WO2022264381A1 - ワーク取出し個数算出装置、ハンドシステム、及び表示装置 - Google Patents
ワーク取出し個数算出装置、ハンドシステム、及び表示装置 Download PDFInfo
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- WO2022264381A1 WO2022264381A1 PCT/JP2021/023100 JP2021023100W WO2022264381A1 WO 2022264381 A1 WO2022264381 A1 WO 2022264381A1 JP 2021023100 W JP2021023100 W JP 2021023100W WO 2022264381 A1 WO2022264381 A1 WO 2022264381A1
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- workpieces
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- 238000004364 calculation method Methods 0.000 title claims abstract description 61
- 238000011068 loading method Methods 0.000 claims abstract description 68
- 230000000007 visual effect Effects 0.000 claims description 45
- 238000000034 method Methods 0.000 claims description 31
- 230000008034 disappearance Effects 0.000 claims description 29
- 238000012545 processing Methods 0.000 claims description 25
- 238000000605 extraction Methods 0.000 claims description 24
- 230000008569 process Effects 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 9
- 230000032258 transport Effects 0.000 description 18
- 238000004590 computer program Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 239000004065 semiconductor Substances 0.000 description 7
- 230000008033 biological extinction Effects 0.000 description 6
- 238000012790 confirmation Methods 0.000 description 4
- 230000007257 malfunction Effects 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 238000011960 computer-aided design Methods 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40053—Pick 3-D object from pile of objects
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
Definitions
- the present invention relates to hand technology, and more particularly to a device for calculating the number of workpieces to be taken out, a hand system, and a display device.
- a visual sensor is used to detect the position (and orientation, if necessary) of the workpiece.
- a three-dimensional visual sensor using various principles such as a triangulation method, a TOF (time of flight) method, and a focus method is used.
- the hand may mistakenly take out a plurality of works at once.
- the difference (that is, volume difference) of three-dimensional information such as distance images before and after picking up workpieces and three-dimensional point cloud data is divided by the volume per workpiece.
- a method of calculating the number of workpieces to be taken out by the number of workpieces see Patent Literature 1 described later.
- Patent Literature 1 a method of calculating the number of workpieces to be taken out by the number of workpieces.
- Patent Document 1 discloses a method and apparatus for detecting collapse of cargo that occurs when an article is transferred by a picking robot. By estimating the volume difference between the group of items before and after the transfer operation from the image and dividing the estimated volume difference of the group of items by the volume per item calculated from the item shape data, the item actually transferred. is compared with the desired number to be transferred, and based on the degree of coincidence, it is determined whether or not collapse of cargo has occurred after all steps of the transfer work.
- Patent Document 2 describes lifting and moving a box using a 3D sensor that detects information about the environment in a robot manipulator equipped with a suction gripper.
- Patent Document 3 discloses a method of holding a predetermined number of workpieces randomly stacked in a pallet at the tip of a robot arm and taking them out of the pallet. is almost uniformly determined depending on the size of the pallet, it is described that the number of remaining pallets to be taken out is calculated in advance by back calculation.
- An object of the present invention is to provide a technique for accurately estimating the number of workpieces to be taken out in view of the conventional problems.
- One aspect of the present disclosure includes a three-dimensional information acquisition unit that acquires three-dimensional information of a target space in which a plurality of works are loaded, a work shape information acquisition unit that acquires shape information of the work, and a target space before and after taking out the work.
- a work piece number calculation device comprising: a work piece number calculation unit that calculates the range of the number of work pieces to be taken out, taking into consideration cavities in a work loading area based on three-dimensional information and shape information of the work pieces.
- Another aspect of the present disclosure includes a hand for picking up and dispensing a work, a transport device for transporting the work using the hand, a control device for controlling the operation of at least one of the hand and the transport device, and a stack of a plurality of works.
- a visual sensor for outputting three-dimensional information of the target space
- the control device includes a three-dimensional information acquisition unit for acquiring three-dimensional information on the target space from the visual sensor; and a workpiece shape for acquiring workpiece shape information.
