft, as described above. Driving force is transmitted to the lower Y guide 354 from a transmission shaft provided in the upper portion via a gear belt provided in the frame body of the height direction movement mechanism 340A. By energizing the depth direction driving portion 352A, the arch-shaped height direction moving mechanism 340A moves parallel along the depth direction, and the width direction moving mechanism 330A and the holding portion 310A also move.

In the present embodiment, the two holding devices 300A and 300B share four vertical and horizontal Y guides 354 in order to move in the depth direction (Y direction). Therefore, the holding device 300A is always located behind the holding device 300B. In addition, in the holding device 300B, the two holding portions 310B and 311B share the X guide 334B in order to move in the width direction (X direction). Therefore, the holding portion 310B is always located on the left side of the holding portion 311B.

In the present embodiment, the moving mechanism is of a rack and pinion type, and the motor of the drive unit is also moved, but the present invention is not limited to this. For example, a ball screw or wire suspension may be used so that the motor does not move.

The work plate device 400 is a device that rotates and moves a work plate 410 on which the processing object T is placed during recognition processing and folding processing. The work plate device 400 has a moving mechanism similar to the moving mechanism 320 . The working plate 410 is, as shown in FIG. 2, a substantially rectangular plate with chamfered corners on the working plane. Since the working plate 410 is formed so as to have no corners, it is possible to suppress the problem that the processing target T such as cloth is caught. The working plate 410 is fixed to the rotating shaft so that the longitudinal direction of the working plate 410, that is, the two edges of the long sides are parallel to the rotating shaft.

The imaging device 500 is a device that detects end points and the like of the processing object T when the processing object T is received and then subjected to gripping processing, recognition processing, and folding processing. As shown in FIGS. 2 and 3 , imaging device 500 includes first imaging section 510 , second imaging section 520 , and third imaging section 530 . For example, a digital still camera is used for the first imaging unit 510 and the second imaging unit 520, and used for end point detection, discrimination of the type of the processing object T, and the like. The third imaging unit 530 uses, for example, a stereo camera, and is used to measure the distance in the depth direction and the width of the processing object T for edge point detection. Both imaging units are provided on the frame on the front inner wall side, and the orientation of the lens is the rearward direction Y2.

The support part 600 is a wall surface that supports the object T to be processed, such as holding down the folding line and smoothing wrinkles of the object T when the object T is folded. For example, the support part 600 includes at least one of a front side support part 610 provided in front of the work plate 410 and a rear side support part 620 provided in the rear thereof.

The storage device 700 receives and stores the processed processing object T from the holding device 300 . The storage device 700 includes a plurality of storage units 710, as shown in FIGS. Storage device 700 may include a transporter for receiving and storing workpieces T in respective storages 710 . The storage device 700 is arranged adjacent to the processing space in which the receiving part 200 and the holding device 300 are stored. .

The control device 900 supervises the control of each section in the clothing processing apparatus 1 . The control device 900 is mainly composed of a ROM, a RAM, an arithmetic unit, and an input/output interface. The ROM stores an operating system, a control program for controlling each part of the clothes processing apparatus 1, and data necessary for executing the control program. Further, the arithmetic unit is provided for loading the control program stored in the ROM into the RAM or executing it directly from the ROM. In other words, the control device 900 can control the clothes processing device 1 by the execution of the control program by the arithmetic device. The data processed by the arithmetic device is transmitted to each part (holding device 300, work plate device 400, etc.) of the clothes processing apparatus 1 via the input/output interface. Data required for processing by the arithmetic unit is received from each unit (such as the imaging device 500) of the clothing processing apparatus 1 via an input/output interface.

[1-1-2. Details of gripping method of object to be processed]
The details of the method for gripping the processing object T by the holding unit 310 will be described.

4 and 5 schematically show how the object to be processed T is gripped by the hand portion 315 of the holding portion 310 according to the first embodiment. A case will be described in which, while the object to be processed T is being held by the hand portion 315 of the holding portion 310A, another position of the object to be processed T is held by the hand portion 315 of another holding portion 310B.

