KR20190011855A - Static work distribution device, system and method using the same - Google Patents

Abstract

The present invention relates to a static work distribution device, a system and method using the same for improving efficiency of operating a robot and reducing an operating cost in an environment of a process production line, in which a plurality of robots works for goods transferred through a conveyor. According to the present invention, the static work distribution device includes: an image sensor photographing a plurality of workpieces moving on the conveyor; and a main controller extracting location information of the plurality of workpieces through an image photographed from the image sensor and distributing work to the plurality of robots through location information.

Description

[0001] Static work distribution device, system and method [0002]

The present invention relates to a work distribution system for robot operation, and more particularly, to a work distribution system for robot operation, in which a plurality of robots work on an article transported through a conveyor to increase the efficiency of robot operation, Distributing device, system and method.

Currently, a conveyor is actively used as a roller type or a belt type for continuously moving a plurality of articles.

Conventionally, as a method for distributing the work of the articles moving through the conveyor, there has been studied from the viewpoint of reducing the defect rate while increasing the throughput according to the number and position of the workers.

However, with the introduction of industrial automation systems, robots are being used with conveyors for sorting or transporting goods faster with the conveyor. Accordingly, a system for effectively operating a plurality of robots is needed.

In recent years, in order to effectively operate a plurality of robots, a method has been proposed in which a sensor is installed for each robot to prevent collision and to perform work on a robot in an object within the radius of the sensor.

However, when a sensor is installed for each robot, high installation cost, maintenance and management becomes difficult.

In addition, when a workpiece is poured into one robot, the life of the robot is shortened due to overloading of the robot and frequent replacement of consumables.

Korean Patent No. 10-1683087 (November 30, 2016)

SUMMARY OF THE INVENTION It is, therefore, an object of the present invention to provide a static work distribution apparatus, system, and method for increasing the efficiency of robot operation and reducing operating costs in a process production line environment in which a plurality of robots work the workpiece being transported through a conveyor .

The static work distribution apparatus according to the present invention includes an image sensor for photographing a plurality of work objects moving through a conveyor, a control unit for extracting position information of the plurality of work objects through an image picked up from the image sensor, And a main controller for calculating a work time for each of the plurality of work objects by the plurality of robots disposed around the conveyor and distributing the work object having the calculated work time less than a predetermined time to the robot.

In the static work distribution apparatus according to the present invention, the main controller measures the distance between each predetermined point of each of the plurality of robots and each of the plurality of work objects when the plurality of robots are respectively at the zero point position, Calculates a working time for each of the plurality of work objects of each of the plurality of robots based on a distance between the plurality of robots and a moving speed of each of the plurality of robots, .

In the static work distribution apparatus according to the present invention, the main controller may include a vertical distance between a preset point of each of the plurality of robots and one end of the conveyor adjacent to the robot, and a vertical distance between the plurality of work objects and the conveyor And the distance between each of the plurality of robots and each of the work objects is measured through a vertical distance between one end of the robot and the other end.

In the static work distribution apparatus according to the present invention, the plurality of robots pick up the plurality of work objects on an auxiliary conveyor provided in the vicinity of the conveyor.

In the static work distribution apparatus according to the present invention, the main controller controls the distance between the first workpiece and the second workpiece, which are continuously supplied to the first robot and the first robot, And determining whether the job can be performed in consideration of the working time.

In the static work distribution apparatus according to the present invention, the main controller may further include: a time when the first robot is positioned at the zero point after picking up the first workpiece to the auxiliary conveyor at the zero point position, And estimating a position of the second workpiece when the first robot picks up the second workpiece through a time required for reaching the second workpiece.

In the static work distribution apparatus according to the present invention, when it is determined that the work can not be performed by the first robot, the main controller allocates the second work object to the robot having the smallest work time among the robots capable of work .

In the static work distribution apparatus according to the present invention, the main controller cumulatively stores the distribution amounts of the work objects allocated to the plurality of robots, inputs the distribution ratios for the plurality of work objects of the plurality of robots, And controls the robot to work on a plurality of work objects at a distribution ratio inputted by the robot.

