JP7245719B2 - Robot system and product management device - Google Patents

Description

Patent Act Article 30, Paragraph 2 applied December 19, 2018 Sold to Huawei Technologies Japan K.K.

TECHNICAL FIELD The present invention relates to a robot system for storing products and accessories in containers, and a product management device.

When an electric appliance such as a smartphone is traded as a product, it is stored in a container such as a vanity case together with accessories such as a charging cable and product specifications. Each of the electrical appliances, accessories, and containers is a commodity component that constitutes a commodity. Each product component usually has identification information for identifying the product component. For example, the two-dimensional code attached to the cosmetic box includes a serial number as information for distinguishing the cosmetic box having the two-dimensional code from other cosmetic boxes. For example, a string of numbers printed on the outer surface of the charging cable indicates a serial number for distinguishing the charging cable from other charging cables.

A system for managing products as described above uses identification information read by a reader such as a code reader in order to ascertain in which container each product is stored. For example, the product management system described in Patent Document 1 includes a production management computer and a management warehouse computer. Create shipping information associated with container identification information. Then, the computer on the management warehouse side acquires the shipping information from the computer on the production management side, and if the product identification information associated with the container identification information read from the container exists in the shipping information, it corresponds to the product identification information. It is determined that the product to be delivered has arrived.

Republished Patent No. 2005/115890

By the way, it is necessary to identify the accessories that were originally contained in the returned container, or to identify the product that was originally included with the accessories to be exchanged. In recent years, with the increasing diversification of product components, higher accuracy is required to specify combinations of product components by using
SUMMARY OF THE INVENTION An object of the present invention is to provide a robot system and a product management apparatus capable of improving the detection accuracy of combinations of product components.

A robot system for solving the above problems is a robot that performs an operation of storing a product and accessories in a container, wherein either the product or the container is a first identification information having first identification information. The robot is an object to be read, and the accessory is a second object to be read having second identification information, and the robot includes an imaging unit that images the first identification information and the second identification information; a reading unit that reads the first identification information and the second identification information from the output of the unit, a storage unit that associates and stores the first identification information and the second identification information read by the reading unit; Prepare. This robot system is a control unit for controlling the work of the robot, and is configured to perform imaging when the work is performed, and read the first reading object and the first reading object to which the identification information is associated in the storage unit. and the control unit that sets a combination of two reading targets as a combination of the first reading target and the second reading target that are the work targets.

According to the above robot system, the single robot accommodates the first reading target and the second reading target, and at that time, the first reading target and the second reading target are subjected to each identification information Take an image. Then, the control unit sets the combination of the first reading target and the second reading target with which the identification information is associated as the combination of the first reading target and the second reading target, which are the work targets. As a result, the combination of the first reading target and the second reading target used by the robot in the actual work, that is, the combination of the product components constituting the actual product and the product configuration in which the identification information is associated It is possible to improve the accuracy of matching the combination of things. As a result, it is possible to improve the detection accuracy of the combination of product components.

In the above robot system, the control section may cause the robot to repeat the work, and in each work, the accommodation of the accessory and the accommodation of the product may be continued.

If two or more tasks using mutually different targets are superimposed, there is a high possibility that the target used for each task will be mixed up between tasks. In this respect, according to the above configuration, it is possible to prevent the work for one set of product components and the work for another set of product components from overlapping each other. Therefore, the control unit can grasp the combination of the first reading target and the second reading target, which are work targets, with higher accuracy. As a result, it is possible to further improve the detection accuracy of the combination of product components.

In the above robot system, the control unit sets the first reading target and the second reading target, which are the targets of the work, as imaging targets for each work, and the first identification information read from the target and the first identification information read from the target. 2 identification information may be associated with each other and stored in the storage unit.

According to the above configuration, when the work for the first reading object and the second reading object is being performed, the imaging for the first reading object and the second reading object is performed. That is, the first identification information of either the product or the container is imaged during the process of storing the product in the container. In addition, the second identification information of the accessory is imaged during the operation of accommodating the accessory in the container. Therefore, the matching accuracy between the combination of the first reading object and the second reading object associated with the identification information and the combination of the first reading object and the second reading object forming the actual product is It is possible to raise it further.

In the above robot system, the control unit causes the second reading target to be read before the completion of accommodation of the second reading target, and if the reading of the second identification information is successful, the second identification information is read. The accommodation of the second read object with information may be completed.

