JP7364284B1 - Gripping system and control device - Google Patents

Abstract

An object of the present invention is to more appropriately perform a work of grasping an object by a robot. A grasping system 1 includes an articulated robot 30 that grasps an object to be grasped with a grasping member 31a, and a control device 40 that controls the operation of the articulated robot 30. The control device 40 moves the gripping member 31a in a state where the object attached to the gripping member 31a is in contact with the target object, thereby causing the object attached to the gripping member 31a to be newly attached to the target object and removing it. The articulated robot 30 is caused to perform the removal operation. [Selection diagram] Figure 6

Description

Application of Article 30, Paragraph 2 of the Patent Act (1) Published at Bellesalle Iidabashi First on March 28, 2020

Application of Article 30, Paragraph 2 of the Patent Act (2) Published on February 24, 2020 at Maxvalu Tokai Nagaizumi Distribution Center

Application of Article 30, Paragraph 2 of the Patent Act (3) On January 19, 2020, https://connected-robotics. Published at com/2022/01/19/hcj2022/

Application of Article 30, Paragraph 2 of the Patent Act (4) On January 19, 2020, https://prtimes. jp/main/html/rd/p/000000039.000031342. Published in html

Application of Article 30, Paragraph 2 of the Patent Act (5) Published on February 15, 2020 at the International Hotel and Restaurant Show 2022

Application of Article 30, Paragraph 2 of the Patent Act (6) Published on TV Tokyo World Business Satellite on February 15, 2020

Application of Article 30, Paragraph 2 of the Patent Act (7) On February 28, 2020, https://robotstart. info/2022/02/28/moriyama_mikata-no146. Published in html

Application of Article 30, Paragraph 2 of the Patent Act (8) Published on March 15, 2020 in POTATO CULTURE, April 2022 issue (No. 140)

Application of Article 30, Paragraph 2 of the Patent Act (9) On March 22, 2020, https://www. youtube. com/watch? Published at v=n2qFYK0DN4M

Application of Article 30, Paragraph 2 of the Patent Act (10) Published at FOOMA JAPAN 2022 (International Food Industry Exhibition) on June 7, 2020

Application of Article 30, Paragraph 2 of the Patent Act (11) On April 25, 2020, https://www. nb-shinbun. co. Published on jp/challenge/64/

Application of Article 30, Paragraph 2 of the Patent Act (12) Published on May 11, 2020 on the Japan Broadcasting Corporation Oha Biz

Application of Article 30, Paragraph 2 of the Patent Act (13) Published on May 25, 2020 in the Japan Logistics Newspaper, published on May 25, 2020.

Application of Article 30, Paragraph 2 of the Patent Act (14) Published on June 8, 2020 in the Nikkan Kogyo Shimbun, published on June 8, 2020.

Application of Article 30, Paragraph 2 of the Patent Act (15) On June 9, 2020, https://www. businessinsider. Published on jp/post-255224

Application of Article 30, Paragraph 2 of the Patent Act (16) Published on June 11, 2020, on TBS TV Co., Ltd. Information 7 DAYS

Application of Article 30, Paragraph 2 of the Patent Act (17) On July 4, 2020, https://xtech. nikkei. Published at com/atcl/nxt/column/18/00138/070101076/

Application of Article 30, Paragraph 2 of the Patent Act (18) On July 8, 2020, https://xtech. nikkei. Published at com/atcl/nxt/mag/rob/18/00004/00073/

Application of Article 30, Paragraph 2 of the Patent Act (19) Published on July 10, 2020 in Nikkei Robotics August 2022 issue (No. 85), pages 14-20, Nikkei BP Co., Ltd.

Application of Article 30, Paragraph 2 of the Patent Act (20) Published on September 28, 2020 at the Deli Meals and Delicas JAPAN (SDJ) - Deli Manufacturing Automation and Equipment Exhibition

Application of Article 30, Paragraph 2 of the Patent Act (21) On August 29, 2020, https://connected-robotics. Published on com/2022/08/29/sdi/

Application of Article 30, Paragraph 2 of the Patent Act (22) On August 29, 2020, https://prtimes. jp/main/html/rd/p/000000050.000031342. Published in html

Application of Article 30, Paragraph 2 of the Patent Act (23) Published on September 27, 2020 in the Nikkan Kogyo Shimbun, published on September 27, 2020.

Application of Article 30, Paragraph 2 of the Patent Act (24) On September 7, 2020, https://www. youtube. com/watch? Published on v=3OHHEAIvr7I

Application of Article 30, Paragraph 2 of the Patent Act (25) On June 1, 2020, https://www. youtube. com/watch? Published on v=c-EPw_mWAbc

Application of Article 30, Paragraph 2 of the Patent Act (26) On June 10, 2020, https://www. youtube. com/watch? Published on v=pAC_wIf0VVM

Application of Article 30, Paragraph 2 of the Patent Act (27) On June 15, 2020, https://www. youtube. com/watch? Published on v=lVgexqZqO8w

The present invention relates to a gripping system and a control device.

In recent years, various tasks have been performed using robots equipped with grasping functions. For example, when a robot performs the work of plating lunch boxes, the robot grasps a predetermined amount of ingredients stored in a container such as a vat, transfers them to a designated area of the lunch container, and releases them. is realized.
A technique related to such a robot that serves food is disclosed in, for example, Patent Document 1.

JP 2021-30407 Publication

However, when working with a robot, it may not be possible to perform the work properly due to the nature of the object to be grasped. For example, the object may be something that is viscous or sticky, such as potato salad.
In this case, when the robot grasps or releases the object, the object adheres to the gripping member of the robot due to viscosity or stickiness. When such unexpected adhesion occurs, it becomes difficult to properly perform tasks such as grasping and releasing an appropriate amount.
For example, in the case of a configuration in which a weight sensor measures the weight of the object that the robot is grasping, the weight of the object that is attached to the robot is measured in addition to the weight of the object that the robot is actually grasping. This makes it difficult to measure with high accuracy. Alternatively, as another example, in the case of a configuration in which the grip is performed by estimating the amount to be gripped based on the size and shape of the gripping member, in addition to the object gripped based on the estimation, the attached object We also release things.
As described above, depending on the nature of the object, it may be difficult to properly perform tasks such as grasping and releasing an appropriate amount.

These problems are not limited to when the object is food; for example, they are common when grasping various objects made of viscous or sticky materials such as kneaded mortar or concrete. It is something to do.
As described above, in the conventional technology, there is still room for improvement in order for the robot to properly grasp the object.

An object of the present invention is to enable a robot to more appropriately grasp an object.

In order to solve the above problems, a gripping system according to an embodiment of the present invention,
A gripping system comprising a robot that grips an object to be gripped with a gripping member, and a control device that controls the operation of the robot, the gripping system comprising:
The control device includes:
a removal operation in which the object attached to the gripping member is newly attached to the target object and removed by moving the gripping member while the object attached to the gripping member is in contact with the target object; The robot is characterized by causing the robot to execute the following.

According to the present invention, the work of gripping a target object can be performed more appropriately by a robot.

FIG. 1 is a perspective view showing a state in which a plurality of gripping systems 1 according to the present invention are lined up. FIG. 1 is an enlarged perspective view of the main parts of the gripping system 1 according to the present invention. 3 is a schematic diagram showing an example of the shape of a gripping member 31a installed at the tip of a hand 31. FIG. It is a figure showing opening and closing of a pair of grip members 31a. 4 is a schematic diagram showing the hardware configuration of a control device 40. FIG. 4 is a block diagram showing the functional configuration of a control device 40. FIG. It is a diagram looking down on the storage space 10A of the ingredients storage section 10 from vertically above. It is a figure which shows the positional relationship of 10 A of accommodation spaces, the hand 31, the grasping member 31a, the robot arm 32, and the ingredients in the case of performing each operation|movement. It is a schematic diagram which shows the concept of a series of operations in a grasping operation. FIG. 3 is a schematic diagram showing the concept of a series of operations in a removal operation. It is a schematic diagram which shows the example of the state of ingredients in accommodation space 10A. FIG. 3 is a schematic diagram showing the concept of leveling operation. FIG. 3 is a schematic diagram showing the concept of scraping operation. FIG. 3 is a schematic diagram showing an example of a gripping operation by a hand 31. FIG. 2 is a flowchart showing the flow of ingredient sorting processing executed by the gripping system 1. FIG. 2 is a flowchart showing the flow of ingredient sorting processing executed by the gripping system 1. FIG. It is a schematic diagram which shows the concept of the removal operation when an object other than a storage material is set as a target object. It is a schematic diagram which shows the concept of the removal operation when an object other than a storage material is set as a target object. It is a schematic diagram which shows the concept of the removal operation when an object other than a storage material is set as a target object. FIG. 3 is a schematic diagram showing an example of a leveling operation.

Embodiments of the present invention will be described below with reference to the drawings.
[Embodiment]
[composition]
1 and 2 are schematic diagrams showing the overall configuration of a gripping system 1 according to the present invention. FIG. 1 is a perspective view showing a state in which a plurality of gripping systems 1 are lined up, and FIG. FIG. 3 is an enlarged perspective view of the main part.
The gripping system 1 in this embodiment is intended to apply the present invention to a gripping system that separates materials. In the following description, an example will be described in which the gripping system 1 grips ingredients such as side dishes to be served in a bento box, and divides the ingredients into the container of the bento box. In the following explanation, weight will be used as an example of the amount of ingredients to be served, but the present invention is applicable to physical quantities other than weight, such as volume, bulk, mass, etc. It is possible to apply.

