JPH0753054A - Automatic unloading device - Google Patents

Abstract

PURPOSE:To execute unloading work based on the actual condition of unloading articles, and thereby enhance a rate of operation by controlling an industrial robot based on the output of an image processing device which recognizes the condition of articles to be unloaded at the uppermost stage, and thereby outputs the number of stages for articles to be piled up at the uppermost stage and the like. CONSTITUTION:Based on a recognition for articles 3 at the uppermost stage out of unloading articles 2, the condition of articles 3 at the uppermost stage out of the unloading articles 2, the number of piled-up stages, and the loaded pattern and the quantities of unloading articles 2 are outputted from an image processing means 12 so as to inputted to a control means 6. If the input of the image processing means 12 based on the actual condition of the unloading articles 2 does not agree with an unloading work command from an overall control means 7, unloading works directed by the overall control means 7 are automatically corrected, and the unloading works is thereby directed to an industrial robot. Thus, even if there exists a difference between the unloading work command from the overall control means 7 and the actual condition of the articles 3, the unloading works is automatically corrected based on the actual condition of the unloading articles 2 to carry out unloading work.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic unloading device for unloading stacked unloading articles by an industrial robot.

[0002]

2. Description of the Related Art FIGS. 15 and 16 are views showing a conventional automatic unloading device, FIG. 15 is a conceptual overall configuration diagram, and FIG. 16 is a flow chart for explaining the operation of the device of FIG.
In the figure, (1) is a pallet, (2) is an unloading article formed by stacking a plurality of articles (3) on the pallet (1), and (4) is an unloading article provided facing the pallet (1). The industrial robot facing the article (2), (5) the handle of the industrial robot (4), (6) the controller of the industrial robot (4), (7) command the controller (6) to unload It is a centralized control device.

The conventional automatic unloading apparatus is configured as described above, and the article (3) type, article (3) stacking stage number, stacking article (3) number and article (3) )
The stowage pattern of is input to the control device (6). And the article input by the command from the integrated control device (7)
(3) The industrial robot (4) unloads the unloading article (2) based on the specifications, that is, the unloading article (2) data. That is, the industrial robot (4) is the topmost article of the unloading article (2).
Unload (3) with the handle (5), and then the articles on the lower tier in order.
Unload (3). Then, when the unloading work of the ordered number of articles (3) is completed, it waits for the next command.

The unloading work of this industrial robot (4) is shown in FIG.
This will be described with reference to the flowchart shown in FIG. However, the command of the integrated control device (7) and the control device (6) and the actual article (3)
It is assumed that there is no contradiction between the situations. That is, in step (101), necessary data of the unloading work is input from the integrated control device (7) to the control device (6) and the process proceeds to step (102) where the industrial robot (4) performs the unloading work instructed. .

[0005] Then, proceeding to step (103), it was attempted to grip the article (3) during the unloading operation of the industrial robot (4), but there is no article (3) at that position, or there is an article (3). The difference between the input data and the actual condition of the article (3) is determined by the fact that something that should be oriented vertically is oriented horizontally and cannot be grasped. If there is no difference between the input data and the actual condition of the article (3) in step (103), the process proceeds to step (104), and the unloading work by the industrial robot (4) is executed or continued. Then, at the step (105), the industrial robot (4) is completed by the completion of the unloading work of the ordered articles (3).
Work ends normally.

If there is a difference between the input data and the actual condition of the article (3) at the step (103), the step (10)
Proceed to 6) and it is judged that an error has occurred in the unloading method. Then, proceeding to step (107), the unloading work by the industrial robot (4) or the unloading work itself of the industrial robot (4) is stopped. Next, the process proceeds to step (108), and the correction work of the generated error is notified by hand, and the correction work of the difference between the data input by the worker and the actual condition of the article (3) is performed.

[0007]

In the conventional automatic unloading apparatus as described above, the automatic unloading apparatus and the automatic unloading apparatus are related due to a slight difference between the input data and the actual condition of the article (3). There is a problem in that the operation rate of the automatic unloading apparatus as well as the operation rate of the related apparatus as a whole is lowered because the whole apparatus must be stopped. Further, when handling a relatively small number of articles (3), an operator appropriately stacks the articles (3) on a pallet, and these articles (3) are handled by an industrial robot.
Although it may be possible to grip and convey by (4), there is a problem that it cannot be automated because it is difficult to accurately manage the stowage situation at this time.