- an information acquisition unit; and a workpiece number calculation unit that calculates the range of the number of workpieces to be picked, taking into account cavities in the workpiece loading area based on the three-dimensional information of the target space before and after workpiece pickup and the shape information of the workpieces.
- Another aspect of the present disclosure is a display device for visually displaying a process of calculating the number of workpieces taken out of a plurality of stacked workpieces, wherein at least three-dimensional information of a target space before and after workpieces are taken out is displayed.
- the present invention provides a display device including a display section for displaying a superimposed image in which changed areas are superimposed in a work loading area after picking up the work.
- the number of workpieces to be picked up can be accurately estimated because the range of the number of workpieces to be picked up is calculated in consideration of the cavities in the workpiece loading area.
- FIG. 1 is a configuration diagram of a hand system according to a first embodiment
- FIG. 1 is a block diagram of a hand system of a first embodiment
- FIG. FIG. 4 is a side view of the work loading area showing an example of the work loading area before picking up the work
- FIG. 5 is a side view of the work loading area showing an example of the work loading area after picking up the work
- It is a flowchart which shows operation
- It is a flowchart which shows operation
- FIG. 2nd embodiment FIG. 4 is a side view showing an example of a work loading area before picking up a work
- FIG. 4 is a side view showing an example of a work loading area before picking up a work
- FIG. 4 is a side view showing an example of a work loading area before picking up a work
- FIG. 4 is a side view showing an example of a work loading area before picking up a work
- FIG. 5 is a side view showing an example of a work loading area after picking up a work
- FIG. 11 is a side view showing another example of the work loading area before picking up the work
- FIG. 11 is a side view showing another example of the work loading area after picking up the work
- FIG. 10 is a side view showing another example of the work loading area before picking up the work
- FIG. 11 is a side view showing another example of the work loading area after picking up the work
- FIG. 11 is a side view showing still another example of the work loading area before picking up the work
- FIG. 11 is a side view showing still another example of the work loading area after picking up the work
- It is a block diagram of the hand system of 3rd embodiment.
- FIG. 5 is a range image diagram showing an example of three-dimensional information after picking up a workpiece;
- FIG. 1 is a configuration diagram of a hand system 1 of the first embodiment.
- a hand system 1 includes a hand 2 , a transport device 3 , a control device 4 and a visual sensor 5 .
- Hand system 1 may further include presence sensor 6 and display device 7 .
- a plurality of cylindrical workpieces W are loaded (in bulk or piled up) in the container.
- the work W may be loaded on a jig.
- the hand system 1 detects the position (and posture if necessary) of the work W based on the three-dimensional information from the visual sensor 5 .
- the hand system 1 moves the conveying device 3 to the work pick-up position based on the position (and posture if necessary) of the work W, and controls the hand 2 to pick up the work W by operating it.
- the hand 2 may mistakenly pick up a different number of works W than the desired number (one in this embodiment).
- the range of the number of workpieces to be taken out is calculated.
- the hand system 1 moves the conveying device 3 to the work dispensing position based on the calculated range of the number of workpieces to be taken out, and controls the hand 2 to operate and the workpiece W to be dispensed.
- the hand 2 is attached to the transport device 3.
- the hand 2 takes out and delivers the work W.
- the hand 2 includes a multi-fingered grip type, a magnetic attraction type, a vacuum attraction type, a Bernoulli type, and the like.
- the hand 2 may be appropriately selected according to the material, shape, size, etc. of the work W. For example, if the work W has a high coefficient of friction, a multi-fingered gripping hand may be used, if the work is a magnetic material, a magnetic attraction hand may be used, and if the work is large or thin, a vacuum attraction hand may be used.
- a Bernoulli hand is sufficient for lightweight or sheet-like materials.