A static work distribution system according to the present invention includes a conveyor for conveying a plurality of workpieces, an image sensor for photographing the plurality of workpieces to be moved by the conveyor, a conveyor for conveying the plurality of workpieces, A plurality of robots that perform work and position information of the plurality of work objects through an image photographed by the image sensor, and each of the plurality of robots operates each of the plurality of work objects through the extracted position information And a main controller for calculating the working time and distributing the workpiece having the calculated working time equal to or less than a preset time to the robot.

A static work distribution method according to the present invention includes the steps of: a main controller receiving an image of a plurality of work objects moved by a conveyor from an image sensor, and extracting position information of the plurality of work objects through the received image; Wherein the main controller extracts position information of the plurality of work objects from the image captured by the image sensor and calculates a work time for each of the plurality of workpieces by the plurality of robots through the extracted position information And distributing the workpiece having the calculated work time equal to or less than a preset time to the robot.

The static work distribution apparatus according to the present invention calculates the work time for each of the plurality of work objects by a plurality of robots disposed around the conveyor using the position information extracted through the image, By distributing the object to be worked which is less than the time to the robot, it is possible to maximize the workload in operating a plurality of robots.

1 is a diagram illustrating a static work distribution system in accordance with an embodiment of the present invention.
2 is an exemplary diagram illustrating a static workload distribution system in accordance with an embodiment of the present invention.
3 is a block diagram showing the configuration of a main controller according to an embodiment of the present invention.
FIGS. 4 to 8 are views for explaining how the main controller distributes work evenly according to an embodiment of the present invention.
FIG. 9 is a view for explaining contents in which a main controller assigns and allocates a work area according to an embodiment of the present invention.
FIG. 10 is a diagram for explaining contents of a distribution rate of a plurality of robots to be controlled by a main controller according to an embodiment of the present invention.
FIGS. 11 and 12 are diagrams for explaining contents distributed by the main controller according to an embodiment of the present invention in consideration of each operation time.
13 to 15 are views illustrating an example in which the main controller according to the embodiment of the present invention distributes each operation time considering the operation time.
16 is a flowchart illustrating a static work distribution method according to an embodiment of the present invention.

In the following description, only parts necessary for understanding the embodiments of the present invention will be described, and the description of other parts will be omitted so as not to obscure the gist of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the terms in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention, so that various equivalents And variations are possible.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a diagram illustrating a static work distribution system according to an embodiment of the present invention, and FIG. 2 is an exemplary view illustrating a static work distribution system according to an embodiment of the present invention.

1 and 2, a static work distribution system 100 in accordance with an embodiment of the present invention includes a conveyor 10, a plurality of robots 30, and a work dispense device 50. As shown in FIG.

The conveyor 10 serves to convey the workpiece in one direction. For example, the conveyor 10 may be a roller type or a belt type. The conveyor 10 may have a constant width perpendicular to the traveling direction. The conveyor 10 can move the workpiece in a state where the workpiece is placed on the upper surface to automate at least one of processes such as production, movement, packaging, and loading. At this time, the workpiece may be irregularly arranged on the upper portion of the conveyor 10. [

A plurality of robots (30) are placed on the conveyor (10) and perform work on a plurality of moving objects to be moved. For example, a plurality of robots 30 can perform a role of picking up a workpiece. The plurality of robots 30 may be positioned behind the image sensor 20 based on the traveling direction of the conveyor 10. [ The plurality of robots 30 may be arranged on the upper side of the conveyor 10 or on the side of the conveyor 10 to pick up the workpiece. Each of the plurality of robots 30 may include a pickup unit for picking up a workpiece and a drive arm having at least one joint for moving the pickup unit. Here, the pickup unit may be a suction unit that picks up a workpiece by sucking the workpiece through hydraulic or pneumatic pressure, or may be implemented as a grip unit having a plurality of fingers. The drive arm can move the pick-up portion outward on the conveyor 10, and can take a plurality of joints for efficient forward movement of the pick-up portion in consideration of the load of the picked up workpiece. The plurality of robots 30 can perform a role of picking up a plurality of work objects moving through the conveyor 10 by the auxiliary conveyor 11. [ At this time, the plurality of robots 30 can work a plurality of work objects moving through the conveyor 10 at different speeds.