As shown in FIG. 4, when the hand portion 315 approaches the surface of the object T to be processed in a direction substantially perpendicular to the object T, the object to be processed T cannot be gripped by the two fingers 315a. In order to grip the object T with the two fingers 315a, it is necessary to move the hand 315 closer to the surface of the object T from the lateral direction. In order to bring the hand part 315 closer to the processing object T from the lateral direction of the plane of T, the hand part 315 needs to be largely moved.

Here, as shown in FIG. 5, when the hand portion 315 of the holding portion 310A that grips the processing object T is rotated to rotate the processing object T to change the orientation, the hand of the holding portion 310B is changed. Without changing the operation of the part 315, the hand part 315 can be brought closer to the processing object T from the lateral direction of the surface of the processing object T, and the processing object T can be easily gripped. By changing the state of the object T to be easily gripped by the hand unit 315 in this way, the object T can be gripped without changing the operation of the hand unit 315 . Therefore, since there is no need to widen the operating range of the hand portion 315, the size and manufacturing cost of the clothes processing apparatus 1 can be reduced.

FIG. 6 shows functional configurations of a grasping device and a control device 900 according to the first embodiment. This figure shows a configuration related to the function of gripping the object T to be processed. The clothing processing apparatus 1 having a hand portion 315 functioning as a gripping device includes a gripping sensor 73 , a weight sensor 74 , an RGB camera 756 and a depth camera 757 . The control device 900 includes a holding device control section 901 and a gripping control section 70 . The grip control unit 70 includes a grip success/failure determination unit 71 and a state change unit 72 .

The holding device control section 901 controls the operation of the holding section 310 . The holding device control section 901 controls the position of the holding section 310, the posture of the hand section 315, the angles of the two fingers 315a provided on the hand section 315, and the like.

The gripping sensor 73 is provided at a position where the tip of the finger 315a grips the processing target T, and detects that the processing target T is gripped by the finger 315a. The gripping sensor 73 may be, for example, an optical sensor including a light-emitting portion and a light-receiving portion.

The weight sensor 74 is provided in a configuration for driving the hand portion 315 and the fingers 315a, and detects the weight applied to the hand portion 315 and the fingers 315a.

The RGB camera 756 has elements for detecting RGB pixel values, and captures a color image of the object. The depth camera 757 has a distance measuring function and captures an image including distance information to an object.

The gripping success/failure determination unit 71 determines whether or not the gripping of the processing target T is successful when the processing target T is gripped by the hand unit 315 . When the gripping success/failure determination unit 71 determines that gripping of the processing object T has failed, the state changing unit 72 changes the position and orientation of the processing object T before the hand unit 315 grips the processing object T again. , or change shape. As a result, when the gripping of the processing target T fails, the processing target T can be easily gripped without changing the operation of the hand unit 315 by changing the state of the processing target T. .

The gripping success/failure determination unit 71 may determine whether or not the processing target T has been successfully gripped based on information detected by the gripping sensor 73 provided in the hand unit 315 . As a result, it is possible to improve the robustness and accuracy of gripping success/failure determination.

The gripping success/failure determination unit 71 may determine whether or not the gripping of the processing target T is successful based on information detected by the weight sensor 74 . The gripping success/failure determination unit 71 may determine that the processing target T is gripped by the hand unit 315 when the weight detected by the weight sensor 74 is equal to or greater than a predetermined value. As a result, there is no need to add a configuration for determining whether gripping is successful, so the size and manufacturing cost of the gripping device can be reduced.

The gripping success/failure determination unit 71 may determine whether or not the gripping of the processing target T has been successful based on the captured image of the processing target T captured by the RGB camera 756 or the depth camera 757 . The grip success/failure determination unit 71 may detect the processing target T gripped and suspended by the hand unit 315 based on RGB information, depth information, and the like in the captured image. As a result, it is possible to improve the robustness and accuracy of gripping success/failure determination.