According to the above configuration, reading of the second identification information is executed using the second reading object before the accommodation is completed. Imaging and reading the second identification information may require changing the posture of the second reading target, changing the position of the second reading target, and the like. In this respect, imaging and reading of the second object to be read before the accommodation is completed facilitates these processes. As a result, it is possible to further improve the detection accuracy of the second identification information, and thus the detection accuracy of the combination of product components.

In the above robot system, the work is to store the product and the plurality of accessories in the container, and the control unit performs the second reading for all the accessories included in the work target. The reading of the second reading target may be executed before the accommodation of the target is completed. According to this configuration, it is possible to improve the detection accuracy of the combination of the product components in the product including a plurality of accessories.

In the above robot system, the control unit causes the second reading target to be read before the second reading target is completely accommodated, and causes the second reading target to be completely accommodated before the product is completely accommodated. may
The second object to be read, which is received first, is often partially covered by the product that is received subsequently. It is even more difficult to read the second identification information in the partially covered second reading object. In this respect, according to the above configuration, the second identification information is read for the second reading object that is accommodated prior to the product, before the second reading object is completely accommodated. Then, the effect of making the reading of the second identification information precede the completion of accommodation of the second reading object becomes more remarkable.

In the above-described robot system, the first reading target is the product, and the control unit causes the first reading target to be read before reading the second reading target to read the first identification information. If the reading is successful, the accommodation of the first reading object having the first identification information may be completed.

According to the above configuration, reading of the first identification information is executed using the first reading object before the accommodation is completed. Imaging and reading of the first identification information may require changing the posture of the first reading target or changing the position of the first reading target. Therefore, if imaging and reading are performed on the first reading target before the accommodation is completed, these processes are also facilitated. As a result, it is possible to further improve the detection accuracy of the first identification information, and thus the detection accuracy of the combination of product components.

In the robot system described above, the control unit may end the work for the first reading object having the first identification information when the reading of the first identification information fails.

According to the above configuration, it is possible to prevent a product from being stored in a container for which reading of the first identification information has failed, or a product from being stored in a container for which reading of the first identification information has failed. As a result, in order to read the first identification information again, it is possible to reduce the burden of taking out the product that has been stored in the container from the container.

In the robot system described above, the control unit may end the work for the second object having the second identification information when the reading of the second identification information fails.

According to the above configuration, it is possible to prevent the second reading object, which has failed to read the second identification information, from being accommodated in the container. As a result, in order to read the second identification information again, it is possible to reduce the burden of taking out the accessory that has been once accommodated in the container from the container.

A merchandise management apparatus for solving the above problems is a merchandise management apparatus for managing merchandise in which a product and accessories are contained in a container. Either one of the product and the container is a first reading object having first identification information, and the accessory is a second reading object having second identification information. A robot that performs the work of storing the product and the accessories in the container is configured to capture images of the first reading target and the second reading target, which are the targets of the work. 2, and an imaging unit for imaging the identification information. The product management apparatus includes a storage unit, a reading unit that reads the first identification information and the second identification information from the output of the imaging unit, and the first identification information and the second identification information read by the reading unit. and a control unit that stores the identification information in the storage unit in association with each of the imaging.

According to the above configuration, when the robot is storing the first reading target and the second reading target, the imaging of the first reading target and the second reading target is performed by the robot. is performed in the imaging unit of Then, the control unit associates the first identification information and the second identification information read by the reading unit from the output of the imaging unit for each reading, and stores them in the storage unit. That is, while the product is being stored in the container, the first identification information of either the product or the container is read. Also, while the accessory is being accommodated in the container, the second identification information of the accessory is read. As a result, the combination of the first reading object and the second reading object used by the robot in the actual work, that is, the combination of the first reading object and the second reading object constituting the actual product, and the identification information It is possible to improve the accuracy with which the combination of the first reading target and the second reading target to which are associated is matched. As a result, it is possible to improve the detection accuracy of the combination of product components.

According to the robot system and the product management device according to the present invention, it is possible to improve the detection accuracy of the combination of product components.

1 is a configuration diagram showing the configuration of a robot in one embodiment of a robot system; FIG. FIG. 2 is a block diagram showing the configuration of a controller in one embodiment; 4 is a flow chart showing the flow of work in the robot system in one embodiment. 4 is a data configuration diagram showing an example of product history data in one embodiment; FIG. FIG. 5 is a data configuration diagram showing another example of product history data in one embodiment; FIG. 5 is a data configuration diagram showing another example of product history data in one embodiment;

An embodiment of a robot system and a merchandise management apparatus will be described with reference to FIGS. 1 to 6. FIG. First, the configuration of the robot system will be described, and then the flow of processing when the robot performs work will be described.
As shown in FIG. 1, the robot system 10 includes a robot 20, a workbench 30, and a controller 40. As shown in FIG.