The work distribution device 50 includes an image sensor 20 and a main controller 40. [

The image sensor 20 can be installed on the upper part of the conveyor 10 and can acquire an image of the entrance of the conveyor 10. This image sensor 20 can be a camera and can be configured to acquire a plurality of images related to a workpiece. The image sensor 20 may be a single camera, but is not limited thereto. The image sensor 20 may be composed of a plurality of cameras and may combine images of the cameras to generate an image.

The main controller 40 acquires images photographed from the image sensor 20, extracts position information of a plurality of work objects, and distributes the work to a plurality of robots 30 through position information.

Here, the main controller 40 can distribute work to a plurality of robots 30 through a plurality of algorithms.

In other words, the main controller 40 distributes the work to the plurality of robots 30 equally to the plurality of robots 30 according to the order of input, assigns work areas to the respective robots by assigning them to the plurality of robots 30, It is possible to distribute the workload to the robot 30 in consideration of the working time of each of the plurality of workpieces, or to control the plurality of robots 30 to work at the input distribution ratios.

At this time, the main controller 40 can distribute the work to the plurality of robots 30 by changing each algorithm according to the situation.

For example, when the amount of workpieces to be input from the conveyor 10 is greater than a predetermined amount, the main controller 40 distributes the work to the plurality of robots 30 equally to the plurality of robots 30 , The work area can be assigned to each robot and distributed.

The main controller 40 can distribute the plurality of robots 30 in consideration of the working time of each of the plurality of work objects when the amount of the workpieces to be input from the conveyor 10 is smaller than a predetermined amount.

In addition, the main controller 40 can accumulate and store the distribution amounts of the work objects of the plurality of robots 30, respectively. At this time, the main controller 40 cumulatively stores the distribution amounts of the work objects allocated to the plurality of robots 30, and can control the plurality of robots by allocating the distribution ratios to the respective robots from the operator.

As described above, the static work distribution device 50 according to the embodiment of the present invention selects and uses a static job distribution algorithm suitable for the situation according to the process production line environment, thereby installing a separate sensor And the installation, maintenance and management costs can be reduced.

Further, the static work distribution device 50 according to the embodiment of the present invention reduces the installation, maintenance, and management costs by distributing the workload to the plurality of robots 30 in consideration of the working time of each of the plurality of work objects, It is possible to maximize the workload of the robot.

Hereinafter, a configuration of a main controller according to an embodiment of the present invention will be described.

3 is a block diagram showing the configuration of a main controller according to an embodiment of the present invention.

1 to 3, a main controller 40 according to an embodiment of the present invention includes a communication unit 41, an input unit 42, a display unit 43, a storage unit 44, and a control unit 45 .

The communication unit 41 performs data transmission / reception with the conveyor 10, the image sensor 20, and the plurality of robots 30. [ The small communication section 41 transmits a signal for driving and stopping the conveyor 10, transmits a signal for driving and stopping the image sensor 20, receives an image photographed from the image sensor 20 , And a signal for controlling each of the plurality of robots 30 can be transmitted. The communication unit 41 can transmit and receive data to and from the conveyor 10, the image sensor 20, and the plurality of robots 30 through a wired communication method or a wireless communication method, respectively. For example, the communication unit 41 uses a wired communication method such as Ethernet, xDSL (ADSL, VDSL), HFC (Hybrid Fiber Coax), FTTC (Fiber to the Curb), FTTH A wireless communication method such as wireless LAN (WLAN), Wi-Fi, WiBro, WiMAX, High Speed Downlink Packet Access (HSDPA)

The input unit 42 receives signals for driving and timing the conveyor 10, the image sensor 20 and the plurality of robots 30 and receives various input signals related to the function control of the work distribution system 100 To the control unit 45. The input unit 42 may be an input device such as a keyboard, a keypad, a mouse, a joystick, etc., as well as any type of input means that can be developed in the future.