The present invention has been made in order to solve such a problem, and an object thereof is to obtain an automatic unloading device for deciding the actual condition of the unloading article and unloading the work.

[0009]

In the automatic unloading apparatus according to the invention of claim 1 of the present invention, an industrial robot provided opposite to the stacked unloading articles and an upper position of the unloading articles. An imaging device that is installed in the camera to shoot the unloading article from above, and an image for each type of unloading article that corresponds to the number of stacking stages of the unloading article is registered, and the top image and the unloading article of the unloading article by the imaging device are registered. By comparing with the corresponding images for each type, the top-tier status of the unloading article is recognized and the top-tier article of the unloading article, the number of stacking steps up to the top tier, the loading pattern of the unloading article, and the number of unloading articles. An image processing device for outputting and a control device for controlling the industrial robot by the output of the image processing device are provided.

In the automatic unloading apparatus according to the second aspect of the present invention, the industrial robot provided facing the stacked unloading articles and the unloading provided at the handle of the industrial robot. A distance detector that detects the position of the top surface of the article in the height direction, and the output of this distance detector determines the top stage status of the unloading article from the position in the height direction of all the articles on the top surface of the unloading article. And a processing device for outputting the uppermost article of the unloading article, the number of stacking steps up to the uppermost tier, the loading pattern of the unloading article, and the number of unloading articles, and a control apparatus for controlling the industrial robot by the output of this processing apparatus And are provided.

In the automatic unloading apparatus according to the third aspect of the present invention, the industrial robot is provided facing the stacked unloading articles, and the industrial robot is provided above the unloading articles. An image capturing device that captures an image of the unloading item from above, a distance detector that is provided on the handle of the industrial robot to detect the position in the height direction of the top surface of the unloading item, and a top image of the unloading item by the image capturing device. An image processing device for recognizing, and the output of this image processing device determines the approximate height of the top surface article of the unloading article, and the industrial robot grips and conveys the top surface article of the unloading article, respectively, and grasps by the distance detector. Detects the position in the height direction of the article, and recognizes the top stage status of the unloading article by detecting the position in the height direction of the gripped article, and the top tier article of the unloading article, the number of stacking steps to the top tier, and the unloading article A processor for outputting the number of stowage pattern and unloading goods, the control device and is provided for controlling the industrial robot by the output of the processing unit.

[0012]

In the invention according to claim 1 of the present invention configured as described above, the actual condition of the article to be unloaded is determined through the image processing device, and based on the determination, the industrial robot unloads the article. Is ordered.

Further, in the invention according to claim 2 of the present invention configured as described above, the actual condition of the article to be unloaded is determined through the distance detector, and the industrial robot is unloaded based on the determination. Work is ordered.

Further, in the invention according to claim 3 of the present invention configured as described above, the upper surface articles of the unloading articles are respectively grasped and conveyed, and the position of the grasped articles in the height direction is detected by the distance detector. The actual condition of the article to be unloaded is determined through this, and the industrial robot is instructed to unload the article based on the determination.

[0015]

【Example】

Example 1. 1 to 4 are views showing an embodiment of the present invention, FIG. 1 is a conceptual overall configuration diagram, FIG. 2 is a flow chart for explaining the operation of the apparatus of FIG. 1, and FIG. 3 is a step of the flow chart of FIG. FIG. 4 is a view showing the article recognition image at (201), and FIG. 4 is a view showing the article recognition image at step (202) of the flowchart of FIG. In the figure, (1) is a pallet, (2) is an unloading article formed by stacking a plurality of articles (3) on the pallet (1), and (4) is an unloading article provided facing the pallet (1). An industrial robot facing the article (2), (5) a grip of the industrial robot (4), (6) a control device of the industrial robot (4), and (7) a control device (6) for unloading work. It is a centralized control device.