The robot 20 performs, as operations, imaging of a plurality of product components arranged on the workbench 30 and accommodation using the plurality of product components. The workbench 30 receives the product composition from the outside. The product components received on the workbench 30 are processed as products by the work of the robot 20 . The controller 40 manages the progress of work performed by the robot 20 .

A plurality of product components forming one product is a set of product components forming one product. The product components placed on the workbench 30 may be one set of product components, or may be two or more sets of product components. Also, the product components placed on the workbench may include one set of product components and part of the other set of product components.

Commodity composition includes a product and accessories of the product. The product composition of this embodiment includes three types of accessories M1, M2, M3 and one type of product M4. The product M4 is, for example, an electrical appliance such as a smart phone or a tablet terminal. The accessory M1 is, for example, one product specification for the product M4. The accessory M2 is, for example, a charging cable, one for each product M4. The accessory M3 is, for example, a power adapter, one for each product M4.

A product composition includes a container. The container of the present embodiment is a cosmetic box composed of a container body 31 and a lid 32. As shown in FIG. The container main body 31 has, for example, a box shape with an open top, and is large enough to accommodate the three types of accessories M1, M2, M3 and the product M4. The lid 32 has, for example, a box-like shape with an open bottom to close the opening of the container body 31 .

Each product component has one piece of separate identification information. For example, the accessory M1 has accessory identification information for distinguishing the accessory M1 from other accessories M1. The accessory identification information is described as any one of, for example, a string of numbers, a string of characters, a one-dimensional code, and a two-dimensional code. The accessory identification information is printed, for example, on the outer surface of the accessory M1.

For example, product M4 has product identification information for distinguishing product M4 from other products M4. Product identification information is also described as any one of, for example, a string of numbers, a string of characters, a one-dimensional code, and a two-dimensional code. Product identification information is recorded, for example, on the outer surface of the product M4.

For example, the container body 31 has container identification information for identifying the container body 31 and other container bodies 31 . The container identification information is also described as any one of, for example, a string of numbers, a string of characters, a one-dimensional code, and a two-dimensional code. The container identification information is recorded, for example, on the back surface of the container body.

The workbench 30 includes a product placement section MA for placing products. The product has an external shape in which a container body 31 is covered with a lid 32, and three types of accessories M1, M2, M3 and a product M4 are housed inside the container body 31.

The robot 20 has a head 21, a body 22, a right arm 23R and a left arm 23L. Body 22 is connected to head 21, right arm 23R, and left arm 23L, and supports head 21, right arm 23R, and left arm 23L in a drivable manner.

The head 21 has a head camera 21A. The head camera 21</b>A is configured to be able to image the product components arranged on the workbench 30 .
The right arm 23R and the left arm 23L are equipped with a plurality of end effectors to lift (pick) the product components arranged on the workbench 30 from the workbench 30 and place the lifted product components in a predetermined position. It is configured so that it can be placed. The right arm 23R and the left arm 23L are equipped with an arm camera 23A, which is an example of an imaging section. The arm camera 23A is configured to be capable of capturing identification information of the picked product component.
Imaging includes, for example, detecting the intensity of reflected light with an image sensor arranged in one dimension and detecting the intensity of reflected light with an image sensor arranged in two dimensions. That is, imaging includes obtaining a one-dimensional image for reading barcodes and obtaining a two-dimensional image for reading two-dimensional codes.

As shown in FIG. 2 , the controller 40 includes a control section 41 , a reading section 42 , a drive section 43 , a storage section 44 and an output section 45 . Controller 40 is an example of a product management device.

The control unit 41 has a central processing unit and a memory. The control unit 41 is not limited to processing all of the various processes by software. For example, the control unit 41 may include dedicated hardware (application-specific integrated circuit: ASIC) that executes at least part of the various types of processing. The control unit 41 is also configured as a circuit including one or more dedicated hardware circuits such as ASIC, one or more processors (microcomputers) that operate according to computer programs (software), or combinations thereof. . In the following description, the control unit 41 reads out the product production program stored in the storage unit 44 and executes the read product production program, whereby the reading unit 42, the driving unit 43, the storage unit 44, Then, an example of controlling the driving of the output unit 45 to perform operations such as imaging and storage, and processing such as reading and storage will be described.