The display unit 43 may display information on a series of operation states, operation results, and the like that occur during the functioning of the work distribution system 100. For example, the display unit 43 outputs an image photographed from the image sensor, displays coordinate values for the group determined by the control unit 45 on a graph, and displays the operation order of each robot on the screen . The display unit 43 may be a liquid crystal display (LCD), a thin film transistor LCD (TFT-LCD), a light emitting diode (LED), an organic light emitting diode (OLED) An active matrix OLED (OLED), a retina display, a flexible display, and a three-dimensional display.

The storage unit 44 stores various application programs and algorithms for driving the work distribution system 100. For example, the storage unit 44 stores an algorithm for distributing work evenly to a plurality of robots 30 in the order of input, an algorithm for assigning and allocating work areas to the robots, And an algorithm for distributing the plurality of robots 30 in consideration of the working time of each of the plurality of workpieces.

The control unit 45 acquires the image photographed from the image sensor 20, extracts the position information of the plurality of work objects, and distributes the work to the plurality of robots 30 through the position information.

Here, the control unit 45 can distribute the work to the plurality of robots 30 through a plurality of algorithms.

In other words, the control unit 45 distributes the work to the plurality of robots 30 equally to the plurality of robots 30 according to the order of input, assigns the work areas to the respective robots by assigning them to the plurality of robots 30, It is possible to distribute the workload to the robot 30 in consideration of the working time of each of the plurality of workpieces or to control the plurality of robots 30 to work at the input share ratio.

At this time, the control unit 45 may distribute the work to the plurality of robots 30 by changing the respective algorithms according to the situation.

For example, when the amount of workpieces to be input from the conveyor 10 is greater than a preset amount, the control unit 45 distributes the work to the plurality of robots 30 equally to the plurality of robots 30 according to the order of input, Work areas can be assigned and distributed to each robot.

The control unit 45 can distribute the plurality of robots 30 in consideration of the working time of each of the plurality of work objects when the amount of the work objects to be input from the conveyor 10 is smaller than a predetermined amount.

In addition, the control unit 45 can accumulate and store the distribution amounts of the work objects of the plurality of robots 30. [ At this time, the control unit 45 cumulatively stores the distribution amounts of the work objects allocated to the plurality of robots 30, and can control the plurality of robots by allocating the distribution rates to the respective robots from the operator.

Hereinafter, an algorithm for distributing work to a plurality of robots by the main controller according to the embodiment of the present invention will be described in detail.

FIGS. 4 to 8 are views for explaining how the main controller distributes work evenly according to an embodiment of the present invention.

4 to 8, the main controller can evenly distribute work objects to a plurality of robots. That is, the main controller can distribute the workpiece to a plurality of robots at an equal ratio according to the order of putting the workpieces.

As shown in FIG. 4, for example, when the main controller is operated through the first robot and the second robot disposed to face each other, the workpiece can be evenly distributed in the order of 1: 1 or 2: 2 . 5 to 8, when the workpiece is photographed from the image sensor, the coordinate values for the photographed workpiece are extracted, and the first robot Coordinate values of work objects, angle information, and the like are transmitted to assign tasks. When the next workpiece is inserted, the main controller extracts the coordinate value of the workpiece, and assigns the work to the second robot by transmitting coordinate values of the workpiece, angle information, and the like.

FIG. 9 is a view for explaining contents in which a main controller assigns and allocates a work area according to an embodiment of the present invention.

Referring to FIG. 9, the main controller can assign tasks to a plurality of robots by dividing a reference according to the position of the workpiece. That is, when using the first and second robots facing each other, the main controller can set the ratio of the area to the area based on the Y axis of the conveyor, and assign the set area to the first and second robots, respectively. At this time, the work objects located in the allocated area can be respectively operated by the robot.

FIG. 10 is a diagram for explaining contents of a distribution rate of a plurality of robots to be controlled by a main controller according to an embodiment of the present invention.

Referring to FIG. 10, the main controller accumulates distribution amounts of work objects of a plurality of robots, and when distribution amounts are concentrated in one robot or distribution amount is small in one robot, So that the work object can be concentratedly allocated to one robot.

For example, when the distribution amount of a robot is small, the main controller receives a distribution rate for a robot having a small distribution amount by an operator, and controls the plurality of objects to be operated at a distribution ratio inputted by the input robot.

FIGS. 11 and 12 are diagrams for explaining contents distributed by the main controller according to an embodiment of the present invention in consideration of each operation time.

