JP6734728B2 - Robot system and picking method - Google Patents

Description

The present invention relates to a robot system for loading and unloading articles from storage means (shelf, container, etc.).

In recent years, in order to flexibly respond to diversifying consumer needs, there are increasing numbers of warehouses that handle many items such as mail-order warehouses and factories that handle many items such as a high-mix low-volume production factory. The picking operation in such a warehouse or factory is an operation for taking out an ordered product or a component necessary for producing a product from a shelf or a container. Conventionally, the picking work has been performed manually, but from the viewpoint of labor shortage and productivity improvement, the picking work by a robot is required.

The background arts in this technical field include the following prior arts. Patent Document 1 (JP-A-2015-215651) discloses a robot equipped with an arm that moves to a shelf position and takes out a product. Further, Patent Document 2 (Japanese Patent Laid-Open No. 2005-535787) discloses a system in which a carrier transports a shelf to a work area of a person.

JP, 2005-215651, A Japanese Patent Publication No. 2015-535787

The robot described in Patent Document 1 moves to the front of the shelf in which the relevant article is stored and operates the arm so as to grip the article at the arrival point. However, in such a procedure, reach reaching a high range is achieved. Long arms must be installed, and the reach requires a lot of articulation to move the long arms out of contact with shelves and other obstacles, making the system expensive.

Further, in the system described in Patent Document 2, the movement of a person who goes around the shelf is automated, but the work of taking out the product from the shelf requires manpower.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot system that allows a robot having an arm with a short reach and a small degree of freedom of joints to move an article in a storage means in and out without contacting an obstacle.

A typical example of the invention disclosed in the present application is as follows. That is, the robot system includes a robot that takes out an article from a storage unit, and a computing unit that is provided outside or inside the robot and that executes a process for controlling the robot. A gripper capable of holding the gripper, an arm capable of changing the position and orientation of the gripper, and a traveling unit capable of changing the position and orientation of the robot, and the arithmetic unit includes the shape of the storing means and the robot. Based on the shape, the shape of the target article to be taken out, and the position and orientation of the target article in the storage means, the first stop position and orientation of the robot in the state where the robot is close to the storage means, and the In order to calculate a first target joint angle of the arm and realize the first stop position/posture and the first target joint angle, the joint angle of the arm is set to the first target joint angle. In this state, a path for the robot to move from the current position/posture to the first stop position/posture without interfering with an obstacle is calculated, and the robot moves to the first stop position/posture, Is changed to the first target joint angle, and the target article is taken out from the storing means.

According to one aspect of the present invention, articles in the storage means can be taken in and out without contacting the obstacle. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

1 is a diagram showing the configuration of a robot system of Example 1. FIG. It is a figure which shows the robot system of Example 1 which picks the article in a storage shelf. It is a figure which shows the robot system of Example 1 which picks the article in a container. 5 is a flowchart of a process of controlling the operation of the robot of the first embodiment. FIG. 3 is a diagram illustrating a stop position/attitude of the robot according to the first exemplary embodiment. FIG. 7 is a diagram showing a configuration of a robot system of Example 2. FIG. 10 is a diagram showing a stop position/attitude of a robot of the second embodiment. 9 is a flowchart of a process of controlling an operation until the robot of Example 2 holds an article. FIG. 10 is a diagram showing an operation until the robot of Example 2 holds an article. FIG. 10 is a diagram showing an operation of the robot of Example 2 traveling along an interference avoidance movement trajectory. 9 is a flowchart of a process of controlling an operation after the robot of Example 2 holds an article. FIG. 11 is a diagram showing an operation after the robot of Example 2 holds an article. It is a figure which shows the structure of the robot system of Example 3. It is a figure which shows the robot system of Example 3 which picks the article in a storage shelf. It is a figure which shows the robot system of Example 3 which picks the article in a container. 9 is a flowchart of a process of controlling the operation of the robot according to the third exemplary embodiment. It is a figure which shows the stop position posture of the storage shelf of Example 3. It is a figure which shows the structure of the robot system of Example 4. It is a figure which shows the stop position posture of the storage shelf of Example 4. 9 is a flowchart of a process of controlling an operation until the robot of Example 4 holds an article. FIG. 11 is a diagram showing an operation until the robot of Example 4 holds an article. FIG. 10 is a diagram showing an operation of the robot of Example 4 traveling along an interference avoidance movement trajectory. 9 is a flowchart of a process of controlling an operation after the robot of Example 4 holds an article. FIG. 14 is a diagram showing an operation after the robot of Example 4 holds an article.

<Example 1>
FIG. 1 is a diagram illustrating the configuration of the robot system according to the first embodiment.

The robot system according to the first embodiment includes a robot 10a and an overall management device 200.

The robot 10a has an arm 12 having a gripper 11 at its tip and an article measurement sensor 18a for recognizing an article held by the gripper 11. In addition, a traveling unit 13a, a surrounding environment measurement sensor 17a, a calculation unit 14, a suction force generation unit 15, and a power supply unit 16 are provided at the base portion of the robot 10a.

The arm 12 extends laterally from a column standing on the base portion, and holds the article by a gripper 11 provided at the tip. Further, the arm 12 has a plurality of joints, the arm 12 is bent at the joints, the arm 12 is retracted and extended, and the position of the gripper 11 is moved. The arm 12 of the present embodiment can change the direction of the gripper 11 by moving the gripper 11 back and forth and up and down with three joints, but an arm capable of more complicated movement (for example, a 6-axis arm, a lateral direction). It may be a horizontal articulated arm that can be moved to.

The gripper 11 is provided at the tip of the arm 12, and the arm 12 holds the article by closely adhering to the article and adsorbing the article. The gripper 11 may be a gripper of various types such as a multi-fingered hand gripper having a plurality of fingers, a 2-jaw single-joint gripper, a 2-jaw parallel gripper, instead of a suction gripper.

The article measurement sensor 18a is provided at the tip of the arm 12 and is composed of a distance image camera for recognizing the article held by the gripper 11. The article measurement sensor 18a may be a gray or color camera (imaging device) for photographing an article, an infrared camera, or the like, or may be a combination of a range image camera and a camera. In the present embodiment, the article measurement sensor 18a has one configuration of the robot 10a, but may be configured separately from the robot 10a. For example, the article measurement sensor 18a may be provided on the storage shelf 100a or may be fixedly provided at a plurality of locations in the warehouse where the storage shelf 100a is installed.

The running portion 13a provided on the base portion of the robot 10a includes a rotating tire and a motor that rotationally drives the tire. Two tires are provided so as to face each other, and by controlling the rotation direction and the number of rotations of each tire, the robot 10a can run, change its direction, and rotate on the spot. An auxiliary wheel (not shown) may be provided below the base portion of the robot 10a.

The ambient environment measurement sensor 17a is configured by a two-dimensional or three-dimensional laser scanner having a laser light irradiation unit and a laser light reception unit, irradiates the surroundings with laser light, and measures reflected light. With the laser reflected light measured by the ambient environment measurement sensor 17a, the distance to surrounding obstacles (walls, storage shelves, etc.) can be calculated, and the calculated distances are connected to determine the position and size of the surrounding obstacles. Can be calculated.

The arithmetic unit 14 is composed of a computer having a processor (CPU), a memory, an auxiliary storage device, and a communication interface. In the present embodiment, the calculation unit 14 has one configuration of the robot 10a, but it may be provided separately from the robot 10a and configured to be communicable with the robot 10a.

The CPU executes the program stored in the memory. The memory includes a ROM which is a non-volatile storage device and a RAM which is a volatile storage device. The ROM stores an immutable program (for example, BIOS) and the like. The RAM is a high-speed and volatile storage device such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program executed by the CPU and data used when the program is executed.

The auxiliary storage device is composed of, for example, a large-capacity and non-volatile storage device such as a magnetic storage device (HDD) or a flash memory (SSD), and stores a program executed by the CPU and data used when the program is executed. .. That is, the program is read from the auxiliary storage device, loaded into the memory, and executed by the CPU. Further, the auxiliary storage device stores the shape data of the storage shelf 100, the shape and mechanism (movement range) data of the robot 10, the shape and size of the article 101, the position and orientation data, and the article 101 when holding the article 101. The data of the relative position and orientation of the gripper 11, the data of the position and orientation of the robot 10 and the storage shelf 100, and the data of the shape and passage of the warehouse are stored.

The communication interface is a network interface device that controls communication with another device (for example, the overall management device 200) according to a predetermined protocol.

The program executed by the CPU is provided to the arithmetic unit 14 via a removable medium (flash memory, CD-ROM, etc.) or a network, and is stored in a nonvolatile auxiliary storage device which is a non-temporary storage medium. Therefore, the calculation unit 14 may have an interface (for example, a USB port) that reads data from the removable medium. Note that all or some of the functional blocks implemented by the program in the arithmetic unit 14 may be configured by a physical integrated circuit (for example, Field-Programmable Gate Array) or the like.

The suction force generation unit 15 includes a compressor (or a pump), generates compressed air (or low pressure air), and supplies the compressed air (or low pressure air) to the gripper 11, thereby generating the suction force and the gripping force of the gripper 11.

The power supply unit 16 is a battery and supplies power to each unit of the robot 10a such as the traveling unit 13a, the calculation unit 14, the ambient environment measurement sensor 17a, and the article measurement sensor 18a.

The overall management apparatus 200 is composed of a computer having a processor (CPU), a memory, an auxiliary storage device, and a communication interface. The overall management apparatus 200 and the robot 10a are connected by wireless communication.

The CPU executes the program stored in the memory. The memory includes a ROM which is a non-volatile storage device and a RAM which is a volatile storage device. The ROM stores an immutable program (for example, BIOS) and the like. The RAM is a high-speed and volatile storage device such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program executed by the CPU and data used when the program is executed.

The auxiliary storage device is composed of, for example, a large-capacity and non-volatile storage device such as a magnetic storage device (HDD) or a flash memory (SSD), and stores a program executed by the CPU and data used when the program is executed. .. That is, the program is read from the auxiliary storage device, loaded into the memory, and executed by the CPU. Further, the auxiliary storage device stores the shape data of the storage shelf 100, the shape and mechanism (movement range) data of the robot 10, the shape and size of the article 101, the position and orientation data, and the article 101 when holding the article 101. Data of the relative position and orientation of the gripper 11, data of the position and orientation of the robot 10 and the storage rack 100, and data of the shape and passage of the warehouse may be stored.