[0016] (8) is attached to the pedestal (9) and is an unloading article (2)
An imaging device that is installed at a position above the camera to shoot the unloading article (2) from above, and (10) is an unloading article that is attached to the gantry (9).
Lighting device for illuminating (2), (11) is the handle of the industrial robot (4)
A distance detector attached to (5), and (12) is an image processing device connected to the control device (6), the photographing device (8) and the distance detector (11).

In the automatic unloading apparatus configured as described above, the article (3) is stored as article data from the integrated control apparatus (7).
Type, article (3) stacking stage number, stacking article (3) number and article
The stowage pattern of (3) is input to the control device (6). And the article input by the command from the integrated control device (7)
(3) The industrial robot (4) unloads the unloading article (2) based on the specifications. That is, the industrial robot (4) unloads the uppermost article (3) of the unloading article (2) with the handle (5), and unloads the article (3) in the lower row in sequence. Then, when the unloading work of the ordered number of articles (3) is completed, it waits for the next command.

The unloading work of this industrial robot (4) is shown in FIG.
It will be described with reference to the flowchart shown in FIG. That is, the data required for unloading work from the integrated control unit (7) is the control unit.
(6), the top image of the unloading article (2) by the imaging device (8) in step (201) is input to the image processing device (12) and the topmost article of the unloading article (2) ( 3) is recognized as shown in FIG. Then, proceed to step (202), from the image for each type of unloading article (2) corresponding to the number of stacking steps of the registered unloading article (2), on the recognized image of the article (3) to be unloading. Calculate the dimensions and the top item (3) and the bottom item (3)
Is separated as shown in FIG.

Next, the process proceeds to step (203), where the article (3) at the uppermost stage is recognized, and the article (2) to be unloaded from the image processing device (12).
The status of the uppermost article (3), the number of stacking steps up to the uppermost step, the stacking pattern of the unloading articles (2), and the number of unloading articles (2) are output and input to the control device (6). Then, the process proceeds to step (204) and the image processing device (12) in the control device (6).
If the input from and the unloading work command from the integrated control device (7) do not match, the process proceeds to step (205). Further, if the input from the image processing device (12) in the control device (6) and the unloading work command from the integrated control device (7) match, the industrial robot (4) will be sent from the integrated control device (7). Perform the designated unloading work.

In step (205), the controller
Based on the input from the image processing device (12) in (6),
The unloading work instructed by the integrated control device (7) is corrected and the industrial robot (4) is instructed to unload the work. Thus, by recognizing the topmost article (3) in the unloading article (2), the topmost article of the unloading article (2) from the image processing device (12).
The situation of (3), the number of stacking steps up to the uppermost stage, the stacking pattern of the unloading articles (2), and the number of unloading articles (2) are output and input to the control device (6). And the image processing device (12)
If the input of the unloading article (2) from the actual condition and the unloading work command from the integrated control unit (7) do not match, the unloading work ordered from the integrated control unit (7) is automatically corrected. Then, the industrial robot (4) is instructed to unload the work.

As described above, even if there is a difference between the unloading work command from the integrated control device (7) and the actual condition of the article (3), unloading is performed based on the actual state of the unloading article (2). The work is automatically corrected and the work of unloading is performed. Therefore,
Even if there is a difference between the unloading work command from the integrated control device (7) and the actual condition of the article (3), it is not necessary to stop the automatic unloading device and the entire device related to the automatic unloading device. It is possible to improve the operation rate of the unloading apparatus and the operation rate of the entire related apparatus. The embodiments of FIGS. 1 to 4 can easily obtain the required action when the article (3) has a relatively high height.

Further, the photographing device (8) is mounted on the pedestal (9) and is provided above the unloading article (2) to photograph the unloading article (2) from above, as well as an industrial robot. It is obvious that the same effect can be obtained even in the system including the hand camera attached to the handle (5) of (4). Further, when handling a relatively small number of articles (3), a worker appropriately stacks the articles (3) on a pallet and grasps and conveys these articles (3) by an industrial robot (4). Even in the method of performing, the image processing device (12) automatically recognizes the actual condition of the topmost article (3) of the unloading article (2) by recognizing the topmost article (3) of the unloading article (2). Is entered. Therefore, it is possible to easily automate the unloading work even when handling a relatively small number of articles (3).