As shown in FIGS. 1 and 2, the gripping system 1 includes an ingredient storage section 10, a container supply section 20, an articulated robot 30, a control device 40, and a shielding section 50. Note that a belt conveyor 2 is installed adjacent to the gripping system 1 to automatically convey the lunch containers.

The ingredient accommodating section 10 includes a storage space 10A that accommodates ingredients such as side dishes that are separated in the gripping system 1. For example, the storage space 10A may be configured by the ingredients storage section 10 itself, or may be configured by a general-purpose container such as a large vat or a tray that can be installed in the ingredients storage section 10. In this storage space 10A, for example, a prepared dish containing ingredients having viscosity or stickiness, such as a kneaded salad such as potato salad, is stored. In this embodiment, it is assumed that the ingredient storage unit 10 stores one type of ingredient for multiple meals (for example, several tens to hundreds of meals). Then, by each of the plurality of gripping systems 1 arranging different ingredients into a single lunch box container, the work of serving the lunch box can be completed. The storage space 10A of the ingredients storage section 10 can be replaced manually by a worker or automatically by the articulated robot 30.

The container supply unit 20 supplies a bento box container to a predetermined position (a serving position P1 in FIG. 2) in the gripping system 1 where ingredients are arranged. The container supply unit 20 stores a plurality of bento lunch containers, and when the gripping system 1 starts operating, it supplies the containers one by one to the serving position P1. Furthermore, a weight sensor 21 is installed at the serving position P1 to measure the weight of the lunch box container, and when the ingredients are served at the serving position P1, the weight of the served ingredients (i.e., weight). The weight data measured at this time is output to the control device 40. When the weight measurement is completed, the lunch box container is delivered to the belt conveyor 2 by a pushing mechanism provided in the container supply section 20.

The articulated robot 30 is configured by, for example, a horizontal articulated robot or a vertical articulated robot, and includes a hand 31 that can grasp the ingredients to be served, and a robot arm 32 that moves the hand 31 to any position within a movable range. , is equipped with.
Further, the joint holding the hand 31 of the articulated robot 30 is equipped with a weight sensor 30A that measures the weight of the ingredient grasped by the hand 31, as an example of means for acquiring the physical quantity of the ingredient grasped by the grasping member 31a. is set up. In addition, the joint that holds the hand 31 of the articulated robot 30 has a reaction force from the contacted ingredient (a benefit obtained by contacting the surface), as an example of a means for detecting that the hand 31 has contacted the ingredient. A force sensor 30B is installed to measure the sense of force (including the sense of force caused by the force). The data on the weight of the ingredients measured by the weight sensor 30A (i.e., the weight of the gripped ingredients) and the reaction force from the ingredients measured by the force sensor 30B (i.e., the detection result of contact with the ingredients) ) is output to the control device 40.

Further, the joint that holds the hand 31 includes an axis that rotates the hand 31 in a twisting direction with respect to the robot arm 32. Therefore, by changing the orientation of the hand 31 when the hand 31 grips the ingredient, the direction in which the hand 31 opens and closes can be adjusted. Thereby, when the hand 31 reaches the vicinity of the inner wall surface of the container, it is possible to change the direction of the hand 31 so that the hand 31 opens and closes in a direction parallel to the inner wall surface of the accommodation space 10A, and the inner wall surface of the container It becomes easier to grasp nearby ingredients.

FIG. 3 is a schematic diagram showing an example of the shape of the gripping member 31a installed at the tip of the hand 31.
Note that in FIG. 3, only one of the pair of gripping members 31a is shown.
As shown in FIG. 3, the gripping member 31a in this embodiment includes a top plate, a main plate, a first side plate, and a second side plate. The top plate portion has a rectangular plane. Further, when the plane of the top plate section is horizontal, the main plate section extends in an inclined manner from one end in the longitudinal direction of this plane toward a spaced apart position vertically below the other end in the longitudinal direction of this plane. There is. Furthermore, when the plane including the top plate is horizontal, the first side plate and the second side plate extend vertically downward from both ends of the plane in the lateral direction.

FIG. 4 is a diagram showing the opening and closing of the pair of gripping members 31a. The gripping member 31a shown in FIG. 3 is coupled to the hand 31 by a coupling member (not shown) such that the inner surfaces of the respective main plates face each other. In performing the gripping operation, as shown in FIGS. 4(a) and 4(b), the gripping members 31a are opened along the opening/closing direction (in this case, the direction in which the inner surfaces of the main plates of each of the pair of gripping members 31a face each other). Performs the movement and closing movement. Due to the shape of the gripping members 31a as shown in FIG. 3, when the hand 31 closes the pair of gripping members 31a, the gripping members 31a come into contact with each other, so that at least the inner surface of the closed tip and side plate portions is closed. It becomes a container shape for gripping materials.

In the case of such a shape of the gripping member 31a, the tip of the gripping member 31a is inserted vertically from the surface into an ingredient such as a kneaded salad, and the pair of gripping members 31a are closed at a predetermined depth to lift the ingredient. This makes it possible to grasp and take out a substantially constant amount of ingredients from the storage space 10A. Moreover, by releasing the ingredients taken out by this grip into the lunch box container at the serving position P1, a substantially constant amount of ingredients can be served.

However, if the conventional technology is used as is, if the ingredients are viscous or sticky, such as potato salad, when the articulated robot 30 grasps or releases the ingredients, the viscous or sticky This causes the ingredients to adhere to the gripping member 31a of the articulated robot 30. When such unexpected adhesion occurs, it becomes difficult to properly perform tasks such as grasping and releasing an appropriate amount.
For example, when the weight sensor 30A measures the amount of ingredients (in this case, weight) held by the articulated robot 30, in addition to the amount of ingredients actually held by the articulated robot 30, Since the amount of ingredients attached is also measured, it becomes difficult to measure with high accuracy. Alternatively, as another example, when gripping is performed by estimating the amount to be gripped based on the size, shape, etc. of the gripping member 31a, in addition to the ingredients gripped based on the estimation, the attached ingredients are also I'll release it.
Therefore, in this embodiment, the occurrence of such a situation is prevented by performing a "removal operation" which will be described later.

Further, the tip of each of the pair of gripping members 31a is flat (the tip has a shape with a linear edge), and the tip is installed so as to be parallel to the bottom surface of the accommodation space 10A. Thereby, the gripping member 31a has a shape suitable for a leveling operation (operation for flattening the surface of the ingredients), which will be described later, and can be installed in a form that facilitates the leveling operation.
In addition, in the following description, when each of these pair of gripping members 31a is described without distinguishing them, they are simply referred to as "gripping members 31a."

Returning to FIGS. 1 and 2, the control device 40 is configured by an information processing device such as a PC (Personal Computer) or a programmable controller, and controls the entire gripping system 1 by executing various programs. For example, the control device 40 controls the operation of the container supply section 20 to supply containers, the operation of the articulated robot 30 to grasp and serve ingredients from the ingredient storage section 10, and the like.

The shielding section 50 is constituted by a plate-like member that surrounds the area and information in the grasping system 1 in which the ingredient storage section 10, the container supply section 20, and the articulated robot 30 are installed. The plate-like member constituting the shielding part 50 is made of a transparent material such as glass or resin, and allows the operating status of the gripping system 1 to be visually confirmed from the outside. Moreover, a door that can be opened and closed is installed in a part of the side wall that the shielding part 50 constitutes. When replacing the storage space 10A of the ingredients storage section 10, adding a container to the container supply section 20, or performing maintenance on the gripping system 1, the operator can open the door of the shielding section 50 and perform various operations. can.

[Hardware configuration of control device 40]
FIG. 5 is a schematic diagram showing the hardware configuration of the control device 40. As shown in FIG.
As shown in FIG. 5, the control device 40 includes a CPU (Central Processing Unit) 711, a ROM (Read Only Memory) 712, a RAM (Random Access Memory) 713, a bus 714, an input section 715, and an output section. 716, a storage section 717, a communication section 718, and a drive 719.

The CPU 711 executes various processes according to a program recorded in the ROM 712 or a program loaded into the RAM 713 from the storage unit 717.
The RAM 713 also appropriately stores data necessary for the CPU 711 to execute various processes.

The CPU 711, ROM 712, and RAM 713 are interconnected via a bus 714. An input section 715, an output section 716, a storage section 717, a communication section 718, and a drive 719 are connected to the bus 714.

The input unit 715 includes an input device such as a mouse and a keyboard, and receives input of various information to the control device 40. Note that a microphone may be provided as the input unit 715, and input of various information may be accepted through voice input from the worker.
The output unit 716 is configured with a display, a speaker, etc., and outputs images and audio.
The storage unit 717 is configured with a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various data managed by each server.
The communication unit 718 controls communication with other devices via the network.

A removable medium 731 made of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately installed in the drive 719. The program read from the removable medium 731 by the drive 719 is installed in the storage unit 717 as necessary.
Note that the above hardware configuration is the basic configuration of the control device 40, and the configuration may not include some hardware, include additional hardware, or change the implementation form of the hardware. I can do it.

[Functional configuration]
Next, the functional configuration of the control device 40 will be explained.
FIG. 6 is a block diagram showing the functional configuration of the control device 40.
As shown in FIG. 6, by executing a program for controlling the operation of the gripping system 1, the CPU 711 of the control device 40 has a sensor information acquisition unit 151, an ingredient state determination unit 152, and an ingredient quantity determination unit. A determination section 153, an articulated robot control section 154, a container supply control section 155, and a recording control section 156 function. Further, the storage unit 717 includes a parameter storage unit 171 and a history database (history DB) 172.