The program executed by the CPU is provided to the overall management apparatus 200 via a removable medium (CD-ROM, flash memory, etc.) or a network, and is stored in a non-volatile auxiliary storage device which is a non-temporary storage medium. Therefore, the general management device 200 may have an interface for reading data from the removable medium.

The overall management apparatus 200 is a computer system configured on one computer physically or on a plurality of computers logically or physically configured, and operates in a separate thread on the same computer. Alternatively, it may operate on a virtual computer constructed on a plurality of physical computer resources.

Further, in the overall management device 200, all or some of the functional blocks implemented by the program may be configured by a physical integrated circuit (for example, Field-Programmable Gate Array).

Next, picking of an article by the robot 10a will be described with reference to FIGS.

FIG. 2 is a diagram showing a robot system according to the first embodiment for picking articles in a storage shelf.

The robot system shown in FIG. 2 includes a robot 10a, a storage shelf 100a, and a general management device 200 (not shown). The robot 10a moves to the front of the article 101a taken out from the storage shelf 100a, adsorbs the gripper 11 to the side surface of the article 101a, and bends the joint of the arm 12 to take out the article 101a from the storage shelf 100a.

FIG. 3 is a diagram showing a robot system according to the first embodiment for picking articles in a container.

The robot system shown in FIG. 3 includes a robot 10a, a storage container 150a, and a general control device 200 (not shown). The robot 10a moves to the front of the article 101a taken out from the storage container 150a, sucks the gripper 11 on the upper surface of the article 101a, and bends the joint of the arm 12 to take out the article 101a from the storage container 150a.

Although the storage shelf 100a and the storage container 150a have been described as the storage means for storing the article in the first embodiment, any form may be used as long as the article can be stored and stored.

FIG. 4 is a flowchart of processing for controlling the operation of the robot 10a according to the first embodiment. The program of the process shown in FIG. 4 is executed by the CPU of the calculation unit 14 of the robot 10a.

First, when the robot 10a receives a command from the overall management apparatus 200 to take out the article 101a from the storage shelf 100a (1001), the robot 10a autonomously reaches the front of the storage shelf 100a, that is, a position where the articles 101 stored in the storage shelf 100a can be measured. (1002). In the present specification, the term “moving autonomously” means that the computing unit 14 estimates the position/orientation (self position) of the robot 10a, and the robot 10a moves along the route based on the positional relationship between the planned route and the self position. It means that the traveling unit 13a is controlled so as to operate. The self-position is estimated by comparing the position and size of the surrounding obstacle measured by the surrounding environment measurement sensor 17a with the shape data of the warehouse stored in the auxiliary storage device of the calculation unit 14. The route is divided into a long-distance route and a short-distance route, and the route 1002 corresponds to the long-distance route. The long-distance route is planned by connecting the current location of the robot 10a to the destination (here, the position where the article 101 stored in the storage shelf 100a can be measured) along the aisle using the aisle data of the warehouse, The calculation unit 14 of the robot 10a may make a plan, or the general management device 200 may make a plan and include it in a command to the robot 10a. Further, when entering a location such as an intersection where there is a high possibility of approaching another robot 10, communication may be performed with the overall management device 200 to inquire whether or not the intersection can be entered. On the other hand, the short-distance route is planned by the operation unit 14 of the robot 10a by simply connecting a straight line from the current position to the destination or as an interference avoidance movement locus 904. The interference avoidance movement locus 904 will be described later.

Then, the robot 10a measures the articles 101 stored in the storage rack 100a by the article measurement sensor 18a (1003). Then, the calculation unit 14 calculates the detailed position and orientation of each article 101 in the storage shelf 100a using the shape and size of the article 101 registered in advance for the measurement result by the article measurement sensor 18a ( 1004). For example, the article measurement sensor 18a acquires a distance image including the article 101, and searches the distance image for a portion that matches the shape and size of the article 101 registered in advance. It is possible to calculate various positions and orientations. If the detailed position and orientation of the article 101 in the storage shelf 100a can be acquired from the overall management apparatus 200, the processes of steps 1003 and 1004 can be omitted.

Then, the calculation unit 14 calculates the stop position/orientation 900a of the robot 10a for holding the article 101a (1005). This calculation is realized by, for example, a simulation by the calculation unit 14. First, the absolute position of the gripper 11 for holding the article 101a is determined from the data of the relative position and orientation of the gripper 11 viewed from the article 101a for holding the predetermined article 101a and the position and orientation of the article 101a calculated in 1004. Calculate the position and orientation. Then, in the simulation, the temporary stop position/posture of the robot 10a is set, and the absolute position/posture of the gripper 11 calculated at the temporary stop position/posture is calculated by the robot 10a using the shape and mechanism data of the robot 10a. Check whether it is possible or impossible to take. This confirmation can be realized by solving the inverse kinematics problem. If the result of this confirmation is possible, the temporary stop position/posture is output as the stop position/posture 900a. If the result of the confirmation is impossible, the temporary stop position/orientation is slightly changed, and the confirmation as to whether or not the absolute position/orientation of the gripper 11 can be realized is executed again. This is repeated until the confirmation result becomes possible. In the present embodiment, since the relative position and orientation of the gripper 11 as viewed from the article 101a for holding the article 101a is the direction perpendicular to the center of the front of the article 101a, the robot 10a for taking out the article 101a is stopped. The position is a position directly facing the front surface (the surface facing the robot 10a) of the article 101a.

After that, the robot 10a autonomously moves to the calculated stop position/posture 900a (1006). The route at this time corresponds to a short distance route, and the robot 10a turns on the spot in the direction toward the position of the stop position posture 900a at the current position, linearly moves to the position of the stop position posture 900a, and stops. The robot 10a finally reaches the stop position/posture 900a by turning on the spot at the position/posture 900a to adjust the posture.

The joint angle of the arm 12 is changed to the target joint angle 901a so that the gripper 11 moves to the position and orientation capable of holding the article 101a (1007). The result of solving the inverse kinematics problem in 1005 is the target joint angle 901a of the arm 12 for the robot 10a to take the absolute position and orientation of the gripper 11. For example, there is a method of gradually changing the joint angle from the current joint angle to the target joint angle 901a at a constant angular velocity. As a result, the gripper 11 moves so as to face the front of the article 101a to be taken out and to adsorb the article 101a.

Next, the gripper 11 holds the article 101a (1008). For example, the gripper 11 that is in surface contact with the article 101a is decompressed and the gripper 11 adsorbs the article 101a.

Then, the joint angle of the arm 12 is changed to the end joint angle 902 so that the article 101a is pulled out from the storage shelf 100a while being held, and the gripper 11 is moved (1009). For example, without changing the posture of the gripper 11 and the posture of the article 101a in the state of 1008, the gripper 11 is moved vertically to the front of the storage shelf 100a until the article 101a is completely separated from the storage shelf 100a. The joint angle of the arm 12 when the article 101a is completely separated from the storage shelf 100a is the end joint angle 902.

After that, the calculation unit 14 confirms that the joint angle of the arm 12 has been changed to the end joint angle 902, and transmits a work completion report to the overall management apparatus 200 (1010).

FIG. 5 is a diagram showing a stop position/posture 900 of the robot 10a corresponding to the position/posture of the article 101 according to the first embodiment.

As described above, in the first embodiment, the robot 10a stops at the position where the gripper 11 can hold the article 101a. That is, the position/posture at which the robot stops differs depending on the position/posture of the article 101 to be taken out. For example, when taking out the article 101a in the upper middle row of the frontage under the storage shelf 100a, the robot 10a stops at the stop position posture 900a. When the article 101e in the upper left column of the frontage of the storage shelf 100a is taken out, the robot 10a stops at the stop position posture 900e. Furthermore, when taking out the article 101i in the upper left column of the frontage below the storage shelf 100a, the robot 10a stops at the stop position posture 900i.

Note that the stop position/posture 900 and the target joint angle 901 differ depending on the type of the gripper 11, the mounting position/posture to the arm 12, and the shape and size of the article 101. Therefore, the calculation unit 14 calculates the stop position/orientation 900 and the target joint angle 901 by using the information on the direction in which the gripper 11 accesses the article 101.

Up to this point, the case of taking out the articles stored in the storage shelf 100a shown in FIG. 2 has been described in the first embodiment, but the same is true for the case of taking out the articles 151a stored in the storage container 150a shown in FIG. .. That is, the robot 10a moves to a position where the gripper 11 faces the upper surface of the article and can adsorb the article 151a.

As described above, in the first embodiment, the gripper 11 holds the article 101a after calculating the stop position/posture 900a of the robot 10a for holding the article 101a and moving to the stop position/posture 900a. It is possible to access the article 101a from a position where the gripper 11 can properly contact the article 101a, and reduce mistakes such as taking out a different article 101 or dropping the article 101a.

<Example 2>
In the present embodiment, an example of an in-storage-article picking robot system capable of taking out an article 101 placed in the back of the storage shelf 100 will be described.

FIG. 6 is a diagram illustrating the configuration of the robot system according to the second embodiment.

The robot system according to the second embodiment includes a robot 10a, a storage rack 100M, and a general management device 200. The robot 10a moves to the front of the article 101M taken out from the storage shelf 100M, attracts the gripper 11 to the side surface of the article 101M, and bends the joint of the arm 12 to take out the article 101M from the storage shelf 100M.

In the second embodiment, an example will be described in which the robot 10a takes out the article 101M placed inside the storage shelf 100M. When the article 101M placed in the back of the storage shelf 100M is taken out, if the arm 12 is changed to the target joint angle 901M to attract the article 101M while the robot 10a is approaching the storage shelf 100M, the storage shelf 100M It may come into contact with the shelves that divide the frontage. Further, if the robot 10a immediately holds the article 101M and then changes the arm 12 to the end joint angle 902, the robot 10a may come into contact with the shelf plate that defines the frontage of the storage shelf 100M. Therefore, when taking out the article 101M placed in the back of the storage shelf 100M, a special procedure is required.

FIG. 7 is a diagram showing a stop position posture 900M of the robot 10a for taking out the article 101M placed in the back of the storage shelf 100M according to the second embodiment.

As described above, in the second embodiment, the robot 10a stops at the position where the gripper 11 can hold the article 101M. That is, the stop position/orientation of the robot differs depending on the article 101 to be taken out. For example, when taking out the article 101M in the upper left column of the frontage of the storage shelf 100M, the robot 10a stops at the stop position posture 900M. The stop position posture 900M is a position closer to the storage shelf 100M than the stop position posture 900e for taking out the foremost article 101 on the storage shelf 100M.