The control unit 41 causes the head camera 21A to capture images of the product components arranged on the workbench 30 through the driving of the head camera 21A by the driving unit 43 . The reading unit 42 receives an image of the product composition arranged on the workbench 30, and reads the type, position, and location of the product composition arranged on the workbench 30. Read the state such as posture. The control unit 41 uses the states of the product components read by the reading unit 42 to control selection of pick candidates, determination of place candidates, picking of product components, and placement of product components.

For the container body 31 determined as a place candidate, the control unit 41 causes the arm camera 23A to capture an image of the container identification information possessed by the container body 31 through the drive of the arm camera 23A by the drive unit 43 . The reading unit 42 receives an image including the identification information of the container body 31 determined as a place candidate in response to the control signal input by the control unit 41 , and reads the container identification information of the container body 31 . read. The control unit 41 uses the container identification information read by the reading unit 42 to associate the identification information related to the current product.

With regard to the accessories M1, M2, and M3 determined as pick candidates, the control unit 41 captures images of the accessory identification information of the accessories M1, M2, and M3 by driving the arm camera 23A by the driving unit 43. The camera 23A is made to execute. The reading unit 42 receives an image including the accessory identification information of the accessories M1, M2, and M3 determined as pick candidates according to the control signal input by the control unit 41, and reads the image of the accessory M1. , M2 and M3. The control unit 41 uses the accessory identification information read by the reading unit 42 to associate the identification information related to the current product.

For the product M4 determined as a pick candidate, the control unit 41 causes the arm camera 23A to capture an image of the product identification information of the product M4 through driving of the arm camera 23A by the driving unit 43. The reading unit 42 reads the product identification information of the product M4 by inputting an image including the product identification information of the product M4 determined as a pick candidate according to the control signal input by the control unit 41 . The control unit 41 uses the product identification information read by the reading unit 42 to associate the identification information related to the current product.

The drive unit 43 generates a drive signal for picking and placing a product component according to a control signal input from the control unit 41 , and transmits the generated drive signal to the robot 20 . output to The drive unit 43 generates a drive signal for executing imaging by the head camera 21A according to a control signal input from the control unit 41, and outputs the generated drive signal to the head camera 21A. Drive unit 43 generates a drive signal for executing imaging by arm camera 23A according to a control signal input from control unit 41, and outputs the generated drive signal to arm camera 23A.

The storage unit 44 stores a product production program for imaging product components, housing using the product components, reading by the reading unit 42, and associating identification information. The control unit 41 reads out the product production program stored in the storage unit 44, and according to the product production program, performs imaging of product components, accommodation using the product components, reading by the reading unit 42, and association of identification information. conduct.
The control unit 41 causes the storage unit 44 to store the product history file 44F as association of the identification information. The product history file 44F associates the identification information of each product component used in the accommodation work with each other for each accommodation work.

For example, the product history file 44F stores the product identification information read from the product M4 used in the current work and the accessories M1, M2, M3 used in the current work in the work to produce the current product. and the read accessory identification information are associated with each other. In this example, the product M4 is an example of the first read target, and the product identification information is an example of the first identification information. The accessories M1, M2, and M3 are examples of the second reading target, and the accessory identification information is an example of the second identification information.

Further, for example, the product history file 44F stores container identification information read from the container main body 31 used in the current work and accessories M1 and M2 used in the current work in the current product manufacturing work. , and the accessory identification information read from M3. In this example, the container body 31 is an example of the first read target, and the container identification information is an example of the first identification information. The accessories M1, M2, and M3 are examples of the second reading target, and the accessory identification information is an example of the second identification information.

The output unit 45 is connected to an external output device. The output device is, for example, another computer located in the factory where the robot system 10 is installed. The output unit 45 outputs the product history file 44F to the output device according to the control signal input from the control unit 41. FIG.

Next, the work flow executed by the robot system 10 will be described.
The work performed by the robot system 10 is performed by the controller 41 executing a product production program. The example in which the product history file 44F associates the product identification information with the accessory identification information and the example in which the container identification information and the accessory identification information are associated are different in imaging and reading targets. Other work flows are the same. Therefore, an example in which the product history file 44F associates product identification information with accessory identification information will be described below.

First, the control unit 41 determines the states of the accessories M1, M2, M3, the product M4, the container body 31, and the lid 32 based on the results of imaging by the head camera 21A and the results of reading by the reading unit 42. grasp. Based on the states of the accessories M1, M2, M3, the product M4, the container body 31, and the lid 32, the control unit 41 selects the accessories M1, M2, M3, the product M4, and the lid as pick candidates. 32 is determined, and the container body 31 as a place candidate is determined.