Example 2. 5 to 8 are views showing another embodiment of the present invention. FIG. 5 is a flow chart for explaining the operation of the apparatus, and FIG. 6 is a step (30) of the flow chart of FIG.
An elevation view explaining the operation status of the industrial robot in 1),
FIG. 7 is an elevational view for explaining the operating condition of the industrial robot in step (302) and step (303) of the flowchart of FIG. 5, and FIG. 8 is step (302) of the flowchart of FIG.
And (a) is a plan view for explaining the detection situation of each article by the operation of the industrial robot in step (303).
(b) is an elevation view. Further, the automatic unloading device is configured similarly to the above-mentioned FIG.

In the automatic unloading device configured as described above, the article (3) is stored as article data from the integrated control apparatus (7).
Type, article (3) stacking stage number, stacking article (3) number and article
The stowage pattern of (3) is input to the control device (6). And the article input by the command from the integrated control device (7)
(3) The industrial robot (4) unloads the unloading article (2) based on the specifications. That is, the industrial robot (4) unloads the uppermost article (3) of the unloading article (2) with the handle (5), and unloads the article (3) in the lower row in sequence. Then, when the unloading work of the ordered number of articles (3) is completed, it waits for the next command.

The unloading work of this industrial robot (4) is shown in FIG.
It will be described with reference to the flowchart shown in FIG. That is, the data required for unloading work from the integrated control unit (7) is the control unit.
(6), the industrial robot (4) is operated on the article (3) at the arbitrary position on the upper surface of the unloading article (2) in step (301), and the distance detector (11) causes the industrial robot (4) to move as shown in FIG. The height of the target article (3) is measured as shown in. Then, proceeding to step (302), assuming that there is another article (3) on the upper stage of the article (3) whose height is measured, the industrial robot (4) is operated as shown in FIG. Increase (5). Then step (30
Proceed to 3) and measure the height of all articles (3) that make up the top surface of the article (2) to be unloaded by the distance detector (11) according to the procedure shown in FIGS. 8 (a) and 8 (b). To do.

Then, the image processing apparatus (12) operates as a processing apparatus, and the process proceeds to step (304), where the unloading is performed from the height of all articles (3) constituting the upper surface of the unloading article (2). Articles (2)
The status of the uppermost article (3), the number of stacking steps up to the uppermost step, the stacking pattern of the unloading articles (2), and the number of unloading articles (2) are output and input to the control device (6). Then, proceed to step (305), the input from the height of the article (3) on the top of the article (2) of the unloading article in the control device (6) and the unloading work command from the overall control apparatus (7) must match. If so, proceed to step (306). Further, in step (305), the input from the height of the article (3) on the top of the article (2) of the unloading article in the control device (6) and the unloading work command from the overall control device (7) match. Then, the industrial robot (4) performs the unloading work instructed by the integrated control device (7).

Further, in step (306), the controller
Based on the input from the height of the unloading article (2) top surface article (3) in (6), the unloading work instructed by the central control unit (7) is corrected and the industrial robot (4) is unloaded. Work is ordered. Thus, by detecting the height of the article (3) on the upper surface of the unloading article (2), the topmost article of the unloading article (2)
The situation of (3), the number of stacking steps up to the uppermost stage, the stacking pattern of the unloading articles (2), and the number of unloading articles (2) are output and input to the control device (6). Then, if the actual input of the unloading article (2) by detecting the height of the article (3) on the upper surface of the unloading article (2) does not match the unloading work command from the integrated control device (7). The unloading work instructed by the integrated control device (7) is automatically corrected and the unloading work is instructed to the industrial robot (4).

As described above, even when there is a difference between the unloading work command from the integrated control device (7) and the actual condition of the article (3), unloading is performed based on the actual state of the unloading article (2). The work is automatically corrected and the work of unloading is performed. Therefore,
Although detailed description is omitted, it is clear that the same effects as those of the embodiments of FIGS. 1 to 4 can be obtained in the embodiments of FIGS. The heights of all articles (3) constituting the upper surface of the unloading article (2) are measured and processed by the distance detector (11) according to the procedure shown in FIGS. 8 (a) and (b). The same operation can be obtained even if the device used for this purpose is a device with an A / D conversion device such as a sequencer in addition to the image processing device (12).