Next, with reference to FIG. 8 and FIG. 9, the operation of the robot 10a according to the second embodiment for taking out the article 101M placed in the back of the storage shelf 100M will be described. FIG. 8 is a flowchart of processing for controlling the operation of the robot 10a according to the second embodiment until it holds the article 101M. FIG. 9 is a diagram illustrating an operation until the robot 10a according to the second exemplary embodiment holds the article 101M.

First, the robot 10a executes steps 1001 to 1004 of FIG. 4 (1101). That is, the robot 10a receives a command from the general management device 200 to take out the article 101M from the storage shelf 100M (1001), autonomously moves to a position where the article 101 stored in the storage shelf 100M can be measured (1002), The article measurement sensor 18a measures the articles 101 stored in the storage shelf 100M (1003), and calculates the detailed position and orientation of each article 101 in the storage shelf 100M (1004). In this state, as shown in FIG. 9A, the robot 10a is in a position away from the storage shelf 100M, overlooking the article 101M to be taken out and the surrounding situation.

Then, the calculation unit 14 calculates the stop position/posture 900M of the robot 10a for holding the article 101M and the target joint angle 901M of the arm 12 (1102). This calculation is realized by, for example, a simulation by the calculation unit 14. First, the absolute position of the gripper 11 for holding the article 101M is determined from the data of the relative position and orientation of the gripper 11 viewed from the article 101M for holding the predetermined article 101M and the position and orientation of the article 101M calculated in 1004. Calculate the position and orientation. Then, in the simulation, a temporary stop position/posture of the robot 10a is set, and it is confirmed whether or not the robot 10a can take the absolute position/posture of the gripper 11 calculated at the temporary stop position/posture. This confirmation can be realized by solving an inverse kinematics problem, and as a result, a temporary target joint angle of the arm 12 can be obtained at the same time. If the result of this confirmation is possible, the robot 10a further uses the shape and mechanism data of the robot 10a, the shape data of the storage rack 100, and the distance image measured by 1003 in 1101, to determine whether the robot 10a is in the temporary stop position/posture. When the provisional target joint angle is taken, it is confirmed whether or not the robot 10a comes into contact with the storage rack 100 or another article. When no contact is made, the temporary stop position/posture is output as the stop position/posture 900M, and the temporary target joint angle is output as the target joint angle 901M. If the result of the confirmation is impossible, or if it is “contact”, the provisional stop position/orientation is slightly changed to confirm whether or not the absolute position/orientation of the gripper 11 can be realized, and whether or not the robot 10a contacts. Check again and execute again. These are repeated until the confirmation result is possible and "no contact". In this embodiment, since the relative position and orientation of the gripper 11 for holding the article 101M is the direction perpendicular to the center of the front surface of the article 101M, the robot 10a for taking out the article 101M is stopped. The position is a position directly facing the front surface (the surface facing the robot 10a) of the article 101M. Further, the target joint angle 901M is the state in which the arm 12 is extended so that the gripper 11 reaches the article 101M at the back of the storage shelf 100M (FIG. 9B).

Next, the calculation unit 14 determines whether the arm 12 can be moved from the current joint angle to the target joint angle 901M when the robot 10a is in the stop position/posture 900M (1103). For example, referring to shape data of the warehouse in which the storage shelf 100M is installed and the storage shelf 100M (for example, CAD data representing the position and size of walls and pillars of the warehouse, the shape and position of the storage shelf 100M) of the arm 12. In a space in which the tip (gripper 11) can move, the arm 12 does not interfere with an obstacle (the storage rack 100M, another robot 10, a pillar or wall of a warehouse, etc.), and the current joint angle changes to the target joint angle. Search for a trajectory that can transit to 901M. This search is realized by, for example, a simulation by the calculation unit 14. First, in the simulation, using the stop position/orientation 900M, the shape and mechanism data of the robot 10a, the shape data of the storage shelf 100, and the distance image measured by 1003 in 1101, the robot is used for the joint angles of a large number of arms 12. It is confirmed whether 10a contacts the storage shelf 100M or another article, and the joint angles that do not contact are stored. Next, two stored joint angles are arbitrarily selected, it is determined whether or not they are close by using a threshold value given in advance, and a joint angle transition graph connecting the close joint angles is created. After that, the joint angle transition graph is traced to search for a route from the current joint angle to the target joint angle 901M. When the path can be found within a predetermined time, it is determined that the arm 12 can transit from the current joint angle to the target joint angle 901M. For example, as shown in FIG. 9C, when the robot 10a makes contact with the upper shelf when the arm 12 tries to move to the target joint angle 901M in the stop position/posture 900M, the robot 10a may be contacted within a predetermined time. It is judged that the transition is impossible because the route cannot be found.

As a result, if the arm 12 cannot move to the target joint angle 901M, the process proceeds to step 1107. On the other hand, if the arm 12 can move to the target joint angle 901M, the computing unit 14 moves the arm 12 from the current joint angle to the target joint angle 901M when the robot 10a is in the stop position/posture 900M. The trajectory is determined (1104). Specifically, using the result of the simulation in step 1103, the shortest route (or the route satisfying a predetermined condition) that transits from the current state to the target joint angle 901M is searched for, and the interference avoidance joint angle trajectory is determined. To do.

The robot 10a autonomously moves to the stop position/posture 900M (1105), controls the arm 12 according to the interference avoidance joint angle trajectory, and moves the gripper 11 (1106). The route 1105 corresponds to a short distance route. After that, the gripper 11 holds the article 101M (1111). For example, the gripper 11 that is in surface contact with the article 101M is decompressed, and the article 101M is adsorbed to the gripper 11.

On the other hand, when it is determined in step 1103 that the arm 12 interferes with the obstacle and thus cannot move to the target joint angle 901M, the calculation unit 14 determines in step 1107 when the arm 12 has the target joint angle 901M. Then, it is determined whether the robot 10a can be moved from the current position/posture to the stop position/posture 900M. This determination is realized by, for example, a simulation by the calculation unit 14. First, in the simulation, the target joint angle 901M, the shape data of the warehouse, the shape and mechanism data of the robot 10a, the shape data of the storage rack 100, and the distance image measured in step 1003 in step 1101 are used to measure the storage rack 100M. With respect to the positions and orientations of many robots 10a in the vicinity, it is confirmed whether or not the robot 10a comes into contact with the storage rack 100 and other articles, and the positions and orientations that do not contact are stored. Next, two stored positions and orientations are arbitrarily selected, it is determined whether or not they are close to each other by using a threshold value given in advance, and a movement graph connecting the close positions and orientations is created. After that, the movement graph is traced to search for a route from the current position/posture to the stop position/posture 900M. If the route can be found within a predetermined time, it is determined that the robot 10a can be moved from the current position/posture to the stop position/posture 900M.

As a result, if the robot 10a cannot move to the stop position/posture 900M, the process returns to step 1102 to calculate another combination of the stop position/posture 900M and the target joint angle 901M. At this time, one of the stop position/posture 900M and the target joint angle 901M may be new, and both the stop position/posture 900M and the target joint angle 901M may be new.

On the other hand, if the robot 10a can move to the stop position/posture 900M without interfering with an obstacle, the calculation unit 14 will move the robot 10a from the current position/posture when the arm 12 has the target joint angle 901M. An interference avoidance movement trajectory 904M that moves to the stop position/posture 900M is determined (1108). Specifically, using the result of the simulation in step 1107, the shortest route (or the route satisfying a predetermined condition) that moves from the current position/posture to the stop position/posture 900M is searched for, and the interference avoidance movement locus 904M is set. It is determined (FIG. 9(d)).

After that, the arm 12 changes the joint angle to the target joint angle 901M (1109), the arithmetic unit 14 controls the traveling unit 13a according to the interference avoidance movement trajectory 904M, and the robot 10a moves (1110, see FIG. 9E). ). After that, the gripper 11 holds the article 101M (1111, see FIG. 9F).

As shown in FIG. 10, the robot 10a according to the second embodiment maintains the joint angle of the arm 12 at the target joint angle 901M in order to hold the article 101M placed inside the storage rack 100M (1109). , And approaches the storage rack 100M according to the interference avoidance movement trajectory 904M.

FIG. 11 is a flowchart of a process of controlling the operation after the robot 10a according to the second embodiment holds the article 101M. That is, the process shown in FIG. 11 is executed after the process shown in FIG. Further, FIG. 12 is a diagram showing an operation after the robot 10a of the second embodiment holds the article 101M.

First, the computing unit 14 calculates a stop position/posture 900Q of the robot 10a and a target joint angle 901Q of the arm 12 for pulling out the article 101M from the storage shelf 100M (1112). The stop position/posture 900Q and the target joint angle 901Q calculated here are the position/posture at which the robot 10a can move to the next operation and the target joint angle of the arm 12 when the robot 10a leaves the storage rack 100M (FIG. 12(b). )).

Next, the calculation unit 14 determines whether the arm 12 can transit from the current joint angle to the target joint angle 901Q when the robot 10a is in the current position/posture (1113). For example, the shape data of the warehouse in which the storage shelf 100M is installed and the storage shelf 100M (for example, CAD data representing the position and size of the walls and pillars of the warehouse, the shape and position of the storage shelf 100M, similar to step 1103). With reference to the reference, a search is made for a locus capable of transiting from the current joint angle to the target joint angle 901Q without the arm 12 interfering with an obstacle in a space where the tip of the arm 12 (gripper 11) can move. This search is realized by, for example, a simulation by the calculation unit 14. First, in the simulation, using the current position/orientation, the shape and mechanism data of the robot 10a, the shape data of the storage rack 100, and the distance image measured in step 1003 in step 1101, the joint angles of a large number of arms 12 are It is confirmed whether or not the robot 10a comes into contact with the storage shelf 100 or another article, and the joint angles that do not come into contact are stored. Next, two stored joint angles are arbitrarily selected, it is determined whether or not they are close by using a threshold value given in advance, and a joint angle transition graph connecting the close joint angles is created. After that, the joint angle transition graph is traced to search for a route from the current joint angle to the target joint angle 901Q. When the path can be found within a predetermined time, it is determined that the arm 12 can transit from the current joint angle to the target joint angle 901Q. For example, as shown in FIG. 12C, when the robot 10a in the current position/posture always contacts the upper shelf when trying to move the arm 12 to the target joint angle 901Q, when the robot 10a contacts the upper shelf, Is not found and it is determined that the transition is impossible.