The parameter storage unit 171 stores various parameters used when the gripping system 1 operates. For example, the parameter storage unit 171 stores the position of the storage space 10A of the ingredients storage unit 10, the position of the container of the lunch box supplied from the container supply unit 20, the position of the area in the container of the lunch box in which ingredients are to be served, the ingredients The relationship between the amount of insertion of the hand 31 into the ingredient when grasping the ingredient and the weight of the ingredient to be grasped (function or table format data, etc.), parameters defining the movement pattern of the articulated robot 30, etc. are stored. Ru. In this embodiment, the amount of insertion of the hand 31 into the ingredients is an index for estimating the weight (physical quantity) of the ingredients. That is, from the relationship between the amount of insertion of the hand 31 into the ingredient and the weight of the ingredient to be gripped, the actual weight of the gripped ingredient (target gripping weight) is determined by the amount of insertion of the hand 31 into the ingredient. Estimated based on quantity.

The history DB 172 stores parameters related to control acquired when the gripping system 1 operates, or measurement data of the weight of ingredients sorted by the gripping system 1. Furthermore, the history DB 172 also stores an ingredient state map indicating the state of the ingredients in the storage space 10A of the ingredient storage section 10.

FIG. 7 is a diagram for explaining the ingredient state map stored in the history DB 172, and is a diagram looking down on the storage space 10A of the ingredient storage section 10 from vertically above. As shown in FIG. 7, in this embodiment, the accommodation space 10A is divided into multiple columns (here, columns A to C) and multiple rows (here, rows 1 to 5). It is managed as a plurality of areas (here, areas A1 to C5). Then, the recording control unit 156 (described later) receives measurement data of the weight of the ingredient and the reaction force of the ingredient acquired when the grasping system 1 performs the grasping operation, and the determination result by the ingredient state determination unit 152 (described later). , the state of the ingredients in each area is detected based on the measurement data of the weight of the ingredients separated by the gripping system 1, and is linked to a number for managing each area (here, areas A1 to C5). By storing the information, an ingredient state map is generated. In this case, the state of the ingredients refers to the remaining amount of the ingredients in each region, and the depth and flatness of the ingredients determined by the ingredient condition determination unit 152, which will be described later.

In addition, when the storage space 10A is replaced with a new one after the ingredients in the storage space 10A have been sorted out, a predetermined amount of ingredients (for example, a sufficient amount for the storage space 10A) The ingredient state map is updated assuming that the ingredients (ingredients) are accommodated in a predetermined state (for example, in a flat state).

Note that when the articulated robot 30 performs a grasping operation, the grasping operation is performed in clockwise or counterclockwise order along the inner wall surface forming the accommodation space 10A, for example, as shown by the arrow in FIG. be exposed. For example, the gripping operation is performed in the order of area A1, area B1, area C1, area C2, . . . . Alternatively, depending on the state of the ingredients in the storage space 10A, for example, the gripping operation may be performed as appropriate even in areas that are not along the inner wall surface of the storage space 10A (here, areas B2, B3, and B4). .

Returning to FIG. 6, the sensor information acquisition unit 151 acquires sensor information that is information detected by various sensors installed in the gripping system 1. For example, the sensor information acquisition unit 151 may collect data on the weight of the ingredients measured by the weight sensor 30A installed at the joints of the articulated robot 30, data on the reaction force from the ingredients measured by the force sensor 30B, etc. , data on the weight of the ingredients measured by the weight sensor 21 of the container supply section 20 is acquired.

The ingredient condition determination unit 152 recognizes the condition of the ingredients based on the data of the reaction force from the ingredients measured by the force sensor 30B. For example, the ingredient state determination unit 152 determines the depth of the ingredient in the accommodation space 10A (from the surface of the ingredient in the accommodation space 10A to the (depth to the bottom) and the degree of flatness of the surface (how rough the surface is). In this embodiment, instead of determining the state of the ingredients by image analysis using a camera, a method of measuring the state of the ingredients based on the reaction force using the force sensor 30B is used. Therefore, for example, it is possible to reduce the introduction cost and management cost of the camera, and there is no need to consider blind spots of the camera, so it is possible to more flexibly select the arrangement of the articulated robot 30 and the accommodation space 10A. . Furthermore, there is no need to consider the effects of steam generated from ingredients or lighting.

Then, when the ingredient condition determination unit 152 recognizes the depth of the ingredient and the flatness of the surface, it determines whether these conform to the conditions for gripping the ingredient (for example, the depth of the ingredient and the degree of flatness of the surface). It is determined whether the degree of flatness is greater than or equal to a set threshold value. The degree of flatness of the surface of the ingredient can be defined, for example, based on the absolute value of the size of the unevenness of the surface, and is defined such that the flatter the surface of the ingredient, the larger the value. be able to. Alternatively, the degree of flatness may be determined for each portion of the surface of the ingredient. In addition, the ingredient condition determination unit 152 determines whether the condition of the ingredients in the accommodation space 10A is such that a specified amount of ingredients can be grasped in one grasping operation.

Based on the data of the weight of the ingredients measured by the weight sensor 30A of the articulated robot 30 and the data of the weight of the ingredients measured by the weight sensor 21 of the container supply unit 20, the ingredient amount determination unit 153 It is determined whether or not a specified amount of ingredients has been grasped, and whether or not a specified amount of ingredients has been placed in a bento box container.

The articulated robot control unit 154 controls the motion of the articulated robot 30 and causes the articulated robot 30 to perform a series of operations for separating ingredients according to the motion pattern defined in the grasping system 1. For example, the articulated robot control unit 154 performs an operation of grasping an ingredient with the hand 31 of the articulated robot 30 (grasping operation), an operation of transferring the grasped ingredient to a lunch box container (transfer operation), and an operation of transferring the grasped ingredient to a lunch box container. The articulated robot performs actions such as releasing the ingredients (release action), flattening the surface of the ingredients in the storage space 10A (leveling action), and gathering the ingredients in the storage space 10A (scraping action). 30 to execute.

In addition, the articulated robot control unit 154 moves the gripping member 31a in a state in which the ingredients attached to the gripping member 31a are brought into contact with another ingredient serving as a target object, thereby causing the ingredients to adhere to the gripping member 31a. The articulated robot 30 is caused to perform an operation (removal operation) in which the added ingredient is newly attached to another ingredient and removed.

FIG. 8 is a diagram showing the positional relationship among the accommodation space 10A, the hand 31, the gripping member 31a, the robot arm 32, and the ingredients when performing each of these operations. In FIG. 10, the vertical direction is referred to as the Z direction, the first horizontal direction perpendicular to the Z direction (the direction perpendicular to the paper surface) is referred to as the Y direction, and the second horizontal direction perpendicular to each of the Z direction and the Y direction is referred to as the Y direction. The horizontal direction is called the X direction. That is, the Z direction, the Y direction, and the X direction are directions perpendicular to each other.

The hand 31 is placed at the tip of the robot arm 32. Furthermore, the gripping member 31a is supported by the hand 31 by being coupled to the hand 31 by a coupling member. The hand 31 and the gripping member 31a coupled thereto are moved within a movable range in each of the X direction, Y direction, and Z direction according to the operation of the robot arm 32 controlled by the multi-joint robot control unit 154. It is possible to move. Further, the hand 31 realizes a gripping operation by opening and closing the pair of gripping members 31a in the Y direction using an actuator (not shown).
Furthermore, the hand 31 and the gripping member 31a coupled thereto can rotate with the Z direction as a rotation axis.
With such a configuration, the articulated robot control unit 154 can arbitrarily change the position and orientation of the hand 31 and the gripping member 31a when executing each operation, thereby appropriately executing each operation. It becomes possible to do so.

Furthermore, in this embodiment, the attachment/detachment mechanism is realized by two coupling members, and the gripping member 31a is connected to the hand 31 at the tip of the robot arm 32 using this attachment/detachment mechanism.
In order to realize this attachment/detachment mechanism, the first coupling member includes a plurality of rods and a base member. The plurality of rods are arranged side by side at predetermined intervals, and have a shape in which the tip of the rod protrudes in the direction facing the second coupling member (the -x direction in FIG. 10) when coupled. Further, the base member holds the plurality of rods and is disposed at the tip of the hand 31.
On the other hand, the second coupling member includes a base member and a magnet. The base member has a plurality of insertion holes installed in accordance with the rod spacing of the first coupling member, and is arranged on the top plate portion of the gripping member 31a. The magnet is fixed to the inner end of each insertion hole (the end opposite to the side into which the rod is inserted).
Then, the operator inserts each rod of the first coupling member into each insertion hole of the second coupling member in the -X direction in the figure (the "insertion direction" in the figure), so that the tip of each rod is inserted into the insertion hole of the second coupling member. is magnetically attracted to the magnet in each insertion hole. With such a structure, the attachment/detachment mechanism is realized.

In addition, in this attachment/detachment mechanism, when force is applied to the gripping member 31a in the Y direction (gripping direction and release direction) and Z direction (height direction) in FIG. The retention force is exerted by the fitting structure. Furthermore, when a force is applied to the gripping member 31a in the X direction in FIG. 10, the holding force in the -X direction (the "insertion direction" in the diagram) is due to the contact force between the rod and the magnet. At the same time, in the +X direction (the "withdrawal direction" in the figure), a holding force is exerted due to the attraction force due to the magnetic force between the rod and the magnet.