- the hand 2 of this embodiment is a multi-fingered gripping hand, and takes out and pays out the workpiece W by operating a plurality of fingers capable of relative movement.
- the hand 2 has a motor and a motor driving device for operating a plurality of fingers, and the motor driving device is connected to the control device 4 via wire or wireless.
- the transport device 3 transports the work W using the hand 2 .
- the transport device 3 includes a robot, a conveyor, an automated guided vehicle (AGV), and the like.
- the conveying device 3 of this embodiment is a vertical articulated robot, but in other embodiments, it may be a horizontal articulated robot, an orthogonal robot, a parallel link robot, a humanoid robot, or the like.
- the conveying device 3 of this embodiment includes a plurality of links that are connected so as to be able to move relative to each other, and conveys the workpiece W by operating the plurality of links.
- the conveying device 3 comprises a motor and a motor drive device for operating the link, the motor drive device being connected to the control device 4 via wire or wireless.
- the control device 4 controls the operation of at least one of the hand 2, transport device 3, and visual sensor 5.
- the control device 4 of this embodiment controls all the operations of the hand 2, the conveying device 3, and the visual sensor 5, but in other embodiments, it controls only the operations of the hand 2 and the conveying device 3, and can be wired or wireless.
- An external device (not shown) communicatively connected to controller 4 via may control the operation of visual sensor 5 .
- the control device 4 is a computer device including a processor, memory, and the like.
- the processor of this embodiment includes a semiconductor integrated circuit such as a CPU (central processing unit) and MPU (micro processing unit) that executes a computer program, but in other embodiments, it does not execute a computer program, FPGA (field programmable gate array), ASIC (application specific integrated circuit), and other semiconductor integrated circuits.
- the memory of this embodiment is a semiconductor integrated circuit such as RAM (random access memory) or ROM (read only memory) that stores various data.
- the visual sensor 5 measures and outputs three-dimensional information of a target space including a work loading area in which a plurality of works W are loaded (in bulk or piled up).
- the visual sensor 5 includes a three-dimensional visual sensor using various principles such as the triangulation method, TOF method, and focus method.
- the visual sensor 5 may be a three-dimensional visual sensor combining a distance sensor and a two-dimensional camera.
- the visual sensor 5 of this embodiment is a TOF sensor that outputs a range image.
- a visual sensor 5 is attached to the hand 2 or the transport device 3 . Although the visual sensor 5 in this embodiment is attached to the hand 2 , the visual sensor 5 may be installed at a fixed point other than the hand 2 or the conveying device 3 in other embodiments.
- the presence sensor 6 is not an essential component.
- the registered sensor 6 outputs registered information indicating whether or not one or more works W have been picked up by the hand 2 .
- the presence sensor 6 includes a force sensor, an electromagnetic induction sensor, a pressure sensor, a photoelectric sensor, a camera, a three-dimensional sensor, and the like. Further, the visual sensor 5 may also be used as the presence sensor 6 as will be described later in the embodiment.
- the presence sensor 6 of this embodiment is a force sensor that detects force.
- the presence sensor 6 outputs force information as presence information.
- the presence sensor 6 is attached to the hand 2 or the transport device 3, the presence sensor 6 may be installed at a fixed point different from the hand 2 or the transport device 3 in another embodiment.
- the display device 7 is not an essential component.
- the display device 7 visually displays the process of calculating the number of workpieces to be taken out.
- the display device 7 includes a display unit (not shown) configured by a liquid crystal display, an organic EL display, a touch panel display using these displays, or the like.
- the display device 7 of the present embodiment is a teaching device communicably connected to the control device 4, but is not limited to this.
- the display device 7 may be a display device or the like associated with an external device communicatively connected to the control device 4 via a wire or wirelessly.
- FIG. 2 is a block diagram of the hand system 1 of the first embodiment.
- the control device 4 of the present embodiment includes a workpiece extraction number calculating device 40, in another embodiment, an external device (not shown) communicably connected to the control device 4 via a wire or wirelessly A takeout number calculation device 40 may be provided.