Further, in step (305), input from the height of the article (3) on the top surface of the article (2) to be unloaded in the control device (6),
It is verified whether the unloading work command from the integrated control device (7) is in agreement. At this time, it is verified whether or not the article (3) is missing only in the top row of the unloading article (2). It is necessary that the articles (3) are not chipped and the articles (3) are arranged in a spread state to form a predetermined flat surface. However, if it is previously input to the control device (6) that the stacking step in which the articles (3) are missing exists from the uppermost step of the unloading article (2), the steps shown in FIGS. Automatic unloading can be easily performed by applying the embodiment.

Example 3. 9 to 12 are also views showing another embodiment of the present invention, FIG. 9 is a flow chart for explaining the operation of the apparatus, and FIG. 10 is a step of the flow chart of FIG.
FIG. 11 is a view showing an article recognition image in (401), FIG. 11 is an elevation view for explaining the distance detection operation state of the industrial robot in step (403) of the flowchart of FIG. 9, and FIG. 12 is step (403) of the flowchart of FIG. 3 is an elevational view for explaining a grasping operation situation of the industrial robot in FIG. Further, the automatic unloading device is configured similarly to the above-mentioned FIG.

In the automatic unloading apparatus configured as described above, the article (3) is stored as article data from the integrated control apparatus (7).
Type, article (3) stacking stage number, stacking article (3) number and article
The stowage pattern of (3) is input to the control device (6). And the article input by the command from the integrated control device (7)
(3) The industrial robot (4) unloads the unloading article (2) based on the specifications. That is, the industrial robot (4) unloads the uppermost article (3) of the unloading article (2) with the handle (5), and unloads the article (3) in the lower row in sequence. Then, when the unloading work of the ordered number of articles (3) is completed, it waits for the next command.

The unloading work of this industrial robot (4) is shown in FIG.
It will be described with reference to the flowchart shown in FIG. That is, the data required for unloading work from the integrated control unit (7) is the control unit.
(6) is input, in step (401) the article (3) on the top of the unloading article (2) is imaged by the imager (8)
It is recognized by (12) as shown in FIG. Then, proceeding to step (402), the dimensions of the article (3) on the recognized image are calculated from the registered type-by-type images of the article (3) to be unloaded, and the stacking of the unloading article (2) is roughly performed. Calculate the number of steps.

Then, the process proceeds to step (403), and the height is measured for each article (3) by the distance detecting device (11) as shown in FIG. 11 as shown in FIG. 4, and based on the result, FIG.
As shown in 2, the articles (3) are unloaded regardless of whether they are stacked at the top or bottom. Then, the process proceeds to step (404), and when the unloading of the article (3) on the first stacking stage of the unloading article (2) is completed, the height of the article (3) is measured by the distance detection device (11) to unload the article. The number of stacking steps of (2), the loading pattern of the unloading articles (2) and the number of unloading articles (2) are output and the control device (6)
Entered in. Then, proceed to step (405)
In (6), if the detection output from the unloading article (2) and the unloading work command from the integrated control device (7) do not match, the process proceeds to step (406).

In step (405), if the detection output from the unloading article (2) in the control device (6) and the unloading work command from the overall control device (7) match, the industrial robot (4 ) Performs the unloading work instructed by the integrated control device (7). Further, in step (406), the control device (6)
On the basis of the detection output from the unloading article (2), the unloading work instructed by the overall control device (7) is corrected and the unloading work is instructed to the industrial robot (4). In this way, the unloading article (2) is detected by the detection output from the unloading article (2).
The number of stacking steps, the stacking pattern of the unloading articles (2), and the number of unloading articles (2) are output and input to the control device (6).

If the actual input of the unloading article (2) based on the detection output from the unloading article (2) and the unloading work command from the overall control device (7) do not match, the overall control is automatically performed. The unloading work instructed by the device (7) is corrected and the unloading work is instructed to the industrial robot (4). Thus, even if there is a difference between the unloading work command from the integrated control device (7) and the actual condition of the article (3), the unloading operation is automatically performed based on the actual state of the unloading article (2). Is corrected and the unloading work is performed. Therefore, although detailed description is omitted, FIG.
It is apparent that the embodiment shown in FIG. 12 can obtain the same operation as that of the embodiment shown in FIGS.