In food sorting work, etc., the gripping member 31a needs to be attached and detached frequently in order to periodically clean the gripping member 31a. However, with such an attachment/detachment mechanism, sufficient holding force required for the work can be achieved by inserting the rod into the insertion hole and by the adsorption action of the magnet (permanent magnet). Moreover, such an attachment/detachment mechanism makes it easy to attach/detach the gripping member 31a.

FIGS. 9(a) and 9(b) are schematic diagrams showing the concept of a series of operations in a gripping operation. As shown in the figure, ingredients to be gripped from now on are stored in the storage space 10A. In addition, in the drawings and the following description, the stored ingredients are appropriately referred to as "accommodated ingredients."
In such a state, the articulated robot 30 performs a gripping operation and grips the ingredients with the gripping member 31a.

First, as shown in FIG. 9(a), the articulated robot 30 lowers the gripping member 31a to insert the gripping member 31a into the storage material. When the articulated robot 30 inserts the grasping member 31a to a predetermined depth based on the control of the articulated robot control unit 154, it stops lowering the grasping member 31a.

Next, as shown in FIG. 9(b), the multi-joint robot 30 closes until the gripping members 31a inserted into the storage materials come into contact with each other. Thereby, it is possible to grasp ingredients with a weight estimated by the articulated robot control unit 154. In addition, in the drawings and the following description, the contained ingredients are appropriately referred to as "gripping ingredients."

FIGS. 10(a) to 10(c) are schematic diagrams showing the concept of a series of operations in the removal operation performed after the gripping operation. As shown in the figure, accommodation materials are accommodated in the accommodation space 10A. Further, the gripping member 31a is in a closed state and continues to grip the gripping material. Furthermore, a viscous or adhesive material is attached to the outer surface of the gripping member 31a as a result of the gripping member 31a being inserted into the accommodation material during the gripping operation. In addition, in the drawings and the following description, this attached ingredient is appropriately referred to as "adhered ingredient".
In this state, the articulated robot 30 performs a removal operation to remove the ingredients attached to the gripping member 31a from the gripping member 31a.

First, as shown in FIG. 10(a), the articulated robot 30 has the tip of the gripping member 31a that has completed the gripping operation and is gripping the gripping material, and the tip of the gripping member 31a that has completed the gripping operation and is gripping the gripping material, and the area adjacent to the area where the gripping operation has been performed. The gripping member 31a is raised until the surface of the storage material in the area is at the same height.

Next, as shown in FIG. 10(b), the articulated robot 30 moves the gripping member 31a in a state where the attachment material attached to the gripping member 31a is in contact with the accommodation material serving as the target object. The attached ingredient attached to the gripping member 31a is newly attached to the accommodation ingredient and removed.
In this case, the moving direction of the gripping member 31a can be set as appropriate, but for example, the gripping member 31a is moved in a direction parallel to the surface formed by the housing material. In this embodiment, since the surface of the storage material is a substantially horizontal plane, the state in which the top plate portion of the gripping member 31a is horizontal and the height of the gripping member 31a raised in FIG. 10(a) are maintained. While doing so, the gripping member 31a is moved in the horizontal direction.
In this way, the articulated robot 30 uses the viscosity or stickiness, which is a characteristic of the ingredients, to rub the attached ingredients against the stored ingredients, thereby removing the attached ingredients from the gripping member 31a. remove.

Next, as shown in FIG. 10(c), when the movement of the gripping member 31a for rubbing is completed, the articulated robot 30 raises the gripping member 31a. As shown in the figure, the attached ingredient is removed from the gripping member 31a by rubbing, and the attached ingredient becomes part of a new accommodation ingredient and is reused. Moreover, by rubbing, the surface of the storage material at the location where the gripping operation was performed and the area adjacent to this location is flattened.
As a result, the removal operation is completed, and a determination is made as to whether or not a specified amount of ingredients have been grasped.

In this manner, in the present embodiment, by performing the removal operation, it is possible to remove the adhered material that has adhered to the gripping member 31a and has hindered appropriate control. Therefore, for example, the amount of gripping material actually gripped by the articulated robot 30 can be detected with high accuracy. In addition, for example, the amount of ingredients actually gripped or the amount of ingredients actually released can be set to the amount estimated in the control of the robot.
That is, according to the gripping system 1, the robot can more appropriately grip the ingredients.

Furthermore, as described above with reference to FIG. 8, in this embodiment, the gripping member 31a is coupled to the hand 31 at the tip of the robot arm 32 by the attachment/detachment mechanism realized by the first coupling member and the second coupling member. There is. However, if the resistance of the contained material is large during rubbing during the removal operation, an unexpected force may act on the gripping member 31a in the attachment/detachment mechanism, and the gripping member 31a may come off unintentionally. .
Referring again to FIG. 8, when the resistance force at the time of rubbing is large, force acts on the gripping member 31a in the -X direction in the figure (the "insertion direction" in the figure) in the attachment/detachment mechanism. If so, the contact force between the rod and the magnet will further increase, and the gripping member 31a will not come off. On the other hand, when the resistance force at the time of rubbing is large and a force acts on the gripping member 31a in the +X direction in the figure (the "pulling direction" in the figure), the force acting on the rod and the magnet There is a possibility that the holding force due to the attraction force due to the magnetic force is exceeded, and the gripping member 31a may come off. That is, when the gripping member 31a is rubbed by moving in the +X direction in the figure (the "pull-out direction" in the figure) or by reciprocating in the X direction, there is a risk that the gripping member 31a may come off.
Therefore, in the removal operation, the articulated robot control unit 154 performs rubbing by moving in the +Y direction or -Y direction in the figure, so that the gripping member 31a does not come off even if the resistance force at the time of rubbing is large. The operation of the multi-joint robot 30 is controlled to perform rubbing in a reciprocating motion in the Y direction. As a result, a force is applied to the attachment/detachment mechanism in the Y direction perpendicular to the +X direction in the figure (the "pull-out direction" in the figure), so a force is applied in the +X direction in the figure (the "pull-out direction" in the figure) It is possible to prevent a situation where the gripping member 31a comes off due to this action.

Moreover, this removal operation is realized by moving the gripping member 31a. Therefore, there is also an advantage that there is no need to replace the gripping member 31a with another member in order to remove the adhered material.
Furthermore, in this removal operation, the removed adhered ingredient can be returned to the accommodation space 10A and used as an accommodation ingredient, so that it can be used as a target for the next and subsequent grasping operations. In other words, the removed removal material can be used without wasting it.
Furthermore, by performing this removal operation, only the weight of the gripping material can be measured with high accuracy in a state in which the adhered material is removed. Thereby, it is possible to accurately determine whether the weight of the gripping material gripped by the gripping member 31a is appropriate.

In addition, in the removal operation, the height that should be raised to perform rubbing (relative height between the surface of the contained ingredient and the tip of the gripping member 31a), the direction in which the gripping member 31a is moved when performing rubbing, and the movement The range (stroke), number of movements, and movement speed should be determined based on the properties of the ingredients (for example, degree of viscosity or stickiness), the size and shape of the ingredients, and the speed required for plating. It can be set in advance with consideration.

In addition, when making various settings for the removal operation in this way, it is necessary to maintain the above-mentioned state in which the top plate portion of the gripping member 31a is horizontal and the height of the gripping member 31a raised in FIG. 10(a). The method of rubbing is merely an example. It is not necessarily necessary to move in the horizontal direction, but it may be moved in other directions. For example, in addition to the viscosity or stickiness, which is a characteristic of the ingredients, gravity may also be taken into consideration to move the food in the vertical direction, or to combine movement in the horizontal and vertical directions. Alternatively, it may move in a direction other than the horizontal or vertical direction.

Alternatively, instead of moving in a certain direction, the gripping member 31a may be rotated on a horizontal plane with the vertical direction as the rotation axis while maintaining the height of the gripping member 31a. . In this case, for example, stick-shaped (e.g., burdock salad) or linear (e.g., noodles)-shaped ingredients that protrude from the tip of the gripping member 31a and become attached ingredients are cut in the middle and removed. You can do things like

In addition, for example, the articulated robot 30 may grasp the holding member 31a during the removal operation based on the position of the holding member 31a in the storage space 10A that accommodates the storage material. The direction in which the member 31a is to be moved may be determined. This point will be explained with reference to FIG. 7 again. Here, a case will be taken as an example in which the gripping member 31a is moved in the horizontal direction.

Assume that the position of the gripping member 31a when performing the gripping operation is area A2. In this case, the gripping member 31a is moved back and forth between the area A1 and the area A3 via the area A2, assuming that the rubbing effect is higher when the gripping member 31a is moved in a plurality of directions.
Alternatively, suppose that the position of the gripping member 31a when performing the gripping operation is region B2. In this case, the gripping member 31a is moved back and forth between area B2 and an area where the height of the surface of the contained ingredients is significantly different from area B2 so that the height of the surface of the contained ingredients is equal in each adjacent area. Move it as shown.

Alternatively, suppose that the position of the gripping member 31a when performing the gripping operation is at a corner of the storage space 10A, such as area A1. In this case, if the gripping member 31a is moved toward the inner wall surface and rubbing is performed, the gripping member 31a (or the hand 31) may collide with the inner wall surface. Therefore, in such a case, the gripping member 31a is moved back and forth between the area A1 and the area A2. Alternatively, the gripping member 31a is moved back and forth between the area A1 and the area B1. In this way, by moving the gripping member 31a in the direction opposite to the inner wall surface side, it is possible to prevent the gripping member 31a from colliding with the inner wall surface forming the accommodation space 10A. In addition, in this case, the gripping member 31a is temporarily raised to a height where it does not come into contact with the surface of the storage material, and then the gripping member 31a is placed at a position other than a corner of the storage space 10A, such as region B2. move. Then, rubbing may be performed again centering on the destination area. In this way, by rubbing in the destination area, it is possible to prevent the gripping member 31a from colliding with the inner wall surface forming the accommodation space 10A.