- the workpiece number calculation device 40 is a computer device equipped with a processor, memory, and the like.
- the processor of this embodiment includes a semiconductor integrated circuit such as a CPU (central processing unit) and MPU (micro processing unit) that executes a computer program, but in other embodiments, it does not execute a computer program, FPGA (field programmable gate array), ASIC (application specific integrated circuit), and other semiconductor integrated circuits.
- the memory of this embodiment includes semiconductor storage devices such as RAM (random access memory) and ROM (read only memory) that store various data. or other magnetic storage device.
- the workpiece number calculation device 40 includes a three-dimensional information acquisition section 41 , a workpiece shape information acquisition section 42 , and a workpiece number calculation section 44 .
- the work extraction number calculation device 40 may further include an enrollment information acquisition unit 43 .
- the workpiece extraction number calculation device 40 may further include an operation control section 45 .
- "-part” consists of part or all of a computer program, or part or all of a semiconductor integrated circuit that does not execute a computer program. Based on the three-dimensional information of the target space before and after unloading the workpieces and the workpiece shape information, the unloaded workpiece number calculation device 40 calculates the range of the number of workpieces W to be unloaded, taking into consideration the cavities in the loading area of the workpieces W.
- the three-dimensional information acquisition unit 41 acquires, from the visual sensor 5, three-dimensional information of the target space in which a plurality of works W are loaded (in bulk or piled up).
- the three-dimensional information includes distance images including distance values from the reference position for each pixel, three-dimensional point cloud data including coordinate values of a three-dimensional coordinate system, and the like.
- the three-dimensional information of this embodiment is the range image output from the TOF sensor.
- the three-dimensional information acquisition unit 41 preferably has a function of mutually converting data between the range image and another data format such as three-dimensional point cloud data.
- the three-dimensional information acquisition unit 41 sends the three-dimensional information of the target space to the work extraction number calculation unit 44 .
- the workpiece shape information acquisition unit 42 acquires workpiece shape information from an external memory or an internal memory.
- the workpiece shape information includes a 3D shape model, a range image, 3D point cloud data, and the like.
- the workpiece shape information of this embodiment is a three-dimensional shape model such as three-dimensional CAD (computer-aided design) data.
- the workpiece shape information acquisition unit 42 preferably has a function of mutually converting data between the three-dimensional shape model and other data formats such as range images and three-dimensional point cloud data.
- the work shape information acquisition unit 42 sends the work shape information to the work extraction number calculation unit 44 .
- At least one of the three-dimensional information acquisition unit 41 and the workpiece shape information acquisition unit 42 uses parameters such as the size, scale, coordinate system, etc. of one of the three-dimensional information of the target space and the workpiece shape information for subsequent processing. It is desirable to have a function to match parameters such as the size, scale, and coordinate system of the .
- the enrollment information acquisition unit 43 acquires enrollment information indicating whether or not one or more workpieces W have been picked up by the hand 2 from the enrollment sensor 6 .
- the enrollment information in this embodiment is the force information of the force sensor, and the enrollment information acquiring unit 43 is enrollment information indicating that one or more workpieces W have been taken out when the force information exceeds the gravity per workpiece W. is sent to the workpiece extraction number calculation unit 44 .
- the number of workpieces to be taken out which is estimated by dividing the force information by the gravity per workpiece W, may be sent to the taken-out workpieces number calculation unit 44 as the registered information.
- the workpiece number calculation unit 44 executes calculation processing for the range of the number of workpieces to be extracted when the enrollment information indicates that one or more workpieces W have been extracted. If it indicates that no workpieces have been taken out, calculation processing for the range of the number of workpieces to be taken out is not executed, and the number of workpieces to be taken out is set to 0 and sent to the operation control unit 45 . As a result, unnecessary calculation processing by the work extraction number calculation unit 44 can be prevented.