Next, as shown in FIG. 3, the control unit 41 causes the arm camera 23A to image the product identification information of the product M4 determined as a pick candidate. Next, the control unit 41 causes the reading unit 42 to read the product identification information of the product M4 determined as a pick candidate (step S11). The control unit 41 determines whether or not the product identification information has been successfully read (step S12). When the control unit 41 determines that the reading of the product identification information has failed (NO in step S12), the production related to the current product is abnormally terminated.

The determination as to whether or not the product identification information has been successfully read is made, for example, by the following method. That is, the control unit 41 refers to the product identification information registered in advance in the storage unit 44, and if the read product identification information has already been registered, determines that the reading of the product identification information has been successful. On the other hand, if the read product identification information has not been registered, the control unit 41 determines that reading of the product identification information has failed. Alternatively, when the read product identification information matches a preset format, the control unit 41 determines that the reading of the product identification information has succeeded. On the other hand, if the read product identification information does not match the preset format, the control unit 41 determines that reading of the product identification information has failed.

When the control unit 41 determines that the reading of the product identification information has succeeded (YES in step S12), it creates the product history file 44F for registering the product identification information read this time (step S13). The product history file 44F, for example, is created using the product identification information read this time as a name, and includes the product identification information read this time as text data. Next, the control unit 41 causes the left arm 23L to pick the product M4 whose product identification information has been successfully read, that is, the product M4 determined as a pick candidate (step S14).

Next, the control unit 41 causes the arm camera 23A to capture the accessory identification information of the accessory M1 determined as the pick candidate. Next, the control unit 41 causes the reading unit 42 to read the accessory identification information of the accessory M1 determined as a pick candidate (step S15). The control unit 41 determines whether or not the accessory identification information has been successfully read (step S16). If the control unit 41 determines that the reading of the product identification information has failed, it abnormally ends the production related to the current product (NO in step S16).

It should be noted that the determination as to whether or not the accessory identification information has been successfully read is performed, for example, by the following method, in the same manner as the determination based on the product identification information. That is, the control unit 41 refers to the accessory identification information registered in advance in the storage unit 44, and if the read accessory identification information has already been registered, determines that the reading of the accessory identification information has succeeded. do. On the other hand, if the read accessory identification information has not been registered, the control unit 41 determines that reading of the accessory identification information has failed. Alternatively, if the read accessory identification information matches a preset format, the control unit 41 determines that the accessory identification information has been successfully read. On the other hand, if the read accessory identification information does not match the preset format, the control unit 41 determines that reading of the accessory identification information has failed.

If the control unit 41 determines that the accessory identification information has been successfully read (YES in step S16), it adds the accessory identification information read this time to the product history file 44F created in step S13 (step S17). ). That is, the control unit 41 adds the accessory identification information of the accessory M1 determined as a pick candidate as text data to the product history file 44F in which the product identification information of the currently picked product M4 is registered. Then, the control unit 41 causes the right arm 23R to pick the accessory M1 whose accessory identification information has been successfully read, that is, the accessory M1 determined as a pick candidate (step S18).

Next, the control unit 41 determines whether or not reading of the accessory identification information has been completed for all the accessories M1, M2, and M3 that constitute the product (step S19). Then, the control unit 41 sequentially reads the accessory M1, the accessory M2, and the accessory M3 from step S15 until the reading of the accessory identification information is completed for all the accessories M1, M2, and M3 that constitute the product. The process up to step S18 is repeated (NO in step S19).

Subsequently, when the control unit 41 determines that the reading of the accessory identification information has been completed for all the accessories M1, M2, and M3 that make up the product (YES in step S19), the currently picked accessory M1 is read. , M2 and M3 are placed in the container body 31 determined as a place candidate (step S21). That is, the control unit 41 selects all of the accessories M1, M2, and M3 as place candidates only when the accessory identification information is successfully read for all of the accessories M1, M2, and M3 determined as pick candidates. It is housed in the determined container body 31 . On the other hand, if there are accessories M1, M2, and M3 whose accessory identification information has failed to be read among the accessories M1, M2, and M3 determined as pick candidates, the control unit 41 terminates abnormally.