Note that, as described above, the hand 31 and the gripping member 31a coupled thereto can rotate with the vertical direction as the rotation axis. Therefore, even if the gripping member 31a has a structure with a restriction that it is desirable to move only in a predetermined direction (for example, the opening/closing direction in gripping) and it is not desirable to move it in other directions, the gripping member 31a Rubbing can be performed in any direction by rotating the member 31a.

FIG. 11 is a schematic diagram showing an example of the state of ingredients in the storage space 10A.
Further, FIG. 12 is a schematic diagram showing the concept of leveling operation, and FIG. 13 is a schematic diagram showing the concept of scraping operation.
As shown in FIG. 11, when the flatness of the surface of the ingredients in the storage space 10A is low (rough), the articulated robot 30 performs a leveling operation as shown in FIG. flatten. In addition, when performing the leveling operation, the bottom surface of the accommodation space 10A and the tip of the gripping member 31a are maintained in a parallel state by utilizing the fact that the tip of the gripping member 31a is flat (having a linear edge). Thus, the gripping member 31a can be moved at the same height from the bottom surface of the accommodation space 10A. In the leveling operation, the outer surface of the gripping member 31a is flat, so that the outer surface of the gripping member 31a is flattened by pressing it against the ingredients, or by stroking the surface of the ingredients with the outer surface of the gripping member 31a. It is also possible to convert it into

Further, as shown in FIG. 11, if the depth of the ingredients in the storage space 10A is not sufficient to perform the gripping operation, the articulated robot 30 performs a scraping operation as shown in FIG. 13, and the gripping member 31a The ingredients are gathered together to create a depth sufficient for the grasping operation. As shown in FIG. 13, by pressing the outer surface of the gripping member 31a against the ingredients and moving them, you can not only collect the ingredients, but also grasp the ingredients with the gripping member 31a and move the ingredients from other parts. It is also possible to collect them by piling them on top of the wood.

Returning to FIG. 6, the container supply control unit 155 controls the container supply unit 20 to supply the container of the lunch box for serving the ingredients to be separated in the gripping system 1 to the serving position P1 at a predetermined timing. Further, the container supply control section 155 controls the container supply section 20 and causes the belt conveyor 2 to carry out the lunch box filled with ingredients.

The recording control unit 156 stores, in the history DB 172, control-related parameters acquired when the gripping system 1 performs the gripping operation and measurement data of the weight of the ingredients sorted by the gripping system 1. In addition, the recording control unit 156 creates and updates the ingredient state map that indicates the state of the ingredients in the storage space 10A of the ingredient storage unit 10, as described above with reference to FIG. is also stored in the history DB 172.

[Specific method of grasping ingredients]
In the grasping system 1 according to the present embodiment, the depth (insertion amount) of inserting the grasping member 31a into the ingredient and the ingredient to be grasped at that time depend on the type of ingredient and the grasping member 31a used. The relationship between the weight and the weight is known in advance. For example, the density of the ingredient to be gripped (a parameter representing the weight per unit depth) is measured in advance, and the gripping is performed using a function whose element is the multiplication value of the density of the ingredient and the depth into which the gripping member 31a is inserted. The weight can be calculated (estimated). Thereby, the weight of the ingredient to be gripped can be estimated by simple calculation.

Further, the weight calculated in this manner can also be held as data in a table format. Furthermore, since the range of the surface of the ingredient whose flatness decreases can be determined by one grasping operation, a pitch for shifting the grasping position is set for each grasping operation on the surface of the ingredient within the storage space 10A. Furthermore, a basic operation pattern for how to grip the ingredient from which position on the surface of the ingredient is set based on the preset depth and pitch into which the gripping member 31a is inserted.

As described above, if the degree of flatness of the surface of the ingredient in the storage space 10A does not meet the conditions for gripping the ingredient, a leveling operation is performed to flatten the surface of the ingredient. Further, if the depth of the ingredients in the storage space 10A does not meet the conditions for grasping the ingredients, a scraping operation is performed to gather the ingredients.
Then, when the flatness and depth of the surface of the ingredient meet the conditions for grasping the ingredient, the grasping operation is performed as follows according to the basic operation pattern.

FIG. 14 is a schematic diagram showing an example of a gripping operation by the hand 31.
As shown in FIG. 14, when the hand 31 grips an ingredient, (1) approaches the ingredient, (2) detects the surface of the ingredient, (3) inserts the gripping member 31a into the ingredient, ( The ingredients are gripped through the following steps: 4) closing the gripping member 31a; and (5) measuring the weight (physical quantity) of the gripped ingredients. If the gripped weight matches the specified amount, the ingredients are transferred to the lunch container and released. Note that the gripped weight conforming to the specified amount means, for example, that the weight of the gripped ingredient is within a predetermined error (within ±15%, etc.) with respect to the target weight. However, considering the case where the ingredient sticks to the gripping member 31a and is not released, the error when the gripped weight is more than the specified amount may be set to be larger than the error when it is less. On the other hand, if the weight of the gripped ingredients does not match the specified amount, (6) release the ingredients to the gripped position in the storage space 10A (return the ingredients); (7) if the weight of the gripped ingredients exceeds the specified amount; (For example, if the weight of the gripped ingredient exceeds the upper limit of the specified amount range), the gripping member 31a is inserted to a shallower depth than the previous time, and the ingredient is gripped. (8) If the weight of the gripped ingredient is insufficient (for example, if the weight of the gripped ingredient is below the lower limit of the specified amount range), the gripping member 31a is The ingredients are gripped again by adjusting the depth to which they are inserted into the ingredients and then gripping the ingredients.

Detecting the surface of the ingredients in step (2) can be done by measuring the reaction force that the hand 31 of the articulated robot 30 receives when it comes into contact with the ingredients, using the force sensor 30B.
In addition, when inserting the gripping member 31a into the ingredient in step (3), the insertion amount is calculated from the control parameters of the articulated robot 30 (rotation angle of the joint, etc.), or the surface of the ingredient is detected in step (2). It is possible to calculate the insertion amount from the elapsed time since the insertion was started.

In addition, in step (8), even if the gripping member 31a is inserted deeper into the ingredients than the previous time, if the specified amount of ingredients cannot be gripped (the insertion depth required to take the specified amount is When the depth of the ingredients is shallow), the ingredients can be controlled from multiple locations on the surface of the ingredients so that the total amount of ingredients gripped multiple times becomes the specified amount. is also possible. In this case, for example, when the total depth of inserting the gripping member 31a into multiple locations on the surface of the ingredient (total insertion amount) is to grasp a specified amount of ingredients at one time, the gripping member 31a is inserted into the ingredient. It can be controlled to be the same as the depth. In addition, for example, when gripping from the second location onwards, the gripped ingredient is once released to the next planned gripping position, and the released ingredient is placed on the surface of the ingredient where it is present, by a specified amount at once. It is also possible to insert the gripping member 31a into the ingredients to the depth that it would be inserted when gripping the ingredients, and to control so that a predetermined amount of ingredients can be gripped at once.

Note that the relationship between the depth (insertion amount) of the gripping member 31a into the ingredients and the weight of the ingredients gripped at that time can be calculated (estimated) from the density of the ingredients, as well as Machine learning is performed on the data on the depth at which 31a is inserted and the data on the weight of the ingredient gripped at that time, and the weight of the gripped ingredient is estimated using the machine learning model generated by machine learning. It may also be a thing. In addition, in the process of machine learning, the density of the ingredients is calculated, and using the calculated density, the weight of the gripped ingredients is calculated from the depth (insertion amount) of the gripping member 31a inserted into the ingredients. It's okay.

[motion]
Next, the operation of the gripping system 1 will be explained.
15 and 16 are flowcharts showing the flow of ingredient sorting processing performed by the gripping system 1.

When the ingredient sorting process is started, in step S1 of FIG. 15, the articulated robot control unit 154 converts data for gripping ingredients (motion pattern data, insertion amount data of the hand 31, etc.) into parameters. By reading from the storage unit 171, preparations for grasping the ingredients are made.

In step S2, the articulated robot control unit 154 transfers the hand 31 to the accommodation space 10A according to the motion pattern data.

In step S3, the ingredient state determination unit 152 reads the ingredient state map indicating the state of the ingredients in the accommodation space 10A of the ingredient storage unit 10 from the history DB 172, thereby determining the state of the ingredients in the accommodation space 10A. recognize. Thereafter, the ingredient condition determination unit 152 continues to recognize the condition of the ingredient based on the data of the reaction force from the ingredient measured by the force sensor 30B, which is acquired by the sensor information acquisition unit 151.

In step S4, the ingredient state determination unit 152 determines whether the degree of flatness of the surface of the ingredient meets the conditions for gripping the ingredient.
If the flatness of the surface of the ingredient does not meet the conditions for gripping the ingredient, a negative determination is made in step S4, and the process proceeds to step S5.
If the flatness of the surface of the ingredient satisfies the conditions for gripping the ingredient, YES is determined in step S4, and the process proceeds to step S6.
In step S5, the articulated robot control unit 154 performs a leveling operation to flatten the surface of the ingredients.