In step (405), it is verified whether the input by the detection output from the unloading article (2) in the control device (6) and the unloading work command from the overall control device (7) match. To be done. At this time, it is verified whether or not the article (3) is missing only in the uppermost stage of the unloading article (2). It is necessary that the articles (3) are not chipped and the articles (3) are arranged in a spread state to form a predetermined plane.

The loading pattern of the unloading article (2) is recognized only for the uppermost stage of the unloading article (2).
When the unloading of the article (3) in the first stacking stage (2) is completed, the loading pattern of the unloading article (2) is recognized. Further, the loading pattern recognition of the unloading article (2) is used for the unloading work of the unloading article (2) from the second stage onward. The embodiments of FIGS. 9 to 12 can easily obtain a desired action even when the article (3) has a relatively short height.

FIG. 13 is a flow chart for explaining an application example of the present invention. Industrial robot according to this application example
The unloading work of (4) will be described with reference to the flowchart shown in FIG. That is, in step (501), the integrated control device
The required data of the unloading work is input to the control device (6) from (7) and the process proceeds to step (502) where the industrial robot (4) performs the unloading work instructed.

Then, the process proceeds to step (503), where an attempt is made to grip the article (3) during the unloading operation of the industrial robot (4), but there is no article (3) at that position, or there is an article (3). It is determined whether all the input data are correct due to the fact that something that should be oriented vertically is oriented horizontally and cannot be held. If the input data is correct in step (503), the process proceeds to step (504), and the unloading work by the industrial robot (4) is executed or continued. Then, when the unloading work of the ordered number of articles (3) is completed, step (508)
Then the work of the industrial robot (4) ends normally.

If the input data is not correct in step (503), the process proceeds to step (505) and the process according to any of the embodiments of the present invention is performed. Then, in the case of the embodiment of FIGS. 1 to 4 and the embodiment of FIGS. 5 to 8, the process proceeds to step (504). Further, in the case of the embodiments of FIGS. 9 to 12, the processing from step (501) is performed again. Further, when it is found that the data itself input in step (505) is different, the process proceeds to step (506) and is processed as an error occurrence, and the process proceeds to step (507) to input correct data again, or correct The article (3) is replaced and the processing from step (501) is performed again.

As described above, only when it is determined that the data themselves input in step (505) are different, it is processed as an error occurrence. Therefore, even when there is a difference between the data entered in other cases and the actual condition of the unloading goods (2), the unloading work is automatically performed based on the actual condition of the unloading goods (2). Will be corrected to unloading work. Therefore, it is not necessary to stop the automatic unloading device and the entire device related to the automatic unloading device, and even when there is a difference between the unloading work command from the integrated control device (7) and the actual condition of the article (3). It is possible to improve the operation rate of the automatic unloading apparatus and the operation rate of the related apparatus as a whole.

FIG. 14 is a flow chart for explaining another application example of the present invention. The unloading work of the industrial robot (4) according to this application example will be described with reference to the flowchart shown in FIG. Note that this application example is a work process when the data of the unloading article (2) is not known before the unloading work. That is, in step (601), only the article (3) type is input to the control device (6) as the required data for the unloading work from the overall control device (7), and the process proceeds to step (602). Processing by either is performed. by this,
Work to detect the number of stacking stages, the number of products to be stacked, and the pattern of products to be unloaded (2).

Then, in the case of the embodiments of FIGS. 9 to 12, the processing from step (601) is performed again. In addition,
Steps for the embodiment of FIG. 4 and the embodiments of FIGS.
Proceed to (603), the industrial robot (4) performs the instructed unloading work, and proceed to step (606). When the unloading work of the stacked article (3) one step of the unloading article (2) is completed ( 60
Return to 1). If it is found that the data itself input in step (602) is different, step (60
Proceed to step 4) and it is processed as an error occurrence, and step (605)
Proceed to and the correct data is input again, or the correct article (3) is replaced and the processing from step (601) is performed again.