Next, the control unit 41 places the currently picked product M4 in the container body 31 determined as a place candidate, and covers the container body 31 with the lid 32 (step S22). That is, the control unit 41 stores all of the product components in the container main body 31 determined as the place candidate only when the identification information is successfully read for all the product components determined as the pick candidates. , the production related to this product will end normally. On the other hand, the control unit 41 abnormally ends the production related to the current product when there is a product component whose identification information has failed to be read among the product components determined as pick candidates.

FIG. 4 is an example of a product history file 44F created when production of products is normally completed. FIG. 5 is an example of the product history file 44F created when reading of the accessory identification information for the accessory M2 fails. FIG. 6 is an example of a product history file 44F created when two products are produced using the same product identification information.

4 to 6, the product identification information of the product M4 is shown as "Device1", "Device2", and "Device3". The accessory identification information of the accessory M1 is indicated as "Temp1", the accessory identification information of the accessory M2 is indicated as "Temp2", and the accessory identification information of the accessory M3 is indicated as "Temp3". In FIG. 6, the accessory identification information of another accessory M1 is indicated as "Temp11", the accessory identification information of another accessory M2 is indicated as "Temp12", and the accessory identification information of another accessory M3 is indicated as "Temp11". is indicated as "Temp13".

As shown in FIG. 4, the control unit 41 sets the product identification information of the product M4, the accessory identification information of one accessory M1, and the accessory identification information of one accessory M2 to the product identification information of the product M4 for the product whose production has been normally completed. is associated with the accessory identification information of one accessory M3. By referring to the product history file 44F, it is specified that the product M4 having the product identification information "Device1" constitutes one product together with the accessory M1 having the accessory identification information "Temp1". be. In addition, a product M4 whose product identification information is "Device1" is combined with an accessory M2 whose accessory identification information is "Temp2" and an accessory M3 whose accessory identification information is "Temp3". configured.

On the other hand, as shown in FIG. 5, the control unit 41 associates only the accessory identification information of the accessory M1 with the product identification information of the product M4 in the case where the reading of the accessory identification information of the accessory M2 fails. ing. By referring to this product history file 44F, while the product M4 whose product identification information is "Device2" is being produced as a product, reading of the accessory identification information for the accessory M2 fails, resulting in abnormal termination. It is specified that

On the other hand, as shown in FIG. 6, in the example in which two products were produced using the same product identification information among the products whose production was normally completed, the control unit 41 sets the product identification information of the product M4 as follows: The accessory identification information of the two accessories M1, the accessory identification information of the two accessories M2, and the accessory identification information of the two accessories M3 are associated with each other. By referring to this product history file 44F, it is specified that the product M4 having product identification information "Device3" has been produced as a product twice. That is, there are two products including the product M4 whose product identification information is "Device3", and one of the products M4 is identified as a non-genuine product. That is, it is also possible to identify non-genuine products mixed in with products.

As described above, according to the above embodiment, the following effects can be obtained.
(1) A single robot 20 stores the accessories M1, M2, M3 and the product M4, and at that time images the identification information of the accessories M1, M2, M3 and the product M4. I do. Then, the control unit 41 sets the combination of the product M4 and the accessories M1, M2 and M3 associated with the identification information as the combination of the work target product M4 and the accessories M1, M2 and M3.

As a result, the combination of the product M4 and the accessories M1, M2, and M3 used by the robot 20 in the actual work, that is, the combination of the product components that constitute the actual product, is associated with the identification information. It is possible to improve the accuracy with which a combination of product components matches. As a result, it is possible to improve the detection accuracy of the combination of product components.

(2) In particular, when the device that captures the image of the product identification information, the device that captures the image of the accessory identification information, and the robot 20 that performs the work do not cooperate with each other, the identification information and the individual having it In order to associate the , a separate configuration is required to track the imaged individual until it is housed. In this respect, according to the above-described embodiment, the association between the individual and the identification information of the individual is incorporated into the containment work by the robot 20 . Therefore, it is also possible to simplify the configuration for increasing the detection accuracy of the combination of product components.

(3) The period of work using a set of product components consisting of product M4 and accessories M1, M2 and M3 and the period of work using another set of product components are mutual. If it is superimposed on , there is a high possibility that the target used for each task will be confused between one task and the other task.

In this regard, according to the above-described embodiment, another set of product components is used until the work using one set of product components composed of the product M4 and the accessories M1, M2, and M3 is completed. work is never done. Therefore, the period of work for one set of product components and the period of work for another set of product components do not overlap each other. As a result, the control unit 41 can more accurately grasp the combination of the product M4 and the accessories M1, M2, and M3, which are work targets.