The gripping success/failure determination unit 71 may execute any one of the plurality of gripping success/failure determination methods, or may execute any combination of two or more. Unnecessary configurations may be omitted according to the method executed by the gripping success/failure determination unit 71 .

The state changing unit 72 may change the position, posture, or shape of the processing object T by rotating the hand unit 315 holding the processing object T. FIG. As a result, there is no need to add a configuration for changing the state of the object to be processed T, so the size and manufacturing cost of the gripping device can be suppressed. The state changing unit 72 may rotate the hand unit 315 holding the processing object T by a predetermined angle. The state changing unit 72 acquires the positional relationship and angle between the processing object T and the hand unit 315 based on the captured image captured by the RGB camera 756 or the depth camera 757, and changes the acquired positional relationship and angle. Based on this, the angle at which the hand part 315 gripping the processing target T is rotated may be determined.

The state changing unit 72 may change the position, posture, or shape of the processing object T by vibrating the hand unit 315 holding the processing object T. FIG. As a result, there is no need to add a configuration for changing the state of the processing object T, so the size and manufacturing cost of the gripping device can be suppressed. The state changing unit 72 may vibrate the hand unit 315 gripping the processing object T in a mode such as amplitude, frequency, time, etc. that can loosen the tangled processing object T. FIG. The state changing unit 72 may vibrate the hand unit 315 holding the processing object T in a predetermined manner. The state changing unit 72 acquires the state of the processing target T based on the captured image captured by the RGB camera 756 or the depth camera 757, and grips the processing target T based on the acquired state of the processing target T. You may determine the aspect which vibrates the hand part 315 which is carrying out.

The state changing unit 72 may change the position, posture, or shape of the processing target T by bringing the work plate 410 into contact with the processing target T. FIG. As a result, there is no need to add a configuration for changing the state of the processing object T, so the size and manufacturing cost of the gripping device can be suppressed. The state changing unit 72 may change the position, posture, or shape of the processing object T by rotating the work plate 410 while the work plate 410 is in contact with the processing object T. FIG. The state changing unit 72 acquires the state of the processing target T based on the captured image captured by the RGB camera 756 or the depth camera 757, and brings the work plate 410 into contact based on the acquired state of the processing target T. Aspects such as the position, rotation angle, rotation direction, and rotation speed of the work plate 410 may be determined. The state changer 72 may rotate the working plate 410 in a predetermined manner.

The state changing unit 72 may execute any one of the plurality of state changing methods described above, or may execute any combination of two or more.

When the hand portion 315 grips the processing object T placed on the work plate 410 , the state changing unit 72 rotates, moves, and vibrates the work plate 410 to rotate, move, and vibrate the work plate 410 . The state of the object T, such as its position, posture, and shape, may be changed.

[1-2. motion]
The operation and function of the clothes processing apparatus 1 configured as described above will be described below.

FIG. 7 is a flow chart showing the procedure of the clothes processing method according to the first embodiment. The holding device control section 901 brings the hand section 315 of the holding section 310 closer to the processing object T and closes the fingers 315a to grip the processing object T (S10). The gripping success/failure determination unit 71 determines whether or not the hand unit 315 has successfully gripped the processing target T (S12). When the gripping success/failure determination unit 71 determines that gripping of the processing object T has failed (N in S14), the state changing unit 72 changes the position, posture, or shape of the processing object T (S16). Returning to S10, the holding device control section 901 again grips the processing object T with the Hand section 315 (S10). When the gripping success/failure determination unit 71 determines that the gripping of the processing object T has been successful (Y in S14), gripping of the processing object T by the hand unit 315 ends.

[1-3. effects, etc.]
As described above, in the present embodiment, the clothing processing apparatus 1 functioning as a gripping device includes the hand portion 315 for gripping the processing target T, and when the processing target T is gripped by the hand 315, A gripping success/failure determination unit 71 for determining whether or not the processing target T has been successfully gripped; and a state changing unit 72 that changes the position, posture, or shape of the processing object T before gripping T again. As a result, when the gripping of the processing target T fails, the processing target T can be easily gripped without changing the operation of the hand unit 315 by changing the state of the processing target T. . Therefore, the operating range of the hand part 315 and the size of the gripping device can be suppressed.