As described above, even when the data of the unloading article (2) is not known before the unloading work, the step (6
The unloading work is automatically performed based on the actual condition of the unloading article (2), except that it is processed as an error occurrence only when it is found that the data itself input in 02) is different. Therefore, it is possible to improve the operation rate of the automatic unloading apparatus and the operation rate of the entire related apparatus.

[0045]

As described above, the invention according to claim 1 of the present invention provides the industrial robot provided to face the stacked unloading articles and the unloading article provided above the unloading articles. An image capturing device that captures an image of an article from above, an image for each type of unloading item that corresponds to the number of stacking stages of the unloading item is registered, and an upper surface image of the unloading item by the image capturing device and an image for each type that corresponds to the unloading item And an image processing device for recognizing the topmost situation of the unloading article and outputting the topmost article of the unloading article, the number of stacking steps up to the top tier, the loading pattern of the unloading article, and the number of the unloading article. , And a control device for controlling the industrial robot by the output of the image processing device.

As a result, the actual condition of the article to be unloaded is determined via the image processing apparatus, and the industrial robot is instructed to unload the article based on the determination. Then, even if there is a difference between the unloading work command from the integrated control device and the actual condition of the article, the unloading operation is automatically corrected based on the actual state of the unloading article, and the unloading operation is performed. . Therefore, when there is a difference between the unloading work command and the actual condition of the article, there is no need to stop the automatic unloading device, and there is an effect of improving the operating rate of the automatic unloading device.

In addition, as described above, the invention according to claim 2 of the present invention comprises an industrial robot provided to face the stacked unloading articles, and an unloading article provided to the handle of the industrial robot. A distance detector that detects the height direction position of the article on the upper surface, and determine the top stage situation of the unloaded article from the height direction position of all the articles on the upper surface of the unloaded article by the output of this distance detector, A processing device that outputs the topmost article of the unloading article, the number of stacking steps up to the topmost tier, the loading pattern of the unloading article, and the number of unloading articles, and a control device that controls the operation of the industrial robot by the output of this processing apparatus And are provided.

As a result, the actual condition of the article to be unloaded is determined through the distance detector, and the industrial robot is instructed to unload the article based on the determination. Then, even if there is a difference between the unloading work command from the integrated control device and the actual condition of the article, the unloading operation is automatically corrected based on the actual state of the unloading article, and the unloading operation is performed. . Therefore, when there is a difference between the unloading work command and the actual condition of the article, there is no need to stop the automatic unloading device, and there is an effect of improving the operating rate of the automatic unloading device.

Further, as described above, the invention according to claim 3 of the present invention is such that the industrial robot provided facing the stacked unloading articles and the unloading provided at the position above the unloading articles. An image capturing device that captures an image of an article from above, a distance detector that is provided on the handle of an industrial robot to detect the position in the height direction of the top surface of the unloading item, and an image of the top surface of the unloading item that is recognized by the image capturing device The image processing device and the output of this image processing device determine the approximate height of the top surface article of the unloading article, and the industrial robot grips and conveys the top surface article of the unloading article, respectively, and the distance detector detects the gripped article. Detecting the position in the height direction, recognizing the uppermost stage situation of the unloading article by detecting the position in the height direction of the gripped article, the uppermost tier of the unloading article, the number of stacking steps to the uppermost tier,
It is provided with a processing device that outputs a loading pattern of unloading articles and the number of unloading articles, and a control device that controls an industrial robot by the output of the processing apparatus.

As a result, the actual condition of the unloading article is determined by grasping and transporting the upper surface article of the unloading article and detecting the height direction position of the grasped article by the distance detector. Based on this, the industrial robot is instructed to unload the goods. Then, even if there is a difference between the unloading work command from the integrated control device and the actual condition of the article, the unloading operation is automatically corrected based on the actual state of the unloading article, and the unloading operation is performed. . Therefore, when there is a difference between the unloading work command and the actual condition of the article, there is no need to stop the automatic unloading device, and there is an effect of improving the operating rate of the automatic unloading device.