(4) The product M4 and the accessories M1, M2, and M3 determined as pick candidates are imaged and read. Then, picking and placing are executed for the product M4 and the accessories M1, M2, and M3 whose identification information has been successfully read. That is, when the work of accommodation, which starts with the determination of pick candidates, is being performed, the target of the work becomes the target of imaging and reading.

Therefore, the accuracy of matching between the combination of the product M4 and the accessories M1, M2 and M3 associated with the identification information and the combination of the product M4 and the accessories M1, M2 and M3 constituting the actual product can be further enhanced.

(5) Using the accessories M1, M2, and M3 before completion of accommodation, image pickup and reading of the accessory identification information are executed. In order to capture and read the accessory identification information, it may be necessary to change the posture of the accessories M1, M2 and M3 and the positions of the accessories M1, M2 and M3. In this regard, these processes can be facilitated by imaging and reading the accessories M1, M2, and M3 before the completion of accommodation. As a result, it is possible to further improve the detection accuracy of the accessory identification information and, by extension, the detection accuracy of the combination of product components.

(6) Also, when the accessory identification information is successfully read, the accessories M1, M2, and M3 having the accessory identification information are accommodated. Therefore, it is possible to prevent the product from being produced in a state where the reading of the accessory identification information has failed.

(7) It is also possible to obtain the effects corresponding to the above (1) to (6) in a product including a plurality of accessories M1, M2, and M3. In addition, if a product includes a plurality of accessories M1, M2, M3, it is possible to specify a combination of product components for the product after shipment, corresponding to the number of accessories M1, M2, M3. demand increases. Therefore, the configurations described in the above embodiments are more useful.

(8) The accessories M1, M2 and M3 that are stored first are often partially covered by the product M4 that is subsequently stored. For example, accessories such as charging cables and power adapters are partly covered by smartphones and tablet terminals inside the container. For accessories M1, M2, M3 that are partially covered, reading the accessory identification information becomes even more difficult.

In this respect, according to the above-described embodiment, the accessory identification information of the accessories M1, M2, and M3 that are accommodated prior to the product M4 is read before the accommodation of the accessories M1, M2, and M3 is completed. . Therefore, the effect of prioritizing the reading of the accessories M1, M2, and M3 before the completion of the accommodation of the accessories M1, M2, and M3 becomes more remarkable.

(9) Imaging and reading of the product identification information are performed using the product M4 before completion of accommodation. Imaging and reading the product identification information may require changing the posture of the product M4 or changing the position of the product M4. Therefore, if the product M4 before completion of accommodation is targeted for imaging and reading, these processes are also facilitated. As a result, it is possible to further improve the detection accuracy of the product identification information and, by extension, the detection accuracy of the combination of product components.

(10) Also, when the product identification information is successfully read, the product M4 having the product identification information is accommodated. Therefore, it is possible to prevent products from being manufactured in a state where the reading of the product identification information has failed.

(11) The product M4 whose product identification information has been successfully read is contained in the container body 31, and the production of the product M4 whose product identification information has failed to be read is abnormally terminated. As a result, it is possible to prevent the product M4 whose product identification information has failed to be read from being accommodated in the container main body 31 . As a result, it is also possible to reduce the load of taking out the product M4 once contained in the container body 31 from the container body 31 in order to read the product identification information again.

(12) The accessories M1, M2, and M3 whose accessory identification information has been successfully read are housed in the container body 31, and the accessories M1, M2, and M3 whose accessory identification information has been unsuccessfully read are not manufactured. terminates abnormally. As a result, the accessories M1, M2, and M3 whose accessory identification information has failed to be read can be prevented from being accommodated in the container main body 31. FIG. As a result, it is possible to reduce the load of taking out the accessories M1, M2, and M3 once stored in the container body 31 from the container body 31 in order to read the accessory identification information again.

It should be noted that the above embodiment can also be implemented with the following changes.
The control unit 41 is not limited to a configuration in which picking is started after completion of imaging and reading.

For example, after picking a product component determined as a pick candidate, the control unit 41 may place the product component in the container body 31 if the reading of the product component is successful. Further, if the reading of the product composition fails after picking the product composition determined as the pick candidate, the control unit 41 may place the product composition at the position before picking. Even with this configuration, the product components determined as pick candidates are imaged, read, and associated with identification information, so effects similar to those described above can be obtained.

Further, the control unit 41 may be configured to execute reading of the product composition after completion of accommodation of the product composition, for example. For example, the control unit 41 may pick and place a product component determined as a pick candidate, and then read the product component. In this configuration as well, the product components determined as pick candidates are imaged, read, and associated with identification information, so effects similar to those described above can be obtained.