In step S6, the ingredient state determination unit 152 determines whether the depth of the ingredient in the storage space 10A meets the conditions for gripping the ingredient.
If the depth of the ingredients in the accommodation space 10A does not meet the conditions for gripping the ingredients, a negative determination is made in step S6, and the process proceeds to step S7.
If the depth of the ingredients in the accommodation space 10A meets the conditions for gripping the ingredients, a YES determination is made in step S6, and the process proceeds to step S8.
In step S7, the articulated robot control unit 154 performs a scraping operation to gather the ingredients.

Transitioning to FIG. 16, in step S8, the ingredient state determination unit 152 determines whether or not a specified amount of ingredients can be grasped in one grasping operation.
If it is not possible to grip the specified amount of ingredients in one gripping operation, the determination in step S8 is NO, and the process moves to step S9.
If the predetermined amount of ingredients can be gripped in one gripping operation, YES is determined in step S8, and the process moves to step S15.

In step S9, the articulated robot control unit 154 inserts the gripping member 31a into the ingredients to a set depth.
In step S10, the articulated robot control unit 154 closes the gripping member 31a and grips the ingredients.
In step S11, the articulated robot control unit 154 moves the hand 31 to another position (a position where the ingredients are flat).

In step S12, the articulated robot control unit 154 inserts the gripping member 31a to a depth corresponding to the additional gripping of the ingredient.
In step S13, the articulated robot control unit 154 closes the gripping member 31a and grips the ingredients.
After step S13, the process moves to step S16.

In step S14, the articulated robot control unit 154 inserts the gripping member 31a into the ingredients to a set depth.
In step S15, the articulated robot control unit 154 closes the gripping member 31a and grips the ingredients.

In step S16, the articulated robot control unit 154 executes a removal operation. Details of the removal operation are as described above with reference to FIG.

In step S17, the ingredient amount determination unit 153 measures the weight (physical quantity) of the gripped ingredient. This measurement is continued until at least step S23.
In step S18, the ingredient amount determining unit 153 determines whether a specified amount of ingredients is being held.
If the prescribed amount of ingredients is not gripped, the determination in step S18 is NO, and the process moves to step S19.

If the predetermined amount of ingredients is being held, YES is determined in step S18, and the process proceeds to step S22.
In step S19, the articulated robot control unit 154 returns the ingredient to the position where it was gripped immediately before.

In step S20, the articulated robot control unit 154 inserts the gripping member 31a into the ingredient to the corrected depth.
In step S21, the articulated robot control unit 154 closes the gripping member 31a and grips the ingredients.

In step S22, the articulated robot control unit 154 executes a removal operation. Details of the removal operation are as described above with reference to FIG.
After step S22, the process moves to step S18.

In step S23, the articulated robot control unit 154 transfers the gripped ingredients to the position of the lunch container and releases them into a predetermined area within the container. When the ingredients are released into a predetermined area within the container, the ingredient amount determination unit 153 determines whether the amount of the ingredients set aside conforms to the specified amount. This determination result is associated with the boxed lunch container and carried over to subsequent processing.

In step S24, the recording control unit 156 stores in the history DB 172 the control-related parameters acquired in the ingredient sorting process and the measurement data (history data) of the weight of the sorted ingredients. Furthermore, the recording control unit 156 updates the ingredient state map indicating the state of the ingredients in the accommodation space 10A of the ingredient storage unit 10, and also stores the updated ingredient state map in the history DB 172.

In step S25, the articulated robot control unit 154 determines whether the conditions for terminating the ingredients sorting process are met. The conditions for terminating the ingredient sorting process can be defined as, for example, that ingredients have been placed in the scheduled number of bento containers, or that an operation for terminating the ingredient sorting process has been performed.
If the conditions for terminating the ingredients sorting process are not met, a negative determination is made in step S25, the process moves to FIG. 15, and the process moves to step S2.
If the conditions for terminating the ingredient sorting process are met, a YES determination is made in step S25, and the ingredient sorting process ends.

As described above, by performing the removal operation, the gripping system 1 according to the present embodiment can remove the adhered ingredients that have adhered to the gripping member 31a and have hindered appropriate control. Therefore, for example, the amount of gripping material actually gripped by the articulated robot 30 can be detected with high accuracy. In addition, for example, the amount of ingredients actually gripped or the amount of ingredients actually released can be set to the amount estimated in the control of the robot.
That is, according to the gripping system 1, the robot can more appropriately grip the ingredients.

Furthermore, according to the gripping system 1, the weight (physical quantity) of the ingredient to be gripped can be calculated (estimated) based on the depth at which the gripping member 31a is inserted into the ingredient.
Therefore, by performing a similar grasping operation using the articulated robot 30, it becomes possible to separate an accurate amount of ingredients with less variation.
That is, according to the gripping system 1, the robot can more appropriately perform the work of separating the ingredients.

Furthermore, according to the gripping system 1, the degree of flatness of the surface of the ingredient to be grasped is recognized, and if the degree of flatness of the surface of the ingredient does not meet the conditions for grasping the ingredient, the degree of flatness of the surface of the ingredient to be grasped is recognized. A leveling operation is performed to flatten the surface.
Therefore, since the gripping member 31a can be inserted into the ingredients with a more accurate insertion amount, the ingredients can be separated more appropriately.

Furthermore, according to the gripping system 1, when the depth of the ingredients does not meet the conditions for grasping the ingredients, such as when the amount of ingredients in the accommodation space 10A decreases, the ingredients in the accommodation space 10A A scraping operation is performed to collect the data.
Therefore, even when there are few ingredients, it is possible to adjust the depth necessary to grip the ingredients, making effective use of the ingredients, and reducing the frequency of feeding ingredients. .
Therefore, it becomes possible for the robot to carry out the work of separating the ingredients more efficiently.

Moreover, according to the grasping system 1 according to the present embodiment, when a specified amount of ingredients cannot be grasped at one time, the specified amount of ingredients is grasped by multiple grasping operations.
Therefore, when the amount of ingredients in the storage space 10A decreases, or when separating ingredients that are difficult to grasp in a single grip, the necessary weight of ingredients can be handled with more flexible movement. It becomes possible to grasp it.

[Modification 1]
In the above-mentioned embodiment, as explained with reference to FIG. 10, in the removal operation, the storage material was used as the target object, and the adhesion material was rubbed against the surface of the storage material, but this is not limited to this. I can't do it. The target object does not necessarily have to be the accommodation material, and the removal operation may be performed using another object as the target object.
Each of FIGS. 17 to 19 is a schematic diagram illustrating the concept of a removal operation when an object other than the accommodation material is the target object. Each of these figures shows the concept of rubbing in the removal operation and corresponds to FIG. 10(b).

FIG. 17 shows a case where the target object is the bottom surface of the accommodation space 10A. For example, when the bottom surface of the storage space 10A is exposed due to repeated serving of ingredients, the target object is thus set as the bottom surface of the storage space 10A. In this case, the articulated robot 30 moves the gripping member 31a in a state where the attachment material attached to the gripping member 31a is in contact with the bottom surface of the accommodation space 10A, which is the target object, thereby removing the attachment material attached to the gripping member 31a. The ingredients are newly attached to the storage space 10A and removed.
At this time, the moving direction of the gripping member 31a can be set as appropriate, but for example, if the bottom surface of the storage space 10A is a substantially horizontal plane, the top plate of the gripping member 31a is horizontal, and the storage space 10A is The gripping member 31a is moved in the horizontal direction while maintaining the raised height of the gripping member 31a at a height at which the attachment material contacts but the gripping member 31a does not contact the bottom surface of the space 10A. Even in this manner, the removal operation can be performed. This example is suitable, for example, when sorting of ingredients is repeated and the number of stored ingredients suitable for the target object is reduced.

FIG. 18 shows a case where the target object is the inner wall surface of the accommodation space 10A. For example, when the ingredient adheres to the side surface near the tip of the gripping member 31a, the target object is thus set as the inner wall surface of the accommodation space 10A. In this case, the articulated robot 30 moves the gripping member 31a while keeping the attachment material attached to the gripping member 31a in contact with the inner wall surface of the accommodation space 10A, which is the target object. The attachment material is newly attached to the accommodation space 10A and removed.
At this time, the moving direction of the gripping member 31a can be set as appropriate, but for example, if the inner wall surface of the accommodation space 10A is a substantially vertical plane, the main plate of the gripping member 31a is vertical, and the accommodation space While maintaining the height of the gripping member 31a, which has been raised at a height where the adhering material comes into contact with the inner wall surface of 10A but the gripping member 31a does not and the gripping member 31a and the accommodation material do not come into contact with each other, the gripping member 31a is moved in the vertical direction. The gripping member 31a is moved. Even in this manner, the removal operation can be performed. In this case, it is preferable to rotate the gripping member 31a to perform a removing operation on each side surface of the gripping member 31a. In this example, for example, the position of the gripping member 31a when performing the gripping operation is at the corner of the storage space 10A, such as area A1, and there is a storage material suitable for the target object in the adjacent area. This is suitable when the amount is low.