- the number of workpieces to be taken out calculation unit 44 calculates the range of the number of workpieces to be taken out to be one value (the minimum value and the maximum value are the same) and the desired number of work to be taken out. (There may be more than one), the calculated number of workpieces to be taken out should be recalculated based on the number of workpieces to be taken out in the enrollment information.
- the workpiece number calculation unit 44 calculates the range of the number of workpieces to be picked up based on the three-dimensional information of the target space before and after workpiece extraction and the workpiece shape information, taking into account the voids in the workpiece loading area.
- FIGS. 3A and 3B the processing for calculating the number of workpieces to be taken out according to the first embodiment will be described.
- 3A and 3B are side views showing an example of the work loading area before and after picking up the work.
- FIG. 3A shows a workpiece loading area before unloading, in which rectangular workpieces W having short sides and long sides are laid down and vertically stacked.
- FIG. 3A shows a workpiece loading area before unloading, in which rectangular workpieces W having short sides and long sides are laid down and vertically stacked.
- 3B shows the work loading area after unloading of the works W, in which not a single work W has been unloaded and two of the works W have collapsed.
- the visual sensor 5 picks up an image of the work loading area from above and outputs three-dimensional information 51 (indicated by dashed lines) before the work is taken out and three-dimensional information 52 (indicated by the broken line) after the work is taken out.
- the removed work number calculation unit 44 calculates the range of the number of removed works that can be accommodated in the removed area A (1 to 2 in the example of FIG. 3A) as the range of the number of removed works (1 to 2).
- the disappearance area A is acquired as a difference area (positive area or negative area) obtained by subtracting the three-dimensional information 51 and 52 of the target space before and after the work is taken out. Further, the maximum number of lost workpieces that can be accommodated in the disappearing area A (two in the example of FIG. 3A) is obtained by repeatedly subtracting the workpiece W obtained from the workpiece shape information from the disappearing area A, or It is obtained by dividing the volume of the vanishing area A by the volume per workpiece W obtained from .
- the minimum number of lost works that can be accommodated in the disappearance area A (1 in the example of FIG. 3A) is 1 when the maximum number of lost works is 1 or more, and 0 when the maximum number of lost works is 0. is calculated as 0.
- the work W may collapse after the work is taken out.
- a cargo collapse area B (thick By calculating the range of the number of workpieces to be taken out, the number of workpieces to be taken out can be estimated more accurately.
- the work takeout number calculation unit 44 takes into account the range of the number of work load collapses that can be accommodated in the load collapse area B newly appearing in the work loading area after the work is taken out (1 to 2 in the example of FIG. 3A), It is preferable to calculate the range of the number of workpieces to be taken out.
- the load collapse area B is obtained as a difference area (negative area or positive area) obtained by subtracting the three-dimensional information 51 and 52 of the target space before and after picking up the workpiece.
- the maximum number of collapsed workpieces that can be accommodated in the collapsed cargo area B (two in the example of FIG. 3B) is obtained by repeatedly subtracting the workpiece W obtained from the workpiece shape information from the collapsed cargo area B, or It is obtained by dividing the volume of the cargo collapse area B by the volume per workpiece W obtained from the workpiece shape information.
- the minimum number of collapsed workpieces that can be accommodated in the collapsed workpiece area B (1 in the example of FIG. 3B) is set to 1 when the maximum number of collapsed workpieces is 1 or more, and the maximum number of collapsed workpieces is If the number is 0, it is calculated as 0.
- the work takeout number calculation unit 44 subtracts the minimum number of work collapses (one in the example of FIG. 3B) from the maximum number of work disappearances (two in the example of FIG. 3A) to obtain the maximum work takeout number.
- a value (1) is obtained, and the maximum number of collapsed workpieces (2 in the example of FIG. 3B) is subtracted from the minimum number of workpieces that have disappeared (1 in the example of FIG. 3A) to obtain the minimum number of workpieces to be taken out.