Further, in the present embodiment, the clothing processing apparatus 1 includes a plurality of hands 315, and the gripping success/failure determination unit 71 determines whether the object to be processed T is gripped by one or more hands 315. It is determined whether or not the object to be processed T has been successfully gripped by the Hand unit 315 . Thereby, the processing object T can be easily grasped without changing the operation of the hand unit 315 .

Further, in the present embodiment, the state changing unit 72 changes the position, posture, or shape of the processing object T by rotating the hand unit 315 holding the processing object T. FIG. As a result, there is no need to add a configuration for changing the state of the processing object T, so the size and manufacturing cost of the gripping device can be suppressed.

Further, in the present embodiment, the state changing unit 72 changes the position, posture, or shape of the processing object T by vibrating the hand unit 315 holding the processing object T. FIG. As a result, there is no need to add a configuration for changing the state of the processing object T, so the size and manufacturing cost of the gripping device can be suppressed.

Further, in the present embodiment, the clothes processing apparatus 1 is provided with the working plate 410 used for the work for processing the processing target T, and the state changing section 72 brings the processing target T into contact with the working plate 410. The position, posture, or shape of the processing object T is changed by causing the processing object T to change. As a result, there is no need to add a configuration for changing the state of the processing object T, so the size and manufacturing cost of the gripping device can be suppressed.

Further, in the present embodiment, the state changing unit 72 changes the position, posture, or shape of the processing object T by rotating the work plate 410 while the work plate 410 is in contact with the processing object T. do. As a result, there is no need to add a configuration for changing the state of the processing object T, so the size and manufacturing cost of the gripping device can be suppressed.

In the present embodiment, the gripping success/failure determination unit 71 determines whether or not the processing target T has been successfully gripped based on information detected by the gripping sensor 73 provided in the hand unit 315 . As a result, it is possible to improve the robustness and accuracy of gripping success/failure determination.

Further, in the present embodiment, the gripping success/failure determination unit 71 determines whether or not the processing target T has been successfully gripped based on information detected by the weight sensor 74 that detects the weight applied to the hand unit 315 . do. As a result, there is no need to add a configuration for determining whether gripping is successful, so the size and manufacturing cost of the gripping device can be reduced.

In addition, in the present embodiment, the gripping success/failure determining unit 71 determines whether or not the gripping of the processing target T has been successful based on the captured image of the processing target T captured by the RGB camera 756 or the depth camera 757. to decide. As a result, it is possible to improve the robustness and accuracy of gripping success/failure determination.

Further, in the present embodiment, the clothing processing apparatus 1 includes a gripping device for gripping an object T to be processed, and a control device 900 for controlling the gripping device. a gripping success/failure determination unit 71 that determines whether or not the processing object T has been successfully gripped when the processing object T is gripped by the hand unit 315; a state changing unit 72 that changes the position, posture, or shape of the processing object T before the hand unit 315 grips the processing object T again when it is determined that the gripping of the processing object T has failed; Prepare. As a result, when the gripping of the processing target T fails, the processing target T can be easily gripped without changing the operation of the hand unit 315 by changing the state of the processing target T. . Therefore, the operating range of the hand part 315 and the size of the gripping device can be suppressed.

In the present embodiment, the method for processing clothes determines whether or not the object T has been successfully gripped when the object T is gripped by the hand unit 315 for gripping the object T. and a step of changing the position, posture, or shape of the processing object T before gripping the processing object T again by the hand unit 315 when it is determined that the gripping of the processing object T has failed. , provided. As a result, when the gripping of the processing target T fails, the processing target T can be easily gripped without changing the operation of the hand unit 315 by changing the state of the processing target T. .

As described above, Embodiment 1 has been described as an example of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to embodiments with modifications, replacements, additions, omissions, and the like. Also, it is possible to combine the constituent elements described in the first embodiment to form a new embodiment.