The control unit 41 is not limited to the configuration in which the product components determined as the pick candidates are read targets. good. At this time, it is preferable that the control unit 41 decides a product component that has been successfully read as a pick candidate.

Note that the control unit 41 determines a set of product components that constitute a product from among the plurality of product components that have been successfully read, associates identification information with the set of product components, A set of merchandise components may be determined to be pick candidates. Alternatively, the control unit 41 may read each product component type, and determine a single product component that has been successfully read among each type as a pick candidate each time.

- The controller 40 can also have a configuration in which the reading unit 42 is omitted. At this time, the robot 20 is equipped with the reading unit 42 and transmits the result of reading by the reading unit 42 to the controller 40 .

- An external computer or the like communicatively connected to the controller 40 may be provided with the function of associating the identification information in the control unit 41 . At this time, the controller 40 transmits the result of reading by the reading unit 42 to the external computer for each storage operation using the product constituents. The external computer receives the result of reading by the reading unit 42, that is, the identification information of the product composition, and associates the received identification information with each other for each storage operation using the product composition.

M1, M2, M3... accessories, M4... product, MA... product placement unit, 10... robot system, 20... robot, 21... head, 21A... head camera, 22... body, 23A... arm camera, 23L... left arm , 23R... right arm, 30... workbench, 31... container body, 32... cover body, 40... controller, 41... control unit, 42... reading unit, 43... drive unit, 44... storage unit, 44F... product history file , 45 . . . output unit.

Claims (10)

A robot that performs an operation of storing a product and an accessory in a container, wherein one of the product and the container is a first reading object having first identification information, and the accessory is a first object to be read having first identification information. the robot, which is a second object to be read having two pieces of identification information, and is equipped with an imaging unit that picks up images of the first identification information and the second identification information;
a reading unit that reads the first identification information and the second identification information from the output of the imaging unit;
a storage unit;
A control unit for controlling work of the robot, wherein the first reading target and the second reading target, which are the targets of the work, are imaged, or the first reading target is set as the imaging target. and the second object to be read as the object of the work, imaging is performed when performing the work, the reading of the first identification information and the second identification information possessed is successful, and the The first identification information possessed by the first read target and the second identification information possessed by the second read target for a combination of the first read target and the second read target which are work targets. and the control unit that stores the combination of and in the storage unit . A robot system. 2. The robot system according to claim 1, wherein the control unit causes the robot to repeat the work, and in each work, the accommodation of the accessory and the accommodation of the product are continuous. The control unit sets the first reading object and the second reading object, which are the objects of the work, as objects to be imaged for each work, and converts the first identification information and the second identification information read from the objects. 3. The robot system according to claim 1, which is associated with and stored in said storage unit. The control unit causes the second reading target to be read before completion of accommodation of the second reading target, and if the reading of the second identification information is successful, the second reading target having the second identification information is read. 4. The robot system according to claim 3, wherein accommodation of 2 reading objects is completed. wherein the operation is to place the product and a plurality of the accessories in the container;
5. The robot system according to claim 4, wherein the control unit causes the second read target to be read before completion of accommodation of the second read target for all accessories included in the work target. The robot system according to claim 4 or 5, wherein the control unit completes accommodation of the second reading object before completion of accommodation of the product. the first object to be read is the product;
The control unit executes reading of the first reading object before reading the second reading object, and if the reading of the first identification information is successful, the first reading object having the first identification information is read. 7. The robot system according to claim 6, wherein accommodation of the object to be read is completed. 8. The robot system according to claim 7, wherein, when reading of the first identification information fails, the control unit ends the work for the first reading target having the first identification information. 9. The robot system according to claim 8, wherein, when reading of the second identification information fails, the control unit ends the work for the second reading target having the second identification information. A merchandise management device for managing merchandise in which a product and accessories are housed in a container,
Either one of the product and the container is a first reading target having first identification information,
the accessory is a second object to be read having second identification information;
A robot that performs the work of storing the product and the accessories in the container is configured to capture images of the first reading target and the second reading target, which are the targets of the work. 2 provided with an imaging unit for imaging the identification information,
The merchandise management device
a storage unit;
a reading unit that reads the first identification information and the second identification information from the output of the imaging unit;
A merchandise management apparatus comprising: a control unit that associates the first identification information and the second identification information read by the reading unit with each image and stores the information in the storage unit.

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