- Equation 1 J+H is the maximum number of lost workpieces, J is the minimum number of lost workpieces, K+I is the maximum number of collapsed workpieces, and K is the minimum number of collapsed workpieces.
- max(J-(K+I), 0) is the minimum number of workpieces to be taken out, and max((J+H)-K, 0) is the maximum number of workpieces to be taken out.
- the max(argument 1, argument 2) function is a function that returns the larger value of argument 1 and argument 2. FIG. In other words, the max function returns 0 if the maximum or minimum number of workpieces to be taken out is negative.
- the number-of-taken-out work calculation unit 44 sets the minimum number K of collapsed workpieces to 0, sets the maximum number K+I of collapsed workpieces to 0, and determines the range J of the number of disappeared workpieces that can be accommodated in the extinction area A. to J+H (1 to 2 in the example of FIG. 3A), the range of the number of workpieces to be taken out (1 to 2) can be calculated.
- the minimum number of lost workpieces J is set to the maximum number of lost workpieces J+H (two in the example of FIG. 3A), and the minimum number of collapsed workpieces.
- K is the maximum number of collapsed workpieces K+I (two in the example of FIG. 3B), and the range of the number of workpieces to be taken out (0 to 0) can be calculated.
- the workpiece number calculation unit 44 determines whether or not to execute calculation processing for the range of the number of workpieces to be picked up based on the enrollment information acquired from the enrollment information acquisition unit 43, the number of workpieces to be picked up is always equal to or greater than one. Therefore, it is preferable to calculate the maximum or minimum number of workpieces to be taken out and change the max function so that 1 is returned when the number is 0 or less.
- the formula for calculating the range R of the number of workpieces to be taken out is as follows.
- the workpiece number calculation unit 44 adds at least one of the three-dimensional information of the target space before and after workpiece extraction to the changed area Q (
- the display unit of the display device 7 displays the superimposed image sent from the work extraction number calculation unit 44.
- the superimposed image may be a side view of the work loading area as shown in FIGS. 3A and 3B.
- the display section preferably displays the changed area Q, the disappearing area A, and optionally the collapsed area B by distinguishing them by different colors, different types of encircling lines, display switching, or the like.
- the unloaded workpiece number calculation unit 44 has a range J to J+H for the number of workpieces that have disappeared, a range K to K+I for the number of collapsed workpieces, a range R for the number of workpieces to be picked, and a range R for the number of workpieces to be picked.
- the maximum value and the minimum value of R match, at least one of the number of workpieces to be taken out is sent to the display device 7, and the display unit of the display device 7 receives the output from the workpiece number calculation unit 44.
- the workpiece number calculation unit 44 displays a superimposed image in which the shape model of the workpiece W is superimposed on the locations (locations indicated by J, H, K, and I) that serve as the basis for calculating the range of these numbers. It may be sent to the device 7 , and the display section of the display device 7 may display the superimposed image sent from the work extraction number calculation section 44 . As a result, the process of calculating the number of workpieces to be taken out can be visualized, and it is possible to check whether or not there is an error in calculating the number of workpieces to be taken out.
- the work takeout number calculation unit 44 sends the calculated range R of the work takeout number to the operation control unit 45 .
- the motion control unit 45 controls the motion of at least one of the hand 2 and the transport device 3 according to an motion program for at least one of the hand 2 and the transport device 3 .
- the motion control unit 45 controls (corrects) the motion of at least one of the hand 2 and the transport device 3 based on the range R of the number of workpieces to be taken out.
- the operation control unit 45 controls the operation of repeating picking and unloading of the workpieces W until the range R of the number of workpieces to be picked up becomes one value (the minimum value and the maximum value are the same) and the number of workpieces W to be picked up reaches the desired number. 2 and the transport device 3.
- the operation control unit 45 causes the hand 2 to move the workpieces W out to the original location or to the temporary placement table and to take out the workpieces W again.
- the hand 2 carries out the operation of conveying the workpiece W to the dispensing position and dispensing it. to the conveying device 3.