FIG. 19 shows a case where the target object is a removal member installed on the inner wall surface of the accommodation space 10A. For example, when installing in advance a removal member such as a so-called scraper, which is made of a material (e.g. elastic silicone or rubber) and shape (e.g. flat plate shape) suitable for rubbing the adhering material, The target object is the removal member. This is the inner wall surface of the accommodation space 10A. In this case, the articulated robot 30 moves the gripping member 31a in a state where the adhered material attached to the gripping member 31a is in contact with the target removal member, thereby removing the attached implement attached to the gripping member 31a. is newly attached to the removal member and removed.
At this time, the moving direction of the gripping member 31a can be set as appropriate, but if the bottom surface of the accommodation space 10A is a substantially horizontal surface, for example, the top plate portion of the gripping member 31a is in a horizontal state, and the removal The gripping member 31a is moved in the horizontal direction while maintaining the raised height of the gripping member 31a at a height at which the attachment material contacts the application member but does not contact the gripping member 31a. Even in this manner, the removal operation can be performed. This example is suitable, for example, when there is enough space inside the accommodation space 10A to attach the removal member.

As described above, in this modification, the articulated robot 30 utilizes the viscosity or stickiness, which is a characteristic of the attached ingredient, to rub the attached ingredient as if it were against a target object other than the stored ingredient. Then, the attached material is removed from the gripping member 31a.

[Modification 2]
In the above-described embodiment, the ingredient condition determination unit 152 recognizes the surface condition of the ingredient, and the leveling operation is performed when the flatness of the ingredient surface does not meet the conditions for gripping the ingredient. However, it is not limited to this.
For example, since the pitch for shifting the gripping position on the surface of the ingredient for each gripping operation is set, after gripping the ingredient from the entire surface of the ingredient in the storage space 10A (i.e., after a predetermined number of gripping operations) The leveling operation may be performed each time the leveling operation is performed.

In this case, the surface of the ingredients is kept constant without detecting the surface condition of the ingredients based on the data of the reaction force from the ingredients (i.e., the detection result of contact with the ingredients) measured by the force sensor 30B. can be adjusted to have a degree of flatness of .
Note that in addition to the leveling operation in the above-described embodiment, a leveling operation may also be performed every time a predetermined number of gripping operations are performed.

[Modification 3]
In the embodiment described above, the ingredient state determination unit 152 recognizes the depth of the ingredient, and the scraping operation is performed when the depth of the ingredient does not meet the conditions for grasping the ingredient. However, it is not limited to this.
For example, since the amount of ingredients to be taken out from the surface of the ingredient for each grasping operation (the depth into which the grasping member 31a is inserted) is set, the ingredient can be grasped from the entire surface of the ingredient in the storage space 10A. The scraping operation may be performed after the gripping operation is performed (that is, every time the grasping operation is performed a predetermined number of times).

In this case, the depth of the ingredients is not detected based on the data of the reaction force from the ingredients (i.e., the detection result of contact with the ingredients) measured by the force sensor 30B, and the ingredients are kept at a certain depth. can be adjusted to a state with
Note that in addition to the scraping operation in the above-described embodiment, a scraping operation may also be performed every time a predetermined number of grasping operations are performed.

[Modification 4]
In the above-described embodiment, the ingredient condition determination unit 152 determines the condition of the ingredient based on the data of the reaction force from the ingredient (i.e., the detection result of contact with the ingredient) measured by the force sensor 30B. However, the present invention is not limited to this.

If the installation cost of the camera is not a problem, the state of the ingredients may be determined by taking a picture with a camera (that is, an imaging device). In this case, the gripping system 1 is provided with an imaging device that photographs the vicinity of the hand 31 of the articulated robot 30. Then, this imaging device sequentially photographs images of the target location, including an image near the hand 31, in the process of taking out ingredients from the ingredients storage unit 10 and in the process of arranging the extracted ingredients in a lunch box container. The data of the image photographed at this time is output to the control device 40. Note that instead of or in addition to the imaging device, an imaging device capable of photographing the operating range of the articulated robot 30 is provided at a predetermined location of the gripping system 1, and the vicinity of the hand 31 is captured by this imaging device. It is also possible to capture an image of the location to be captured. Further, the imaging device installed in the gripping system 1, such as an imaging device, may be a device capable of acquiring a three-dimensional shape, such as a stereo camera. However, it is also possible to calculate the three-dimensional shape of the subject based on two two-dimensional images obtained by changing the imaging position of the imaging device that photographs the two-dimensional images.

Then, the control device 40 controls the imaging device to take images of the vicinity of the hand 31 of the articulated robot 30, images of the ingredients in the ingredient storage section 10, images of the lunch box container, etc. at predetermined time intervals.
In addition, the ingredient condition determination unit 152 determines the condition of the ingredients based on the image of the ingredients photographed by the imaging device. For example, the ingredient state determination unit 152 determines the depth of the ingredient in the accommodation space 10A (the depth from the surface of the ingredient in the accommodation space 10A to the bottom surface of the accommodation space 10A) from the image of the ingredient taken by the imaging device. ), recognize the flatness of the surface (how rough the surface is). In this case, in addition to the image of the ingredients photographed by the imaging device, the ingredient state determination unit 152 also detects the reaction force from the ingredients measured by the force sensor 30B (i.e., detection of contact with the ingredients). The condition of the ingredients may also be determined based on the data (results).

Further, for example, a depth camera having a function of measuring the distance (depth) to a subject may be used as the imaging device.
In this case, by photographing the subject, accurate depth information of each part can be easily obtained along with a color image.
Therefore, it becomes possible to grasp the three-dimensional shape of the ingredient surface, the accommodation space 10A, etc. based on the depth information of each part.
Therefore, it is possible to determine the degree of flatness of the surface of the ingredients and determine whether a leveling operation is necessary, or to determine the depth of the ingredients and determine whether a scraping operation is necessary.

[Modification 5]
In the above-described embodiment, the weight of the ingredients held by the articulated robot 30 or the weight of the ingredients placed in the lunch box container is measured by the weight sensors 30A and 21, but the invention is not limited to this.
For example, it is also possible to calculate the weight of the ingredient by estimating the volume of the ingredient from an image of the ingredient captured by the imaging device and multiplying the density by the estimated volume.
In this case, a means for calculating the weight of the ingredients can be implemented without using the weight sensors 30A, 21.

[Modification 6]
In the above embodiment, when performing the leveling operation, as shown in FIG. 12, the bottom surface of the storage space 10A and the tip of the gripping member 31a are maintained in a parallel state, and the gripping member 31a is moved to the bottom surface of the storage space 10A. Although the explanation has been made assuming that the objects are moved at the same height, the invention is not limited to this.
That is, when performing the leveling operation, various types of operations that can flatten the surface of the ingredients can be performed.
FIG. 20 is a schematic diagram showing an example of a leveling operation.
As shown in FIG. 20, when performing the leveling operation, the operation of opening and closing the gripping member 31a (see FIG. 20(b)) with the tip of the gripping member 31a in contact with the surface of the ingredient (see FIG. 20(a)) )), it is possible to flatten the surface of the ingredient in the range where the gripping member 31a opens and closes (see FIG. 20(c)).
In this case, since the surface of the ingredient located at the center of the pair of gripping members 31a is flattened, the position where the ingredient is to be gripped next can be reliably flattened. Furthermore, since there is no need to carry the hand 31 itself, the time required for the leveling operation can be shortened.

[Modification 7]
In the above embodiment, when performing the scraping operation, as shown in FIG. Although an example has been described in which the ingredients are gathered by gripping the ingredients at 31a and stacking them on top of other ingredients, the present invention is not limited to this.
That is, when performing a scraping operation, various types of operations that can gather ingredients can be performed.
For example, at least one of the pair of gripping members 31a may have a shape suitable for gathering the ingredients (for example, a flat plate shape, etc.). In this case, when performing the scraping operation, the gripping member 31a functions as a scraping blade, and the ingredients can be gathered together efficiently.

[Modification 8]
In the above-described embodiment, the hand 31 of the articulated robot 30 inserts the gripping member 31a into the ingredients in the ingredient storage section 10 to a depth at which it is estimated that the physical amount of the ingredients will be a predetermined amount. Although an example of gripping ingredients has been described, the present invention is not limited to this.
That is, by adjusting the degree of opening of the gripping member 31a and inserting the gripping member 31a into the ingredients, it is also possible to adjust the amount of ingredients held by the gripping member 31a. For example, if the weight of the gripped ingredient exceeds the weight (for example, if the weight of the gripped ingredient exceeds the upper limit of the specified amount range), the gripping member 31a is Adjust the opening of the member 31a to be narrower than the previous time and grip the ingredients.If the weight of the gripped ingredients is insufficient (for example, if the weight of the gripped ingredients falls below the lower limit of the specified amount range) If the gripping member 31a is inserted into the ingredient, the opening degree of the grasping member 31a can be corrected to be wider than the previous time, and the ingredient can be grasped.
Thereby, even if the depth (insertion amount) of the gripping member 31a into the ingredients cannot be adjusted, it is possible to adjust the amount of ingredients to be gripped.

[Modification 9]
In the above-described embodiment, the operation when gripping the ingredients with the gripping member 31a may be adjusted to reflect the ease with which the ingredients are gripped.
For example, when gripping an ingredient with the gripping member 31a, a phenomenon may occur in which part of the ingredient leaks (escapes) from the gripping member 31a and moves around the gripping position.
Through verification by the inventors, it has been found that the ease with which the ingredients escape differs depending on the position at which the gripping member 31a grips the ingredients (i.e., the distance from the inner wall surface or bottom surface of the storage space 10A).
It has been found that the orientation of the gripping member 31a affects the ease with which ingredients escape, especially near a wall. Specifically, when there is a wall in a direction where the ingredients tend to leak from the gripping member 31a, the ingredients have no place to escape, so the ease of escape is reduced (that is, the ease of grasping is improved).
Based on this, the relationship between the two elements of the gripping position (i.e., the distance from the inner wall surface or bottom surface of the storage space 10A) and the orientation of the gripping member 31a, and the parameter of ease of escape (or ease of taking in) of ingredients The depth of insertion (insertion amount) of the gripping member 31a at the gripping position where the gripping member 31a grips the ingredient can be adjusted according to the result. For example, at a gripping position where the ingredients tend to escape, adjustments can be made such as setting the depth (insertion amount) of the gripping member 31a into the ingredients larger.
Thereby, when the multi-joint robot 30 grips ingredients, it becomes possible to perform a more appropriate gripping operation depending on the situation.