As a result, if the arm 12 cannot move to the target joint angle 901Q, the process proceeds to step 1117. On the other hand, if the arm 12 can move to the target joint angle 901Q, the computing unit 14 moves the arm 12 from the current joint angle to the target joint angle 901Q when the robot 10a is in the current position/posture. Is determined (1114). Specifically, using the result of the simulation in step 1113, the shortest route (or the route satisfying a predetermined condition) that transits from the current state to the target joint angle is searched for, and the collision avoidance joint angle trajectory is determined. ..

Then, the robot 10a controls the arm 12 according to the interference avoidance joint angle trajectory, moves the gripper 11 (1115), and autonomously moves to the stop position/posture 900Q (1116). The route 1116 corresponds to a short distance route. After that, the calculation unit 14 confirms that the robot 10a has moved to the stop position/posture 900Q and the joint angle of the arm 12 has been changed to the target joint angle 901Q, and then transmits a work completion report to the overall management apparatus 200 ( 1121).

On the other hand, if it is determined in step 1113 that the arm 12 cannot be deformed to the target joint angle 901Q without interfering with the obstacle, the calculation unit 14 determines that the robot 10a has the current joint angle when the arm 12 has the current joint angle. It is determined whether it is possible to move from the current position/posture to the stop position/posture 900Q (1117). This determination is realized by, for example, a simulation by the calculation unit 14. First, in the simulation, the current joint angle of the arm 12, the shape data of the warehouse, the shape and mechanism data of the robot 10a, the shape data of the storage shelf 100, and the distance image measured in step 1003 in step 1101 are used to store the data. With respect to the positions and orientations of the many robots 10a near the shelf 100M, it is confirmed whether or not the robot 10a contacts the storage shelf 100 and other articles, and the positions and orientations that do not contact are stored. Next, two stored positions and orientations are arbitrarily selected, it is determined whether or not they are close to each other by using a threshold value given in advance, and a movement graph connecting the close positions and orientations is created. Then, the movement graph is traced to search for a route from the current position/posture to the stop position/posture 900Q. When the route can be found within the predetermined time, it is determined that the robot 10a can be moved from the current position/posture to the stop position/posture 900Q (FIG. 12(d)).

As a result, if the robot 10a cannot move to the stop position/posture 900Q, the process returns to step 1112 to calculate another combination of the stop position/posture 900Q and the target joint angle 901Q. At this time, one of the stop position/posture 900Q and the target joint angle 901Q may be new, and both the stop position/posture 900Q and the target joint angle 901Q may be new.

On the other hand, if the robot 10a can move to the stop position/posture 900Q without interfering with an obstacle, the computing unit 14 will move the robot 10a from the current position/posture when the arm 12 has the target joint angle 901Q. An interference avoidance movement trajectory 904Q that moves to the stop position/posture 900Q is determined (1118). Specifically, using the result of the simulation in step 1107, the shortest route (or the route satisfying a predetermined condition) that moves from the current position/posture to the stop position/posture 900Q is searched for, and the interference avoidance movement locus 904Q is set. decide.

After that, the calculation unit 14 controls the traveling unit 13a according to the interference avoidance movement trajectory 904Q, the robot 10a moves (1119, FIG. 12E), and the arm 12 changes the joint angle to the target joint angle 901Q (1120, FIG. 12F). After that, the calculation unit 14 confirms that the robot 10a has moved to the stop position/posture 900Q and the joint angle of the arm 12 has been changed to the target joint angle 901Q, and sends a work completion report to the overall management apparatus 200 (1121). ).

Up to this point, the case of taking out the articles stored in the storage shelf 100M shown in FIG. 6 has been described in the second embodiment, but the same applies to the case of taking out the articles 151a stored in the storage container 150a shown in FIG. .. That is, the robot 10a moves to a position where the gripper 11 faces the upper surface of the article and can adsorb the article 151a.

As described above, in the second embodiment, the stop position/posture 900M and the target joint angle 901M of the robot 10a for holding the article 101M are calculated, and the robot 10a stops when the arm 12 is in the target joint angle 901M. After moving to the position and orientation 900M, the gripper 11 holds the article 101M. Further, the stop position/posture 900Q and the target joint angle 901Q in a state where the article 101M is taken out from the storage shelf 100M are calculated, and the robot 10a stops at the joint angle (901M) in which the arm 12 holds the article 101M. After moving to 900Q, the arm 12 shifts to the target joint angle 901Q. By this series of operations, even when the article 101M is stored in the back of the storage shelf 100M, the robot 10a does not contact the storage shelf 100M and other articles, and the gripper 11 can contact the article 101M correctly from a position where the gripper 11 can properly contact the article 101M. Can be accessed, and mistakes such as taking out a different article 101 or dropping the article 101M can be reduced.

<Example 3>
FIG. 13 is a diagram illustrating the configuration of the robot system according to the third embodiment.

The robot system according to the third embodiment includes a robot 10b, a carrier 90b, and a general control device 200.

The robot 10b includes an arm 12 having a gripper 11 at its tip, an article measurement sensor 18b that recognizes an article held by the gripper 11, a calculation unit 14, a suction force generation unit 15, and a power supply unit 16. Unlike the robot 10a of the first embodiment, the robot 10b of the third embodiment does not have a traveling unit and a surrounding environment measurement sensor. The configurations of the arm 12, the article measurement sensor 18b, the calculation unit 14, the suction force generation unit 15, and the power supply unit 16 are the same as those of the robot 10a of the first embodiment described above, and thus the description thereof will be omitted.

The transport vehicle 90b has a stacking unit 91, a traveling unit 13a, and an ambient environment measurement sensor 17b.

The loading section 91 is provided on the upper portion of the transport vehicle 90b, and moves up and down when the vehicle reaches a predetermined position/posture or in accordance with a command signal from the overall management apparatus 200. For example, as shown in FIG. 14, as the stacking unit 91 rises, the transport vehicle 90b engages with the lower portion of the storage shelf 100b, and the storage shelf 100b is transported while the storage shelf 100b is lifted. Further, as shown in FIG. 15, the storage container 150b placed on the stacking unit 91 is transported.

The traveling unit 13a includes a rotating tire and a motor that rotationally drives the tire. Two tires are provided so as to face each other, and by controlling the rotation direction and the number of rotations of each tire, the transport vehicle 90b travels, changes its direction, and can rotate on the spot. An auxiliary wheel (not shown) may be provided below the transport vehicle 90b.

The ambient environment measuring sensor 17b is composed of a two-dimensional or three-dimensional laser scanner having a laser light irradiation section and a laser light receiving section, irradiates the surroundings with laser light, and measures reflected light. With the laser reflected light measured by the ambient environment measurement sensor 17b, the distance to an obstacle (wall, storage shelf, etc.) around can be calculated, and the calculated distances can be connected to determine the position and size of the obstacle around. Can be calculated.

The general control device 200 is connected to the robot 10b by wired or wireless communication, and is connected to the transport vehicle 90b by wireless communication. Since the configuration of the overall management apparatus 200 is the same as that of the above-described first embodiment, description thereof will be omitted.

In the present embodiment, the calculation unit 14 is one configuration of the robot 10b, but it may be configured separately from the robot 10b. For example, the transport vehicle 90b may include the calculation unit 14 so that the transport vehicle 90b and the robot 10a can communicate with each other.

Next, picking of an article by the robot 10b will be described with reference to FIGS. 14 and 15.

FIG. 14 is a diagram showing a robot system according to a third embodiment for picking articles in a storage shelf.

The robot system shown in FIG. 14 includes a robot 10b, a carrier 90b, a storage shelf 100b, and an overall management device 200 (not shown). The transport vehicle 90b loaded with the storage rack 100b moves so that the robot 10b is located in front of the article 101b taken out from the storage rack 100b. The robot 10b picks up the article 101b from the storage shelf 100b by attracting the gripper 11 to the side surface of the article 101b and bending the joint of the arm 12.

FIG. 15 is a diagram showing a robot system according to a third embodiment for picking articles in a container.

The robot system shown in FIG. 15 includes a robot 10b, a carrier 90b, a storage container 150b, and a general control device 200 (not shown). The transport vehicle 90b loaded with the storage container 150b moves so that the robot 10b is positioned in front of the article 101b taken out from the storage container 150b. The robot 10b adsorbs the gripper 11 on the upper surface of the article 101b and bends the joint of the arm 12 to take out the article 101b from the storage container 150b.

Although the storage shelf 100b and the storage container 150b have been described as the storage means for storing the article in the third embodiment, any form may be used as long as the article can be stored and stored.

FIG. 16 is a flowchart of processing for controlling the operation of the robot 10b according to the third embodiment. The program of the processing shown in FIG. 16 is executed by the CPU of the arithmetic unit 14 of the robot 10b.

First, the robot 10b receives a command from the overall management apparatus 200 to take out the article 101b from the storage shelf 100b. Further, when the robot 10b receives a command for the robot 10b to take out the article 101b from the storage shelf 100b from the central control device 200 (2001), the transport vehicle 90b autonomously moves to a position where the storage shelf 100b can be loaded (2002) and stores it. The shelves 100b are loaded (2003), and the shelves 100b are autonomously moved in front of the robot 10b, that is, to a position where the robot 10b can measure the articles 101 stored in the shelves 100b, and the shelves 100b are transported (2004). The routes 2002 and 2004 correspond to long-distance routes.

Then, the robot 10b measures the article 101 stored in the storage shelf 100b by the article measurement sensor 18b (2005). Then, the calculation unit 14 calculates the detailed position and orientation of each article 101 in the storage shelf 100b by using the shape and size of the article 101 registered in advance for the measurement result by the article measurement sensor 18b ( 2006). For example, the article measurement sensor 18b acquires a distance image including the article 101, and searches the distance image for a portion that matches the shape and size of the article 101 that is registered in advance. It is possible to calculate various positions and orientations. If the detailed position and orientation of the article 101 in the storage shelf 100b can be acquired from the overall management apparatus 200, the processes of steps 2005 and 2006 can be omitted.