Referring to FIGS. 11 and 12, the main controller can distribute work objects to a plurality of robots in such a manner that the workload is maximized in consideration of the work time of each of the plurality of work objects.

That is, when the plurality of robots are respectively at the zero point position, the main controller measures the distance between each predetermined point of each of the plurality of robots and each of the plurality of work objects, It is possible to calculate a working time for each of a plurality of work objects of each of the robots and assign the corresponding work object to the robot whose calculated work time is shorter than a preset time.

Here, the main controller controls the plurality of robots and the workpieces, respectively, through the vertical distance between the predetermined point of each of the plurality of robots and one end of the conveyor adjacent to the robot, and the vertical distance between the plurality of workpieces and one end of the conveyor adjacent to the robot. Can be measured. At this time, the main controller can perform the measurement with the assumption that the workpiece and the preset point of the robot are on a straight line.

For example, the main controller can allocate work to a plurality of robots considering the working time through the following algorithm code.

<Time-based task distribution algorithm code>

Where d ₁ is the linear distance between one end of the conveyor and the predetermined point of the robot when the robot is at the zero point position (negative when the robot is positioned on the conveyor), S _n is the distance between one end of the conveyor and the workpiece and the straight line distance, _r v is a moving speed of the robot, t is a work time group set the operator specified.

Further, the main controller can judge whether or not the work can be performed in consideration of the distances between the first and second work objects assigned to the first robot and the second work object continuously inputted with the first work object, have.

Here, the main controller controls the first robot to move the first workpiece to the second conveyor after the first robot picks up the first workpiece to the auxiliary conveyor at the zero point and the time it takes to reach the second workpiece after picking up the first workpiece, When the robot picks up the second workpiece, the robot can predict the position of the second workpiece to determine whether the workpiece can be operated.

At this time, the time taken for the first robot to pick up the first workpiece can be calculated by the following equation (1).

[Equation 1]

Also, the time taken for the first robot to lower the first workpiece to the auxiliary conveyor after being picked up can be calculated by the following equation (2).

&Quot; (2) &quot;

Also, the time taken for the first robot to complete the pickup of the first workpiece and then move to the zero point position can be calculated by the following equation (3).

&Quot; (3) &quot;

Also, the time taken for the first robot to pick up the second workpiece can be calculated by the following equation (4).

&Quot; (4) &quot;

The positions of the first robot holding the second workpiece can be estimated through Equation (5) using Equations (1) to (4).

&Quot; (5) &quot;

Where d ₁ is the vertical distance between one end of the conveyor and the predetermined point of the first robot when the first robot is at the zero point and d ₂ is the vertical distance between the point at which the first workpiece is placed on the auxiliary conveyor and one end of the conveyor D ₃ is a horizontal distance between a predetermined point of the first robot and a point on which the first workpiece is placed on the auxiliary conveyor and y _n is a vertical distance between the first and second workpieces and one side of the conveyor Distance, and v _con is the speed of the conveyor.

That is, the main controller can judge that the operation is impossible if the position at the time when the first robot picks up the second workpiece eventually deviates from the work area of the first robot.

At this time, if it is determined that the first robot can not perform the task, the main controller can allocate the second work object to the robot having the least work time among the robots capable of work.

For example, the main controller can perform the time-based task distribution by applying the operation possibility through the following algorithm code.

<Time-based task distribution algorithm code with workability enabled>

#include <stdio.h>

#include <math.h>

typedef struct ProductInfo

{

  unsigned int Number;

unsigned int CoordinatesX;

unsigned int CoordinatesY;

int Angle;

unsigned int Matching;

unsigned int ConstEncoder;

unsigned int RealEncoder;

  unsigned int RobotID;

  struct ProductInfo * next;

} __attribute__ ((__packed__)) ProductInfo;

unsigned int ProductCount = 0;

unsigned int Distribution_count = 0

unsigned int IDnum = 0;

unsigned int ID [MAX_ROBOT_NUMBERS];

ID [0] = 0x01;

for (i = 1; i <MAX_ROBOT_NUMBERS; i ++)

{

  ID [i] = ID [i-1] + 0x01;