[Brief description of drawings]

FIG. 1 is a conceptual overall configuration diagram showing a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating the operation of the apparatus shown in FIG.

FIG. 3 is a diagram showing an article recognition image in step (201) of the flowchart of FIG.

4 is a diagram showing an article recognition image in step (202) of the flowchart of FIG.

FIG. 5 is a flowchart explaining the operation of the apparatus according to the second embodiment of the present invention.

FIG. 6 is an elevational view for explaining the operating condition of the industrial robot in step (301) of the flowchart in FIG.

FIG. 7 is an elevational view for explaining the operation status of the industrial robot in step (302) and step (303) of the flowchart of FIG.

8A and 8B are diagrams for explaining the detection state of each article by the operation of the industrial robot in steps (302) and (303) of the flowchart of FIG. 5, (a) is a plan view, and (b) is an elevation view.

FIG. 9 is a flowchart illustrating the operation of the device according to the third embodiment of the present invention.

10 is a diagram showing an article recognition image in step (401) of the flowchart in FIG.

11 is an elevation view for explaining the distance detection operation status of the industrial robot in step (403) of the flowchart in FIG.

12 is an elevational view for explaining a grasping operation situation of the industrial robot in step (403) of the flowchart of FIG.

FIG. 13 is a flowchart illustrating an application example of the present invention.

FIG. 14 is a flowchart illustrating another application example of the present invention.

FIG. 15 is a conceptual overall configuration diagram showing a conventional automatic unloading device.

16 is a flowchart explaining the operation of the apparatus of FIG.

[Explanation of symbols]

 2 Unloaded goods 3 Goods 4 Industrial robot 5 Handle 6 Control device 8 Imaging device 11 Distance detector 12 Image processing device, processing device

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[Procedure amendment]

[Submission date] October 15, 1993

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Correction target item name] Figure 8

[Correction method] Change

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[Figure 8]

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 11

[Correction method] Change

[Correction content]

FIG. 11

[Procedure 3]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 12

[Correction method] Change

[Correction content]

[Fig. 12]

Claims (3)

[Claims] 1. An industrial robot provided so as to face the stacked unloading articles, a photographing device provided above the unloading articles and photographing the unloading articles from above, and the unloading articles. An image for each type of the unloading article corresponding to the number of stacking stages is registered and the top surface image of the unloading article by the imaging device is compared with the image for each type corresponding to the unloading article, and the unloading is performed. An image processing device that recognizes the topmost stage situation of the article and outputs the topmost article of the unloading article, the number of stacking steps to the topmost stage, the loading pattern of the unloading article, and the number of the unloading article, and this image An automatic unloading device, comprising: a control device for controlling the industrial robot according to an output of a processing device. 2. An industrial robot provided so as to face the stacked unloading articles, and a distance detector provided on a handle of the industrial robot for detecting the position in the height direction of the articles on the upper surface of the unloading articles. And, determining the uppermost stage situation of the unloading article from the height direction position of all articles on the upper surface of the unloading article by the output of this distance detector, the uppermost article of the unloading article, the uppermost tier An automatic unloading apparatus comprising: a processing device that outputs the number of stacking stages up to the above, the loading pattern of the unloading articles, and the number of the unloading articles; and a control device that controls the industrial robot by the output of the processing apparatus. 3. An industrial robot provided to face the stacked unloading articles, a photographing device provided above the unloading articles to photograph the unloading articles from above, and the industrial robot A distance detector provided on the handle for detecting the position in the height direction of the article on the upper surface of the unloading article, an image processing apparatus for recognizing an upper surface image of the unloading article by the imaging device, and an image processing apparatus of the image processing apparatus. The approximate height of the top surface article of the unloading article is determined by the output, and the top surface article of the unloading article is gripped and conveyed by the industrial robot, and the position in the height direction of the gripped article is determined by the distance detector. Detecting, recognizing the uppermost state of the unloading article by detecting the position in the height direction of the gripped article, recognizing the uppermost tier state of the unloading article, the number of stacking steps up to the uppermost tier, the unloading article An automatic unloading device comprising: a processing device that outputs the stowage pattern and the number of the unloading articles; and a control device that controls the industrial robot by the output of the processing device.