Then, the calculation unit 14 calculates the stop position/posture 900b of the storage shelf 100b for holding the article 101b (2007). This calculation is realized by, for example, a simulation by the calculation unit 14. First, from the data of the relative position and orientation of the gripper 11 viewed from the article 101b for holding the predetermined article 101b and the position and orientation of the article 101b calculated in 2006, the absolute value of the gripper 11 for holding the article 101b is determined. Calculate the position and orientation. Subsequently, in the simulation, a temporary stop position/posture of the storage rack 100b is set, and the absolute position/posture of the gripper 11 calculated at the temporary stop position/posture is calculated using the shape and mechanism data of the robot 10b. See if is possible or impossible to take. This confirmation can be realized by solving the inverse kinematics problem. If the result of this confirmation is possible, the temporary stop position/posture is output as the stop position/posture 900b. If the result of the confirmation is impossible, the temporary stop position/orientation is slightly changed, and the confirmation as to whether or not the absolute position/orientation of the gripper 11 can be realized is executed again. This is repeated until the confirmation result becomes possible. In this embodiment, since the relative position and orientation of the gripper 11 viewed from the article 101b for holding the article 101b is the direction perpendicular to the center of the front of the article 101b, the gripper 11 of the storage shelf 100b for taking out the article 101b is shown. The stop position is a position where the robot 10b directly faces the front surface (the surface facing the robot 10b) of the article 101b.

After that, the carrier 90b autonomously moves to the calculated stop position/posture 900b and carries the storage shelf 100b (2008). The route at this time corresponds to a short-distance route, and the carrier 90b turns on the spot in the direction toward the position of the stop position posture 900b at the current position, and linearly moves to the position of the stop position posture 900b. The posture is adjusted by turning on the spot at the position of the stop position posture 900b, and finally the storage shelf 100b becomes the stop position posture 900b.

The joint angle of the arm 12 is changed to the target joint angle 901b so that the gripper 11 moves to the position and orientation capable of holding the article 101b (2009). The result of solving the inverse kinematics problem in 2007 is the target joint angle 901b of the arm 12 for the robot 10a to take the absolute position and orientation of the gripper 11. For example, there is a method of gradually changing the joint angle from the current joint angle to the target joint angle 901b at a constant angular velocity. As a result, the gripper 11 moves so as to face the front of the article 101b to be taken out and to adsorb the article 101b.

Next, the gripper 11 holds the article 101b (2010). For example, the gripper 11 that is in surface contact with the article 101b is decompressed, and the gripper 11 adsorbs the article 101b.

Then, the joint angle of the arm 12 is changed to the end joint angle 902 so that the article 101b is pulled out from the storage shelf 100b while being held, and the gripper 11 is moved (2011). For example, without changing the attitude of the gripper 11 and the attitude of the article 101b in the state of 2010, the gripper 11 is moved vertically to the front of the storage shelf 100b to a position where the article 101b is completely separated from the storage shelf 100b. The joint angle of the arm 12 when the article 101b is completely separated from the storage shelf 100b is the end joint angle 902.

After that, after the joint angle of the arm 12 is changed to the end joint angle 902, the transport vehicle 90b autonomously moves to the installation position and posture, transports the storage shelf 100b (2012), and determines the storage shelf 100b. Install in position (2013). After that, the transport vehicle 90b transmits a work completion report to the overall management apparatus 200 (2014). The route 2012 corresponds to a long distance route.

FIG. 17 is a diagram illustrating a stop position/posture 900 of the storage shelf 100b corresponding to the position/posture of the article 101 according to the third embodiment.

As described above, in the third embodiment, the transport vehicle 90b (storage shelf 100b) stops at a position where the gripper 11 of the robot 10b can hold the article 101b. That is, the position and orientation at which the carrier 90b stops differs depending on the position and orientation of the article 101 to be taken out.

For example, when the article 101b in the upper middle row of the frontage below the storage shelf 100b is taken out, the transport vehicle 90b (storage shelf 100b) stops at the stop position posture 900b. When the article 101f in the upper left column of the frontage of the storage shelf 100b is taken out, the transport vehicle 90b (storage shelf 100b) stops at the stop position posture 900f. Further, when the article 101j in the upper left column of the frontage of the storage shelf 100b is taken out, the transport vehicle 90b (storage shelf 100b) stops at the stop position posture 900j.

Note that the stop position/posture 900 and the target joint angle 901 differ depending on the type of the gripper 11, the mounting position/posture to the arm 12, and the shape and size of the article 101. Therefore, the calculation unit 14 calculates the stop position/orientation 900 and the target joint angle 901 by using the information on the direction in which the gripper 11 accesses the article 101.

Up to this point, the case of taking out the articles stored in the storage shelf 100b shown in FIG. 14 has been described in the third embodiment, but the same applies to the case of taking out the article 151b stored in the storage container 150b shown in FIG. is there. That is, the gripper 11 faces the upper surface of the article and the robot 10b moves to a position where the article 151b can be adsorbed.

As described above, in the third embodiment, the robot 10b calculates the stop position/posture 900b of the transfer vehicle 90b (storage rack 100b) for holding the article 101b, and transfers the storage rack 100b to the stop position/posture 900b. After that, since the gripper 11 holds the article 101b, the gripper 11 can access the article 101b from a position where the gripper 11 can properly contact the article 101b, and it is possible to reduce mistakes such as taking out a different article 101 and dropping the article 101b.

<Example 4>
In the present embodiment, an example of an in-storage-article picking robot system capable of taking out an article 101 placed in the back of the storage shelf 100 will be described.

FIG. 18 is a diagram illustrating the configuration of the robot system according to the fourth embodiment.

The robot system according to the fourth embodiment includes a robot 10b, a carrier 90b, a storage shelf 100n, and a general control device 200. The robot 10b moves to the front of the article 101n taken out from the storage shelf 100n, adsorbs the gripper 11 to the side surface of the article 101n, and bends the joint of the arm 12 to take out the article 101n from the storage shelf 100n.

In the fourth embodiment, an example in which the robot 10b takes out the article 101n placed in the back of the storage shelf 100n will be described. When the article 101n placed in the back of the storage shelf 100n is taken out, if the arm 12 is changed to the target joint angle 901n to attract the article 101n while the storage shelf 100n is approaching the robot 10b, It may come into contact with the shelves that divide the frontage. Further, when the robot 10b immediately changes the arm 12 to the end joint angle 902 after adsorbing the article 101n, the robot 10b may come into contact with a shelf plate that partitions the front of the storage shelf 100n. Therefore, when taking out the article 101n placed in the back of the storage shelf 100n, a special procedure is required.

FIG. 19 is a diagram showing a stop position posture 900n of the robot 10b for taking out the article 101n placed in the back of the storage shelf 100n according to the fourth embodiment.

As described above, in the fourth embodiment, the transport vehicle 90b (storage shelf 100n) is stopped at a position where the gripper 11 of the robot 10b can hold the article 101n. That is, the stop position/orientation of the robot differs depending on the article 101 to be taken out. For example, when taking out the article 101n in the upper left column of the frontage of the storage shelf 100n, the carrier 90b conveys the storage shelf 100n to a position in front of the robot 10b, then approaches the robot 10b, and reaches the stop position posture 900n. Stop. The stop position/posture 900n is closer to the robot 10b than the stop position/posture 900f for taking out the frontmost article 101 of the storage shelf 100n.

Next, with reference to FIGS. 20 and 21, the operation of the robot 10b according to the fourth embodiment for taking out the article 101n placed in the back of the storage shelf 100n will be described. FIG. 20 is a flowchart of processing for controlling the operation of the robot 10b according to the fourth embodiment until the robot 10b holds the article 101n. 21: is a figure which shows operation|movement until the robot 10b of Example 4 hold|maintains the article 101n.

First, the robot 10b executes steps 2001 to 2006 of FIG. 16 (2101). That is, the carrier 90b receives a command from the general management device 200 that the robot 10b takes out the article 101n from the storage shelf 100n (2001), autonomously moves to a position where the storage shelf 100n can be loaded (2002), and stores it. The shelves 100n are loaded (2003), and the robot 10b autonomously moves to a position where the articles 101 stored in the storage shelves 100n can be measured (2004). Further, the robot 10b receives a command to take out the article 101n from the storage shelf 100n from the overall management apparatus 200 (2001), measures the article 101 stored in the storage shelf 100n by the article measurement sensor 18b (2005), and stores the storage shelf. The detailed position and orientation of each article 101 within 100n is calculated (2006). In this state, as shown in FIG. 21A, the transport vehicle 90b is located away from the robot 10b, overlooking the article 101n to be taken out by the robot 10b and the surrounding situation.

Then, the calculation unit 14 calculates the stop position/posture 900n of the storage shelf 100n for holding the article 101n and the target joint angle 901n of the arm 12 (2102). This calculation is realized by, for example, a simulation by the calculation unit 14. First, from the data of the relative position and orientation of the gripper 11 viewed from the article 101n for holding the predetermined article 101n and the position and orientation of the article 101n calculated in 2006, the absolute value of the gripper 11 for holding the article 101n is determined. Calculate the position and orientation. Subsequently, in the simulation, a temporary stop position/posture of the storage rack 100n is set, and it is confirmed whether or not the robot 10b can take the absolute position/posture of the gripper 11 calculated at the temporary stop position/posture. .. This confirmation can be realized by solving an inverse kinematics problem, and as a result, a temporary target joint angle of the arm 12 can be obtained at the same time. If the result of this confirmation is possible, the robot 10a is temporarily stopped using the shape and mechanism data of the robot 10b, the shape data of the storage shelf 100, and the distance image measured in step 2005 in step 2101. It is confirmed whether or not the robot 10a comes into contact with the storage shelf 100 or another article when the position and orientation and the provisional target joint angle are taken. When no contact is made, the temporary stop position/posture is output as the stop position/posture 900n, and the temporary target joint angle is output as the target joint angle 901n. If the result of the confirmation is impossible, or if the result is “contact,” the temporary stop position/orientation is slightly changed, whether or not the absolute position/orientation of the gripper 11 is realized, and whether or not the robot 10b contacts Check again and execute again. These are repeated until the confirmation result is possible and "no contact". In the present embodiment, the relative position and orientation of the gripper 11 for holding the article 101n viewed from the article 101n is a direction perpendicular to the center of the front surface of the article 101n. The stop position of the transport vehicle 90b) is a position where the robot 10b directly faces the front surface (the surface facing the robot 10b) of the article 101n. Further, the target joint angle 901n is the state in which the arm 12 is extended so that the gripper 11 reaches the article 101n at the back of the storage shelf 100n (FIG. 21B).