}

#define CONVEYOR_TO_ARM // d1

#define CONVEYOR_TO_PLACE // d2

#define PLACE_TO_ARM // d3

#define VELOCITY_ROBOT // vr

#define VELOCITY_CONVEYOR // vcon

#define WORKING_SITE

#define USER_SET_TIME

void DistributionAlgorithm (ProductInfo * BeforeData, ProductInfo * ProductData)

{

  int time_b1; // tb1

  int time_a [3]; // ta1, ta2, ya3

  int RealPosition; // xb2

  ProductInfo BeforeData = ID [0] .before;

  time_b1 = (ProductData.CoordinatesY + CONVEYOR_TO_ARM) / VELOCITY_ROBOT;

  if (time_b1 <USER_SET_TIME_A)

  {

    time_a [0] = (BeforeData.CoordinatesY + CONVEYOR_TO_ARM) / VELOCITY_ROBOT;

    time_a [1] = sqrt (pow ((BeforeData.CoordinatesY + CONVEYOR_TO_PLACE), 2) +

                pow (PLACE_TO_ARM, 2)) / VELOCITY_ROBOT;

    time_a [2] = sqrt (pow ((CONVEYOR_TO_PLACE - CONVEYOR_TO_ARM), 2) + pow (PLACE_TO_ARM, 2)

                / VELOCITY_ROBOT;

    RealPosition = VELOCITY_CONVEYOR * (time_a [0] + time_a [1] + time_a [2] + time_b1)

                    + ProductData.CoordinatesX;

    if (RealPosition <WORKING_SITE)

    {

        ProductData.RobotID = ID [0];

        ID [0] .before = &ProductData;

    }

    else

        ProductData.RobotID = ID [1];

  }

  else

    ProductData.RobotID = ID [1];

}

13 to 15 are diagrams illustrating an example in which the main controller according to the embodiment of the present invention distributes in consideration of each operation time.

13, when the linear distance d ₁ between one end of the conveyor and a predetermined point of the first robot is 100 mm when the first robot is at the zero point position, and when the first robot is at the zero point, It is assumed that the linear distance S ₁ of the first workpiece is 60 mm, the speed v ₁ of the first robot is 200 mm / s, and the work time preset for the first robot is 0.5 s.

Referring to Equations (1) to (5) above, 0.25s is calculated when calculating the time it takes for the first robot to work the first workpiece. Therefore, since the first work object is less than the preset range of the first robot, the main controller assigns the first work object to the first robot.

Next, as shown in FIG. 14, it is assumed that the second workpiece is inserted after the first workpiece is inserted, and the linear distance between the one end of the conveyor and the second workpiece is 50 mm when the first robot is at the zero point position.

Referring to equations (1) to (5) above, 0.25s is calculated when calculating the time it takes for the first robot to work the second workpiece. Therefore, the main controller assigns the second work object to the first robot because the second work object is below the preset range of the first robot.

As shown in FIG. 15, it is assumed that the third workpiece is inserted after the second workpiece is inserted, and the linear distance between the one end of the conveyor and the third workpiece is 130 mm when the first robot is at the zero point.

Referring to Equations (1) to (5) above, when calculating the time taken for the first robot to work the third workpiece, 0.65s is calculated. Therefore, since the third work object exceeds the predetermined range of the first robot, the main controller allocates the third work object to another robot within the working time of the third work object.

Hereinafter, a static work distribution method according to an embodiment of the present invention will be described.

Referring to FIG. 13, in step S10, the main controller controls the conveyor to convey the workpiece.

Next, in step S20, the main controller receives the image of the workpiece taken from the image sensor, and extracts the position information of the workpiece through the received image.

In step S30, the main controller can distribute the work to the plurality of robots through the position information.

Here, the main controller can distribute work to a plurality of robots through a plurality of algorithms.

That is, the main controller distributes work to a plurality of robots uniformly to a plurality of robots in accordance with the order of input, assigns work areas to the robots by assigning them to the robots, or distributes the work time of each of a plurality of work objects to a plurality of robots So as to maximize the workload, or to control the plurality of robots to work at the respective input distribution ratios.