Note that the above-described embodiment is for illustrating the technology in the present disclosure, and various changes, replacements, additions, omissions, etc. can be made within the scope of the claims or equivalents thereof.

INDUSTRIAL APPLICABILITY The present disclosure is applicable to a clothing processing apparatus that processes processing objects such as clothing.

Reference Signs List 1 clothing processing apparatus T object to be processed 70 gripping control unit 71 gripping success/failure determination unit 72 state changing unit 73 gripping sensor 74 weight sensor 100 housing 110 frame 120 outer shell 200 receiving unit 210 guide rail 300, 300A, 300B holding device 310, 310A , 310B, 311B Holding portion 315 Hand portion 315a Fingers 320, 320A, 320B Moving mechanisms 330, 330A, 330B Width direction moving mechanisms 332A, 332B Width direction driving portions 334A, 334B X guides 340A, 340B Height direction moving mechanisms 342A, 342B Height direction drive units 344A, 344B Z guides 350A, 350B Depth direction movement mechanism 352A, 352B Depth direction drive units 354A, 354B Y guide 400 Work plate device 410 Work plate 500 Imaging device 510 First imaging unit 520 Second imaging unit 530 Third imaging section 600 Support section 610 Front side support section 620 Rear side support section 700 Storage device 710 Storage section 756 RGB camera 757 Depth camera 900 Control device X1 Left direction X2 Right direction Y1 Forward direction Y2 Back direction Z1 Upward direction Z2 Downward direction

Claims (11)

a gripping portion for gripping an object to be processed;
a gripping success/failure determination unit that determines whether or not the gripping of the processing target is successful when the gripping unit grips the processing target;
When the gripping success/failure determination unit determines that gripping of the processing object has failed, the position, posture, or shape of the processing object is changed before gripping the processing object again by the gripping unit. a state changing unit;
A gripping device comprising: Equipped with multiple grips,
2. The gripping success/failure determining unit determines whether or not the object to be processed has been successfully gripped by another gripping unit when the object to be processed is gripped by one or more gripping units. A gripping device as described. 3. The gripping device according to claim 2, wherein the state changing unit changes the position, posture, or shape of the processing object by rotating a gripping unit that grips the processing object. 4. The gripping device according to claim 2, wherein the state changing unit changes the position, posture, or shape of the processing object by vibrating the gripping unit that grips the processing object. A work unit used for work for processing the processing object,
The gripping device according to any one of claims 2 to 4, wherein the state changing unit changes the position, posture, or shape of the processing object by bringing the working unit into contact with the processing object. 6. The gripping according to claim 5, wherein the state changing unit changes the position, posture, or shape of the object to be processed by rotating the working unit while the working unit is in contact with the object to be processed. Device. 7. The gripping success/failure determination unit according to any one of claims 1 to 6, which determines whether or not the object to be processed has been successfully gripped based on information detected by a gripping sensor provided in the gripping unit. gripping device. 7. The gripping success/failure determining unit determines whether or not the object to be processed has been successfully gripped based on information detected by a weight sensor that detects the weight applied to the gripping unit. The gripping device according to . 7. The gripping success/failure determination unit according to any one of claims 1 to 6, wherein the gripping success/failure determining unit determines whether or not the gripping of the processing object has succeeded based on an image of the processing object captured by an imaging device. gripping device. a gripping device for gripping an object to be processed;
a control device that controls the gripping device;
with
The gripping device is
a gripping portion for gripping an object to be processed;
a gripping success/failure determination unit that determines whether or not the gripping of the processing target is successful when the gripping unit grips the processing target;
When the gripping success/failure determination unit determines that gripping of the processing object has failed, the position, posture, or shape of the processing object is changed before gripping the processing object again by the gripping unit. a state changing unit;
A clothes processing apparatus comprising: determining whether or not the object to be processed has been successfully gripped when the object to be processed is gripped by a gripping unit for gripping the object to be processed;
changing the position, posture, or shape of the processing object before gripping the processing object again by the gripping unit when it is determined that gripping of the processing object has failed;
A garment treatment method comprising:

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