Next, the calculation unit 14 determines whether the arm 12 can transit from the current joint angle to the target joint angle 901n when the storage rack 100n (and the transport vehicle 90b) is in the stop position posture 900n (2103). .. For example, referring to shape data of the warehouse in which the storage shelf 100n is installed and the storage shelf 100n (for example, CAD data representing the shape and position of the storage shelf 100n, the positions and sizes of the walls and pillars of the warehouse) of the arm 12. In the space where the tip (gripper 11) can move, the arm 12 does not interfere with obstacles (the storage rack 100n, the carrier 90b, the other robot 10, the pillars and walls of the warehouse, etc.) and the current joint angle. From the target joint angle 901n is searched for. This search is realized by, for example, a simulation by the calculation unit 14. First, in the simulation, using the stop position/orientation 900n, the data of the shape and mechanism of the robot 10b, the shape data of the storage shelf 100, and the distance image measured in step 2005 in step 2101, the joint angles of a large number of arms 12 are compared. Then, it is confirmed whether or not the robot 10b comes into contact with the storage rack 100n and other articles, and the joint angles that do not come into contact are stored. Next, two stored joint angles are arbitrarily selected, it is determined whether or not they are close by using a threshold value given in advance, and a joint angle transition graph connecting the close joint angles is created. After that, the joint angle transition graph is traced to search for a route from the current joint angle to the target joint angle 901n. When the path can be found within a predetermined time, it is determined that the arm 12 can shift from the current joint angle to the target joint angle 901n. For example, as shown in FIG. 21C, in the case where the storage rack 100n (and the transport vehicle 90b) is in the stop position posture 900n, when the arm 12 tries to shift to the target joint angle 901n, the upper rack always contacts with the upper rack. It is judged that the transition is impossible because the route cannot be found within a predetermined time.

As a result, if the arm 12 cannot move to the target joint angle 901n, the process proceeds to step 2107. On the other hand, if the arm 12 can move to the target joint angle 901n, the calculation unit 14 moves the arm 12 from the current joint angle to the target joint angle 901n when the storage rack 100n (and the carrier 90b) is in the stop position posture 900n. The interference avoidance joint angle locus that transits to is determined (2104). Specifically, using the result of the simulation in step 2103, the shortest route (or the route satisfying a predetermined condition) that transits from the current state to the target joint angle 901n is searched for, and the interference avoidance joint angle trajectory is determined. To do.

Then, the transport vehicle 90b autonomously transports the storage shelf 100n to the stop position posture 900n (2105), controls the arm 12 according to the interference avoidance joint angle trajectory, and moves the gripper 11 (2106). The route 2105 corresponds to a short distance route. After that, the gripper 11 holds the article 101n (2111). For example, the gripper 11 in surface contact with the article 101n is decompressed and the article 101n is adsorbed to the gripper 11.

On the other hand, when it is determined in step 2103 that the arm 12 interferes with the obstacle and thus cannot move to the target joint angle 901n, the calculation unit 14 determines in step 2107 when the arm 12 has the target joint angle 901n. , It is determined whether the storage shelf 100n (transport vehicle 90b) can be moved from the current position/posture to the stop position/posture 900n. This determination is realized by, for example, a simulation by the calculation unit 14. First, in the simulation, using the current joint angle of the arm 12, the shape data of the warehouse, the shape and mechanism data of the robot 10b, the shape data of the storage rack 100, and the distance image measured in step 2005 in step 2101, In the position and orientation of a large number of storage shelves 100n in the vicinity of the robot 10b, it is confirmed whether the storage shelves 100n and the articles inside the storage shelves 100n come into contact with the robot 10b or other equipment in the warehouse. Keep it. Next, two stored positions and orientations are arbitrarily selected, it is determined whether or not they are close to each other by using a threshold value given in advance, and a movement graph connecting the close positions and orientations is created. After that, the movement graph is traced to search for a route from the current position/posture to the stop position/posture 900n. When the route can be found within the predetermined time, it is determined that the storage rack 100n (transport vehicle 90b) can be moved from the current position/posture to the stop position/posture 900n.

As a result, if the transport vehicle 90b cannot move to the stop position/posture 900n, the process returns to step 2102 to calculate another combination of the stop position/posture 900n and the target joint angle 901n. At this time, one of the stop position/posture 900n and the target joint angle 901n may be new, and both the stop position/posture 900n and the target joint angle 901n may be new.

On the other hand, if the transport vehicle 90b can move to the stop position/posture 900n without interfering with the obstacle, the calculating unit 14 causes the transport vehicle 90b to move to the current position/posture when the arm 12 has the target joint angle 901n. An interference avoidance movement locus 904n for transporting the storage rack 100n to the stop position posture 900n is determined (2108). Specifically, using the result of the simulation in step 2107, the shortest route (or the route satisfying a predetermined condition) that moves from the current position/posture to the stop position/posture 900n is searched for, and the interference avoidance movement locus 904n is set. It is determined (FIG. 21(d)).

After that, the arm 12 changes the joint angle to the target joint angle 901n (2109), and the transport vehicle 90b autonomously moves according to the interference avoidance movement trajectory 904n to transport the storage rack 100n (2110, FIG. 21E). reference). After that, the gripper 11 holds the article 101n (2111, see FIG. 21F).

As shown in FIG. 22, in the transport vehicle 90b (storage shelf 100n) of the fourth embodiment, the joint angle of the arm 12 is set as the target joint in order for the robot 10b to hold the article 101n placed in the back of the storage shelf 100n. When the angle is set to 901n (2109), the robot approaches the robot 10b according to the interference avoidance movement trajectory 904n.

FIG. 23 is a flowchart of a process of controlling the operation after the robot 10b of the fourth embodiment holds the article 101n. FIG. 24 is a diagram showing the operation of the robot 10b according to the fourth embodiment after holding the article 101n. That is, the process shown in FIG. 23 is executed after the process shown in FIG.

First, the computing unit 14 calculates the stop position/posture 900r of the storage shelf 100n (transport vehicle 90b) and the target joint angle 901r of the arm 12 for the robot 10b to pull out the article 101n from the storage shelf 100n (2112). ). The stop position/posture 900r and the target joint angle 901r calculated here are the position/posture and arm of the storage rack 100n (transport vehicle 90b) in a state where the storage rack 100n is separated from the robot 10b and the robot 10b can shift to the next operation. 12 target joint angles (FIG. 24(b)).

Next, the calculation unit 14 determines whether the arm 12 can be changed from the current joint angle to the target joint angle 901r when the storage rack 100n (transport vehicle 90b) is in the current position/posture (2113). For example, the shape data of the warehouse in which the storage shelf 100n is installed and the storage shelf 100n (for example, like the step 2103, the position and size of the walls and pillars of the warehouse, the CAD data representing the shape and position of the storage shelf 100n) are stored. In reference to the space where the tip of the arm 12 (gripper 11) can move, a trajectory that allows the arm 12 to move from the current joint angle to the target joint angle 901r is searched for without interfering with an obstacle. This search is realized by, for example, a simulation by the calculation unit 14. First, in the simulation, using the current position/orientation, the shape and mechanism data of the robot 10b, the shape data of the storage shelf 100, and the distance image measured in step 2005 in step 2101, the joint angles of a large number of arms 12 are It is confirmed whether or not the robot 10b comes into contact with the storage shelf 100 or another article, and the joint angles that do not come into contact are stored. Next, two stored joint angles are arbitrarily selected, it is determined whether or not they are close by using a threshold value given in advance, and a joint angle transition graph connecting the close joint angles is created. Then, the joint angle transition graph is traced to search for a route from the current joint angle to the target joint angle 901r. When the path can be found within a predetermined time, it is determined that the arm 12 can transit from the current joint angle to the target joint angle 901r. For example, as shown in FIG. 24(c), when the storage rack 100n (transport vehicle 90b) is in the current position/posture and the arm 12 is always in contact with the upper shelf plate when the arm 12 tries to move to the target joint angle 901r, it is determined in advance. It is judged that the transition is impossible because the route cannot be found within the specified time.

As a result, if the arm 12 cannot move to the target joint angle 901r, the process proceeds to step 2117. On the other hand, if the arm 12 can move to the target joint angle 901r, the computing unit 14 moves the arm 12 from the current joint angle to the target joint angle 901r when the transport vehicle 90b is in the current position/posture. The trajectory is determined (2114). Specifically, using the result of the simulation in step 2113, the shortest route (or the route satisfying a predetermined condition) that transits from the current state to the target joint angle is searched for, and the joint avoidance joint angle trajectory is determined. ..

Then, the robot 10b controls the arm 12 according to the interference avoidance joint angle trajectory, moves the gripper 11 (2115), and the transport vehicle 90b autonomously transports the storage shelf 100n to the stop position posture 900r (2116). The route 2116 corresponds to a short distance route. Then, steps 2011 to 2014 are executed (2121). That is, while the gripper 11 holds the article 101n, the joint angle of the arm 12 is changed to the end joint angle 902, the article 101n is pulled out from the storage shelf 100n (2011), and the transport vehicle 90b autonomously stores it in the installation position/posture. The rack 100n is transported (2012), the storage rack 100n is installed at a predetermined position (2013), and the transport vehicle 90b transmits a work completion report to the overall management apparatus 200 (2014).

On the other hand, in step 2113, when it is determined that the arm 12 cannot move to the target joint angle 901r without interfering with the obstacle, the calculation unit 14 determines that the arm 12 has the current joint angle and the storage rack. It is determined whether 100n (transport vehicle 90b) can be moved from the current position/posture to the stop position/posture 900r (2117). This determination is realized by, for example, a simulation by the calculation unit 14. First, in the simulation, the robot uses the current joint angle of the arm 12, the shape data of the warehouse, the shape and mechanism data of the robot 10a, the shape data of the storage shelf 100, and the distance image measured in step 2005 in step 2101. With respect to the positions and orientations of a large number of storage shelves 100n near 10b, it is confirmed whether or not the storage shelves 100n and the articles inside them come into contact with the robot 10b and other equipment in the warehouse, and the positions and orientations that do not contact are stored. Keep it. Next, two stored positions and orientations are arbitrarily selected, it is determined whether or not they are close to each other by using a threshold value given in advance, and a movement graph connecting the close positions and orientations is created. After that, the movement graph is traced to search for a route from the current position/posture to the stop position/posture 900r. When the route can be found within a predetermined time, it is determined that the storage rack 100n (transport vehicle 90b) can be moved from the current position/posture to the stop position/posture 900r (FIG. 24(d)).