At this time, the main controller can distribute the work to a plurality of robots by changing each algorithm according to the situation.

For example, when the amount of workpieces input from the conveyor is larger than a preset amount, the main controller distributes the work to a plurality of robots uniformly to a plurality of robots according to the order of input, or assigns a work area to each robot have.

The main controller can distribute the plurality of robots in consideration of the working time of each of the plurality of workpieces when the amount of the workpieces inputted from the conveyor is smaller than a predetermined amount.

Further, the main controller can accumulate and store the distribution amounts of the work objects of the plurality of robots. At this time, the main controller cumulatively stores the distribution amounts of the work objects allocated to the plurality of robots, and can control the plurality of robots by allocating the distribution ratios to the respective robots from the operator.

It should be noted that the embodiments disclosed in the drawings are merely examples of specific examples for the purpose of understanding, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

10: Conveyor 11: Auxiliary conveyor
20: image sensor 30: plural robots
40: main controller 41:
42: input section 43: display section
44: storage unit 45: control unit
50: work distribution apparatus 100: work distribution system

Claims (10)

An image sensor for photographing a plurality of workpieces moving through the conveyor;
Extracting positional information of the plurality of work objects from the image taken by the image sensor, and outputting, through the extracted position information, a working time for each of the plurality of robots disposed around the conveyor to work each of the plurality of work objects A main controller for calculating and distributing a workpiece having a calculated work time equal to or less than a predetermined time to the robot;
Wherein the static work dispensing device comprises: The method according to claim 1,
The main controller includes:
Wherein the plurality of robots each measure a distance between a predetermined point of each of the plurality of robots and each of the plurality of work objects when the plurality of robots are respectively in the zero point position, Calculates a work time for each of the plurality of work objects of the robots of the robot and assigns the work objects to the robot whose calculated work time is shorter than the predetermined time. 3. The method of claim 2,
The main controller includes:
And a vertical distance between a preset point of each of the plurality of robots and one end of the conveyor adjacent to the robot and a vertical distance between one end of the conveyor and the plurality of work objects and a side of the conveyor adjacent to the robot, And measures the distance of each of the objects. The method of claim 3,
Wherein the plurality of robots comprises:
And the plurality of work objects are picked up on an auxiliary conveyor provided in the vicinity of the conveyor. 5. The method of claim 4,
The main controller includes:
And determines whether or not the work can be performed by considering the distance between the first work object and the second work object continuously inputted to the first robot and the respective work times, Static work distribution device. 6. The method of claim 5,
The main controller includes:
The first robot moves to the auxiliary conveyor after the first workpiece is picked up to the auxiliary conveyor at the zero point and again at the zero point and the time taken to reach the second workpiece after picking up the first workpiece, When the first robot picks up the second workpiece, estimates the position of the second workpiece and determines whether the work can be performed. The method according to claim 6,
The main controller includes:
And allocates the second work object to the robot having the minimum work time among the robots capable of performing the work if it is determined that the work can not be performed by the first robot. 8. The method of claim 7,
The main controller includes:
A plurality of robots to which the plurality of robots are assigned, a cumulative distribution amount of the work objects allocated to the plurality of robots, a distribution rate for the plurality of work objects of the plurality of robots, Wherein the static working dispenser comprises: A conveyor for conveying a plurality of workpieces;
An image sensor for photographing the plurality of work objects moved by the conveyor;
A plurality of robots disposed around the conveyor for performing operations on the plurality of workpieces; And
Extracting positional information of the plurality of work objects from the image captured by the image sensor, calculating a working time for each of the plurality of robots to work on the plurality of work objects through the extracted position information, A main controller for distributing a workpiece having a work time equal to or less than a preset time to the robot;
Wherein the static work dispense system comprises: The main controller receiving an image of a plurality of work objects moved by the conveyor from the image sensor and extracting the position information of the plurality of work objects through the received image;
Wherein the main controller extracts position information of the plurality of work objects from the image captured by the image sensor and calculates a work time for each of the plurality of workpieces by the plurality of robots through the extracted position information Distributing a workpiece having a calculated work time equal to or less than a preset time to the robot;
Wherein the static workload distribution method comprises:

Images