As described above, the grasping system 1 in this embodiment includes the articulated robot 30 that grasps an object to be grasped using the grasping member 31a, and the control device 40 that controls the operation of the articulated robot 30.
The control device 40 is
By moving the gripping member 31a with the object attached to the gripping member 31a in contact with the target object, a multi-joint removal operation is performed in which the object attached to the gripping member 31a is newly attached to the target object and removed. The robot 30 is made to execute.
As a result, it is possible to remove the object that has adhered to the gripping member 31a and has been impeding proper control. Therefore, for example, the amount of the object actually gripped by the robot can be detected with high accuracy. In addition, for example, the amount of the object to be actually grasped or the amount of the object to be actually released can be set to the amount estimated in the control of the robot.
That is, according to the gripping system 1, the robot can more appropriately grip the object.
Moreover, this removal operation is realized by moving the gripping member 31a. Therefore, there is also an advantage that there is no need to replace the gripping member 31a with another member in order to remove the adhered object.

The control device 40 is
In the removal operation, the articulated robot 30 moves the gripping member 31a in a direction parallel to the surface formed by the target object.
This makes it possible to use the viscosity or stickiness that is a characteristic of the target object to remove it by rubbing it against the target object.

The target object is not the object attached to the gripping member 31a, but another object accommodated in the accommodation space 10A that accommodates the object.
Thereby, the removed target object can be returned to the storage space 10A and can be used as a target for the next and subsequent grasping operations. In other words, the removed object can be used without wasting it.

The target object is a container having a storage space 10A that accommodates the target object.
Thereby, the removed object can be returned to the accommodation space 10A and can be used as a gripping object from next time onwards. In other words, the removed object can be used without wasting it.

The control device 40 is
The direction in which the articulated robot 30 moves the gripping member 31a in the removal operation is determined based on the position of the gripping member 31a in the accommodation space 10A that accommodates the object.
This can prevent the gripping member 31a from colliding with the inner wall surface forming the accommodation space 10A during the removal operation.

The control device 40 is
The multi-joint robot 30 is caused to perform the removal operation while the multi-joint robot 30 is gripping the object with the gripping member 31a.
Thereby, it is possible to remove an object that cannot be accommodated in the gripping member 31a and protrudes from the tip of the gripping member 31a during gripping.

The articulated robot 30 further includes a sensor that measures the physical quantity of the object being gripped by the gripping member 31a,
The control device 40 is
Based on the physical quantity measured by the sensor after the articulated robot 30 executes the removal operation, it is determined whether the physical quantity of the object that the articulated robot 30 is grasping with the grasping member 31a is appropriate.
As a result, only the physical quantity (for example, weight) of the gripped object can be measured with high accuracy in a state where the attached object is removed, so that the physical quantity of the gripped object by the gripping member 31a can be measured with high accuracy. It is possible to accurately determine whether or not it is appropriate.

Note that the above-described embodiments and modified examples are examples of embodiments of the present invention, and various embodiments that realize the functions of the present invention are included within the scope of the present invention.
For example, in the above-described embodiments and modifications, the case where the present invention is applied to a grasping system for separating delicatessen items has been described as an example, but the present invention can be applied to systems for grasping various objects. . For example, the present invention can be applied to a system for gripping highly viscous or sticky materials such as mixed mortar, concrete, plaster, and clay. The present invention is suitable for gripping an object having a viscosity of medium viscosity or higher (5000 mPa·s) or higher at working temperature or room temperature.
Moreover, it is possible to implement the present invention by appropriately combining the examples described in the above-mentioned embodiments.
The series of processes described above can be executed by hardware or software.
In other words, the functional configuration in FIG. 6 is merely an example and is not particularly limited. That is, it is sufficient that the gripping system 1 is equipped with a function that can execute the series of processes described above as a whole, and what kind of functional blocks are used to realize this function is not particularly limited to the example shown in FIG. 6.
Further, one functional block may be configured by a single piece of hardware, a single piece of software, or a combination thereof.

When a series of processes is executed by software, a program constituting the software is installed on a computer or the like from a network or a recording medium.
The computer may be a computer built into dedicated hardware. Further, the computer may be a computer that can execute various functions by installing various programs, such as a general-purpose personal computer.

The storage medium that stores the program may be a removable medium that is distributed separately from the device itself, or a storage medium that is pre-installed in the device itself. The removable medium includes, for example, a magnetic disk, an optical disk, a magneto-optical disk, or a flash memory. Optical discs include, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), Blu-ray Discs (registered trademark), and the like. The magneto-optical disk is composed of an MD (Mini-Disk) or the like. The flash memory is configured by, for example, a USB (Universal Serial Bus) memory or an SD card. Furthermore, the storage medium pre-installed in the device main body is, for example, a ROM or hard disk in which programs are stored.

Note that in this specification, the step of writing a program to be recorded on a recording medium is not only a process that is performed chronologically in accordance with the order, but also a process that is not necessarily performed chronologically but in parallel or individually. It also includes the processing to be executed.
Furthermore, in this specification, the term system refers to an overall device composed of a plurality of devices, a plurality of means, and the like.

The above embodiment shows an example of applying the present invention, and does not limit the technical scope of the present invention. That is, the present invention can be modified in various ways, such as omissions and substitutions, without departing from the gist of the present invention, and various embodiments other than the above-described embodiments can be adopted. Various embodiments and modifications thereof that the present invention can take are included within the scope of the invention described in the claims and its equivalents.

1 Grasping system, 2 Belt conveyor, 10 Ingredients storage section, 10A Storage space, 20 Container supply section, 21, 30A Weight sensor, 30 Articulated robot, 31 Hand, 31a Gripping member, 32 Robot arm, 40 Control device, 50 Shielding unit, 151 Sensor information acquisition unit, 152 Ingredient state determination unit, 153 Ingredient amount determination unit, 154 Articulated robot control unit, 155 Container supply control unit, 156 Recording control unit, 171 Parameter storage unit, 172 History database ( history DB), 711 CPU, 712 ROM, 713 RAM, 714 bus, 715 input section, 716 output section, 717 storage section, 718 communication section, 719 drive, 731 removable media

Claims (9)

A gripping system comprising a robot that grips an object to be gripped with a gripping member, and a control device that controls the operation of the robot, the gripping system comprising:
The control device moves the gripping member with the object attached to the gripping member in contact with the target object, thereby causing the object attached to the gripping member to newly attach to the target object. causing the robot to perform a removal operation of removing the
The target object is not the target object attached to the gripping member, but is another target object accommodated in a storage space that accommodates the target object.
A gripping system characterized by : A gripping system comprising a robot that grips an object to be gripped with a gripping member, and a control device that controls the operation of the robot, the gripping system comprising:
The control device includes:
a transfer operation of gripping the object with the gripping member within a container having a storage space for accommodating the object, and transferring the gripped object to outside the container;
By moving the gripping member in a direction along the inner wall surface of the container while the object attached to the gripping member is in contact with the inner wall surface of the container, which is a target object, the object is attached to the gripping member. a removing operation in which the object is newly attached to the inner wall surface of the container and removed ;
A gripping system that causes the robot to perform the following. The control device includes:
causing the robot to perform the removal operation by moving the gripping member in a rotated posture from the posture when gripping the object;
The gripping system according to claim 2, characterized in that: The control device includes:
in the removal operation, causing the robot to move the gripping member in a direction parallel to a surface formed by the target object;
The gripping system according to any one of claims 1 to 3, characterized in that: The control device includes:
determining a direction in which the robot moves the gripping member in the removal operation based on the position of the gripping member in a storage space that accommodates the object;
The gripping system according to any one of claims 1 to 3, characterized in that: The control device includes:
causing the robot to perform the removing operation while the robot is gripping the object with the gripping member;
The gripping system according to any one of claims 1 to 3, characterized in that: The robot further includes a sensor that measures a physical quantity of the object held by the gripping member,
The control device includes:
determining whether a physical quantity of the object held by the robot with the gripping member is appropriate based on a physical quantity measured by the sensor after the robot executes the removal operation;
The gripping system according to any one of claims 1 to 3, characterized in that: A control device comprising a control means for controlling a robot that grips an object to be gripped by a gripping member,
The control means moves the gripping member in a state where the object attached to the gripping member is in contact with the target object, thereby causing the object attached to the gripping member to newly attach to the target object. causing the robot to perform a removal operation of removing the
The target object is not the target object attached to the gripping member, but is another target object accommodated in a storage space that accommodates the target object.
A control device characterized by : A control device comprising a control means for controlling a robot that grips an object to be gripped by a gripping member,
The control means includes:
a transfer operation of gripping the object with the gripping member within a container having a storage space for accommodating the object, and transferring the gripped object to outside the container;
By moving the gripping member in a direction along the inner wall surface of the container while the object attached to the gripping member is in contact with the inner wall surface of the container, which is a target object, the object is attached to the gripping member. a removing operation in which the object is newly attached to the inner wall surface of the container and removed ;
A control device that causes the robot to execute.

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