As a result, if the storage rack 100n (transport vehicle 90b) cannot move to the stop position/posture 900r, the process returns to step 2112 to calculate another combination of the stop position/posture 900r and the target joint angle 901r. At this time, one of the stop position/posture 900r and the target joint angle 901r may be new, and both the stop position/posture 900r and the target joint angle 901r may be new.

On the other hand, if the storage shelf 100n (transport vehicle 90b) can move to the stop position posture 900r without interfering with an obstacle, the calculation unit 14 causes the transport vehicle to move when the arm 12 has the target joint angle 901r. 90b determines the interference avoidance movement locus 904r for transporting the storage rack 100n from the current position/posture to the stop position/posture 900r (2118). Specifically, using the result of the simulation in step 2107, the shortest route (or the route satisfying a predetermined condition) that moves from the current position/posture to the stop position/posture 900r is searched for, and the interference avoidance movement locus 904r is set. decide.

After that, the transport vehicle 90b travels along the interference avoidance movement trajectory 904r to transport the storage rack 100n (2119, FIG. 24E), and the arm 12 changes the joint angle to the target joint angle 901r (2120, FIG. 24). 24(f)). After that, steps 2011 to 2014 are executed (2121), and finally the transport vehicle 90b transmits a work completion report to the overall management apparatus 200.

Up to this point, the case of taking out the articles stored in the storage shelf 100n shown in FIG. 18 has been described in the fourth embodiment, but the same applies to the case of taking out the article 151b stored in the storage container 150b shown in FIG. .. That is, the transport vehicle 90b conveys the storage container 150b to a position where the gripper 11 faces the upper surface of the article and can adsorb the article 151b.

As described above, in the fourth embodiment, the robot 10b calculates the stop position posture 900n of the storage shelf 100n (transport vehicle 90b) for holding the article 101n and the target joint angle 901n of the arm 12, and the arm 12 moves. The gripper 11 holds the article 101n after the storage shelf 100n is conveyed to the stop position/posture 900n in the state of the target joint angle 901n. Further, the stop position/posture 900r and the target joint angle 901r in a state where the article 101n is taken out from the storage shelf 100n are calculated, and when the arm 12 holds the article 101n at the joint angle (901n), the transport vehicle 90b moves to the storage shelf. After moving 100n to the stop position posture 900r, the arm 12 shifts to the target joint angle 901r. Through this series of operations, even if the article 101n is stored in the back of the storage shelf 100n, the robot 10a does not contact the storage shelf 100n and other articles, and the gripper 11 can contact the article 101n correctly from a position where the gripper 11 can properly contact the article 101n. Can be accessed, and mistakes such as taking out a different article 101 and dropping the article 101n can be reduced.

In the embodiment described above, the case where the article 101 is taken out from the storage means (storage shelf 100, storage container 150) has been described, but the present invention can be applied to the case where the robot 10 stores the article 101 in the storage means. ..

As described above, according to the embodiment of the present invention, the calculation unit 14 causes the shape of the storage shelf 100, the shape of the robot 10, the shape of the target article 101 to be taken out, and the target article 101 in the storage shelf 100. Based on the position and orientation of the robot 10, the stop position and orientation 900 of the robot 10 and the target joint angle 901 of the arm 12 are calculated, the robot 10 moves to the stop position and orientation 900, and the joint angle of the arm 12 reaches the target joint angle 901. Since the target article 101 is changed out from the storage shelf 100, even a robot having an arm with a short reach and a small degree of joint freedom does not come into contact with obstacles (storage shelf 100, other articles, etc.), and the storage shelf 100 is removed. It is possible to take out the article 101 from the. Therefore, the cost of the robot can be reduced, and the constraint on the shelf shape of an inexpensive robot can be reduced.

Further, the calculation unit 14 realizes the first stop position/posture 900M and the first target joint angle 901M in a state where the robot 10 is close to the storage shelf 100 (a state in which the article 101 in the storage shelf 100 can be accessed). In order to do so, in the state where the joint angle of the arm 12 is set to the first target joint angle 901M, the path 904M that the robot 10 moves from the current position/posture to the first stop position/posture 900M without interfering with an obstacle is set. Since the robot 10 approaches the storage shelf 100 according to the calculated route 904M, it is possible to hold the article 101 placed in the back of the storage shelf 100 without contacting the obstacle.

In addition, the calculation unit 14 combines the stop position/orientation 900 and the target joint angle 901 in which the robot 10 holds the target article 101 without interfering with an obstacle based on the position/orientation of the target article 101 in the storage shelf 100. Therefore, a series of operations for taking out the article 101 placed in the back of the storage shelf 100 can be appropriately planned.

Further, the calculation unit 14 has the second stop position/posture 900Q and the second target in a state where the robot 10 is away from the storage shelf 100 (a state in which the robot 10 is separated from the storage shelf 100 and can be moved to another place). In order to realize the joint angle 901Q, a route 904Q is calculated in which the robot 10 moves from the current position/posture to the second stop position/posture 900Q without interfering with an obstacle while the arm 12 has the current joint angle. Then, since the robot 10 moves away from the storage shelf 100 according to the calculated path 904Q, after holding the article 101 placed in the back of the storage shelf 100, the robot 10 can be detached from the storage shelf 100 without contacting the obstacle.

Further, the calculation unit 14 calculates a combination of the stop position/posture 900 and the target joint angle 901 separated from the storage shelf 100 while the robot 10 holds the target article 101 from the state where the robot 10 and the storage shelf 100 are close to each other. Therefore, a series of operations for taking out the article 101 placed in the back of the storage shelf 100 can be appropriately planned.

Further, the arithmetic unit 14 controls to move the robot 10 to the stop position/posture 900 based on the shape of the storage shelf 100, the shape of the robot 10, the shape of the target article 101, and the position/posture of the target article 101. The order of control for changing the joint angle of the arm 12 to the target joint angle 901 is selected. Although it is desirable for the robot 10 to move with the arm bent, it is necessary to move with the arm extended if the purpose cannot be achieved. In this way, appropriate control can be performed by selecting the control order.

Further, the robot 10 moves to a position and orientation in which the article measurement sensor 18 can measure the article 101 stored in the storage shelf 100, and the article measurement sensor 18 stores the article 101 after the robot 10 moves to a measurable position and orientation. Since the article 101 stored in the shelf 100 is measured and the calculation unit 14 recognizes the position and orientation of the target article 101 in the storage shelf 100 based on the measurement result, the central control device (total management device 200) It is not necessary to manage the article 101 in the above, and the load of the system can be distributed.

Further, the calculation unit 14 stops the storage shelf 100 based on the shape of the storage shelf 100, the shape of the robot 10, the shape of the target article 101 to be taken out, and the position and orientation of the target article 101 in the storage shelf 100. The position/orientation 900 and the target joint angle 901 of the arm 12 are calculated, the transport vehicle 90 transports the storage shelf 100 to the stop position/orientation 900, and the robot 10 changes the joint angle of the arm 12 to the target joint angle 901. Since the target article 101 is taken out from the storage shelf 100, even a robot having an arm with a short reach and a small degree of joint freedom does not come into contact with an obstacle (the storage shelf 100, another article, etc.) and the article 101 from the storage shelf 100. Can be taken out. Therefore, the cost of the robot can be reduced, and the constraint on the shelf shape of an inexpensive robot can be reduced.

The calculation unit 14 also determines the first stop position/posture 900n and the first target joint angle when the storage shelf 100 is close to the robot 10 (the robot 10 can access the article 101 in the storage shelf 100). In order to realize 901n, with the joint angle of the arm 12 set to the first target joint angle 901n, the storage rack 100 and the stored articles do not interfere with the obstacle (such as the robot 10) and the current position. A path 904n that moves from the posture to the first stop position posture 900n is calculated, and the storage shelf 100 approaches the robot 10 according to the calculated path 904n. Therefore, the robot 10 is an article placed inside the storage shelf 100. 101 can be held without contact with an obstacle (a storage rack 100, another article, or the like).

In addition, the calculation unit 14 determines that the robot 10 does not interfere with obstacles (such as each other or other articles) by the storage shelf 100 and the robot 10 based on the position and orientation of the target article 101 in the storage shelf 100. Since the combination of the stop position/posture 900 holding 101 and the target joint angle 901 is calculated, a series of cooperative operations for taking out the article 101 placed in the back of the storage shelf 100 can be appropriately planned.

Further, the calculation unit 14 is in a state in which the storage shelf 100 is away from the robot 10 (a state in which the storage shelf 100 is separated from the robot 10 and can be moved to another place), the second stop position/posture 900r and the second target. In order to realize the joint angle 901r, when the joint angle of the arm 12 is in the current state, the storage shelf 100 and the stored article do not interfere with the obstacle (such as the robot 10) and the second position is changed from the current position and orientation. The path 904r conveyed to the stop position/posture 900r is calculated, and the storage rack 100 moves away from the robot 10 according to the calculated path 904r. Therefore, after holding the article 101 placed in the back of the storage rack 100, an obstacle is blocked. The storage rack 100 can be detached from the robot 10 without contact with the robot 10 or the like.

In addition, the calculation unit 14 stops the posture 10 in which the storage shelf 100 and the stored article are separated from the robot 10 while the robot 10 holds the target article 101 from the state where the robot 10 and the storage shelf 100 are close to each other. Since the target joint angle 901 and the target joint angle 901 are calculated as a combination, a series of cooperative operations for taking out the article 101 placed in the back of the storage shelf 100 can be appropriately planned.

In addition, the calculation unit 14 causes the transport vehicle 90 to stop the storage shelf 100 based on the shape of the storage shelf 100, the shape of the robot 10, the shape of the target article 101, and the position and orientation of the target article 101. The order of the control for carrying to and the control for changing the joint angle of the arm 12 to the target joint angle 901 is selected. It is desirable from the viewpoint of work throughput to minimize the movement path of the storage rack 100 toward the robot 10, but if the purpose cannot be achieved, the arm 12 of the robot 10 is extended and the storage rack is avoided so as to avoid the arm 12. 100 needs to be moved. In this way, appropriate control can be performed by selecting the control order.

Further, the transport vehicle 90 conveys the storage shelf 100 to a position and orientation in which the article measurement sensor 18 can measure the articles 101 stored in the storage shelf 100, and the robot 10 moves the storage shelf 100 to a measurable position and orientation. After being conveyed, the article 101 stored in the storage shelf 100 is measured, and the calculation unit 14 recognizes the position and orientation of the target article 101 based on the measurement result. ), the management of the article 101 becomes unnecessary, and the system load can be distributed.

The present invention is not limited to the above-described embodiments, but includes various modifications and equivalent configurations within the spirit of the appended claims. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all the configurations described. Further, part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Further, the configuration of another embodiment may be added to the configuration of one embodiment. Further, a part of the configuration of each embodiment may be added/deleted/replaced with another configuration.

Further, each of the above-mentioned configurations, functions, processing units, processing means, etc. may be realized by hardware, for example, by designing a part or all of them with an integrated circuit, and a processor realizes each function. It may be realized by software by interpreting and executing the program.

Information such as a program, a table, and a file that implements each function can be stored in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

Further, the control lines and information lines are shown to be necessary for explanation, and not all the control lines and information lines necessary for mounting are shown. In reality, it can be considered that almost all configurations are connected to each other.

1 Shelf-displayed article picking robot system 2 In-container article picking robot system 10 Robot 11 Gripper 12 Arm 13 Traveling section 14 Computing section 15 Suction force generator 16 Electric power supply section 17 Ambient environment measurement sensor 18 Article measurement sensor 90 Transport vehicle 91 Loading section 100 storage shelf 101 shelf display article 150 storage container 151 article in container 200 general management device 900 stop position/posture 901 target joint angle 902 end joint angle 904 interference avoidance movement locus

Claims (17)

A robot system,
A robot that takes out items from the storage means,
A computing unit that is provided outside or inside the robot and that executes a process for controlling the robot;
The robot is
A gripper capable of holding the article,
An arm that can change the position and orientation of the gripper,
And a traveling unit capable of changing the position and orientation of the robot,
The arithmetic unit is
The robot is in a state of approaching the storage means based on the shape of the storage means, the shape of the robot, the shape of the target article to be taken out, and the position and orientation of the target article in the storage means. Calculating a first stop position/posture of the robot and a first target joint angle of the arm,
In order to achieve the first stop position/posture and the first target joint angle, the robot is currently in a state where the joint angle of the arm is set to the first target joint angle and the robot does not interfere with an obstacle. A path from the position and orientation of No. 1 to the first stop position and orientation,
The robot is
Moving to the first stop position attitude,
Changing the joint angle of the arm to the first target joint angle,
A robot system, wherein the target article is taken out from the storage means. The robot system according to claim 1, wherein:
A robot system, wherein the arithmetic unit calculates a combination of the first stop position/posture in which the robot holds the target article without interfering with the obstacle and the first target joint angle. .. A robot system,
A robot that takes out items from the storage means,
A computing unit that is provided outside or inside the robot and that executes a process for controlling the robot;
The robot is
A gripper capable of holding the article,
An arm that can change the position and orientation of the gripper,
And a traveling unit capable of changing the position and orientation of the robot,
The arithmetic unit is
The robot being away from the storage means based on the shape of the storage means, the shape of the robot, the shape of the target article to be taken out, and the position and orientation of the target article in the storage means. A second stop position/posture of the robot and a second target joint angle of the arm are calculated,
In order to achieve the second stop position/posture and the second target joint angle, the robot is configured to move from the current position/posture to the second position from the current position/posture without interference of the robot with the joint angle of the arm. Calculate the route to move to the stop position and posture of
The robot is
Taking out the target article from the storage means,
Moving to the second stop position/posture,
A robot system, wherein the joint angle of the arm is changed to the second target joint angle. The robot system according to claim 3, wherein
A robot system, wherein the arithmetic unit calculates a combination of the second stop position/posture separated from the storage means and the second target joint angle in a state where the robot holds the target article. .. A robot system,
A robot that takes out items from the storage means,
A computing unit that is provided outside or inside the robot and that executes a process for controlling the robot;
The robot is
A gripper capable of holding the article,
An arm that can change the position and orientation of the gripper,
And a traveling unit capable of changing the position and orientation of the robot,
The arithmetic unit is
Based on the shape of the storage means, the shape of the robot, the shape of the target article to be taken out, and the position and orientation of the target article in the storage means, the stop position and orientation of the robot and the target joint angle of the arm. And calculate
Based on the shape of the storage means, the shape of the robot, the shape of the target article, and the position and orientation of the target article, the control for moving the robot to the stop position and orientation and the joint angle of the arm are set as follows. Select the order with the control to change to the target joint angle,
The robot is
Move to the stop position posture,
Changing the joint angle of the arm to the target joint angle,
A robot system, wherein the target article is taken out from the storage means. The robot system according to any one of claims 1 to 5, wherein:
It has an article measurement sensor,
The robot moves to a position and orientation in which the article measurement sensor can measure the article stored in the storage means,
The article measurement sensor measures the article stored in the storage unit after the robot has moved to the measurable position and orientation,
The robot system, wherein the arithmetic unit recognizes the position and orientation of the target article in the storage means based on the result of the measurement. A robot system,
A robot that takes out items from the storage means,
A transporting vehicle for transporting the storing means,
A computing unit that is provided outside or inside the robot and that executes processing for controlling the robot and the transport vehicle;
The robot is
A gripper capable of holding the article,
An arm capable of changing the position and orientation of the gripper,
The arithmetic unit is
Based on the shape of the storage means, the shape of the robot, the shape of the target article to be taken out, and the position and orientation of the target article in the storage means, the stop position and orientation of the storage means and the target joint of the arm. Calculate the angle,
The transport vehicle transports the storing means to the stop position and posture,
The robot is
Changing the joint angle of the arm to the target joint angle,
A robot system, wherein the target article is taken out from the storage means. The robot system according to claim 7, wherein:
The computing unit sets the joint angle of the arm to the first target joint in order to realize the first stop position/posture and the first target joint angle in a state where the storage unit is close to the robot. A robot system characterized in that, in an angled state, the storage means calculates a path for moving from the current position/posture to the first stop position/posture without interfering with an obstacle. The robot system according to claim 8, wherein:
The calculation unit may calculate a combination of the first stop position/posture in which the robot holds the target article and the first target joint angle without the storage unit interfering with the obstacle. Characteristic robot system. The robot system according to claim 7, wherein:
In order to realize the second stop position/posture and the second target joint angle in a state where the storage means is away from the robot, the storage means interferes with an obstacle in a current state of the joint angle of the arm. A robot system characterized by calculating a route conveyed from the current position/posture to the second stop position/posture without performing the above. The robot system according to claim 10, wherein:
The calculation unit calculates a combination of the second stop position/posture separated from the robot by the storage unit and the second target joint angle in a state where the robot holds the target article. And robot system. The robot system according to claim 7, wherein:
The computing unit conveys the storage unit to the stop position/posture based on the shape of the storage unit, the shape of the robot, the shape of the target article, and the position/posture of the target article. A robot system characterized by selecting the order of control to perform and control to change the joint angle of the arm to the target joint angle. The robot system according to claim 7, wherein:
It has an article measurement sensor,
The transport vehicle transports the storage means to a position and orientation in which the article measurement sensor can measure the articles stored in the storage means,
The robot measures the articles stored in the storage means after the storage means is conveyed to the measurable position and orientation,
The robot system, wherein the arithmetic unit recognizes the position and orientation of the target article in the storage means based on the result of the measurement. A method for picking articles by a robot system, comprising:
The robot system includes a robot that takes out an article from a storage unit, and an arithmetic unit that is provided outside or inside the robot and that executes a process for controlling the robot.
The robot has a gripper that can hold the article, an arm that can change the position and orientation of the gripper, and a traveling unit that can change the position and orientation of the robot.
The picking method is
The computing unit causes the robot to approach the storage means based on the shape of the storage means, the shape of the robot, the shape of the target article to be taken out, and the position and orientation of the target article in the storage means. A first stop position/posture of the robot in a closed state and a first target joint angle of the arm,
In order to realize the first stop position/posture and the first target joint angle, the computing unit sets the joint angle of the arm to the first target joint angle, and the robot is an obstacle. Calculating a path from the current position/posture to the first stop position/posture without interference,
The robot moves to the first stop position/posture, changes the joint angle of the arm to the first target joint angle, and the robot takes out the target article from the storage means. Picking method. A method for picking articles by a robot system, comprising:
The robot system includes a robot that takes out an article from a storage unit, and an arithmetic unit that is provided outside or inside the robot and that executes a process for controlling the robot.
The robot has a gripper that can hold the article, an arm that can change the position and orientation of the gripper, and a traveling unit that can change the position and orientation of the robot.
The picking method is
The computing unit causes the robot to move away from the storage means based on the shape of the storage means, the shape of the robot, the shape of the target article to be taken out, and the position and orientation of the target article in the storage means. A second stop position/posture of the robot in a closed state and a second target joint angle of the arm,
In order for the calculation unit to realize the second stop position/posture and the second target joint angle, the joint position of the arm is in a current state, and the current position of the robot does not interfere with an obstacle. Calculating a path from the posture to the second stop position posture,
The picking method, wherein the robot takes out the target article from the storage means, moves to the second stop position and posture, and changes the joint angle of the arm to the second target joint angle. A method for picking articles by a robot system, comprising:
The robot system includes a robot that takes out an article from a storage unit, and a computing unit that is provided outside or inside the robot and that executes a process for controlling the robot, and the robot holds the article. A gripper, an arm that can change the position and orientation of the gripper, and a traveling unit that can change the position and orientation of the robot,
The picking method is
The computing unit, based on the shape of the storage means, the shape of the robot, the shape of the target article to be taken out, and the position and orientation of the target article in the storage means, the stop position and orientation of the robot and the Calculate the target joint angle of the arm,
The control for moving the robot to the stop position/posture based on the shape of the storage means, the shape of the robot, the shape of the target article, and the position/posture of the target article, and the arm. Select the order of control to change the joint angle of to the target joint angle,
The picking method, wherein the robot moves to the stop position/posture, changes the joint angle of the arm to the target joint angle, and takes out the target article from the storage means. A method for picking articles by a robot system, comprising:
The robot system includes a robot that takes out an article from a storage unit, a transport vehicle that transports the storage unit, and a calculation that is provided outside or inside the robot and that performs processing for controlling the robot and the transport vehicle. Has a section,
The robot has a gripper capable of holding the article, and an arm capable of changing the position and orientation of the gripper,
The picking method is
And a stop position/posture of the storage means based on the shape of the storage means, the shape of the robot, the shape of the target article to be taken out, and the position/posture of the target article in the storage means. Calculate the target joint angle of the arm,
The transport vehicle transports the storage means to the stop position and posture,
The picking method, wherein the robot changes the joint angle of the arm to the target joint angle and takes out the target article from the storage means.

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