- step S1 it is determined whether or not the three-dimensional information after the previous workpiece is taken out is in the memory. If the three-dimensional information after the previous work is taken out is not in the memory (NO in step S1), the three-dimensional information 51 of the target space before the work is taken out is acquired from the visual sensor 5 in step S2. If the three-dimensional information after the previous pick-up of the work is in the memory (YES in step S1), the three-dimensional information after the previous pick-up of the work is set as the three-dimensional information 51 before the pick-up of the work in step S3.
- step S4 it is determined whether or not the position (and orientation, if necessary) of the work W before it is taken out is in the memory. If the position (and attitude, if necessary) of the work W before picking up is not in the memory (NO in step S4), the position of the work W (and, if necessary, posture). If the position (and attitude, if necessary) of the work W in the three-dimensional information 51 before picking up the work is in the memory (YES in step S4), the process proceeds to step S6.
- step S6 the conveying device 3 is moved to the work pick-up position based on the position (and posture if necessary) of the work W, and the hand 2 is operated to take out the work W.
- step S7 based on the presence information of the presence sensor 6, it is determined whether or not one or more workpieces W have been taken out. However, it should be noted that the step S7 of determining whether or not to execute the calculation process for the range of the number of workpieces to be taken out based on the enrollment information is not an essential step. If no work W has been taken out (NO in step S7), the process returns to step S1 and the work W is taken out again. If one or more workpieces W have been taken out (YES in step S7), the process proceeds to step S8. At step S8, the three-dimensional information 52 after picking up the workpiece is obtained from the visual sensor 5. FIG.
- step S9 by subtracting the three-dimensional information 51 and 52 before and after picking out the work, the changed area Q (including disappearing area A and possibly collapsed area B) in the work loading area after picking out the work is specified. do.
- the change area Q is a non-zero area after difference. Unnecessary calculation processing can be prevented by limiting the subsequent processing of step S9 to the change area Q.
- the changing region Q may be replaced with a circumscribing rectangle, a circumscribing circle, or the like, which circumscribes the changing region Q, or may be replaced with a circumscribing rectangle, a circumscribing circle, or the like according to the shape of the workpiece W.
- the change area Q may be limited by using an area having a predetermined radius from the work pick-up position.
- the negative area is the collapse area B.
- the positive area is the cargo collapse area B.
- the changed area Q, the disappearing area A, and possibly the collapsed area B identified in step S9 may be distinguished and displayed by, for example, different colors, different encircling lines, or display switching.
- step S9 the position (and orientation, if necessary) of the work W after picking up the work in the change area Q may be detected and stored in the memory for the next picking up of the work. .
- step S10 based on the workpiece shape information, the range J to J+H of the number of collapsed workpieces that can be accommodated in the disappearance area A and the range K to K+I of the number of collapsed workpieces that can be accommodated in the collapse area B are calculated. do.
- the maximum number J+H of the number of disappearance of workpieces is obtained by repeatedly subtracting the workpiece W obtained from the workpiece shape information from the disappearance area A, or by dividing the volume of the disappearance area A by the volume per workpiece W obtained from the workpiece shape information. is required.
- the minimum number of lost workpieces J is 1 when the maximum number of lost workpieces J+H is 1 or more, and is determined as 0 when the maximum number of disappeared workpieces J+H is 0.
- the maximum number K+I of the number of collapsed workpieces is obtained by repeatedly subtracting the workpiece W obtained from the workpiece shape information from the collapsed area B, or the volume of each workpiece W obtained from the workpiece shape information. Calculated by dividing the volume.
- the minimum number K of collapsed workpieces is determined as 1 when the maximum number K+I of collapsed workpieces is 1 or more, and as 0 when the maximum number of collapsed workpieces is 0.
- a superimposed image of the shape model of the workpiece W is displayed on the display device 7 at the locations (locations indicated by J, H, K, and I) that serve as the bases for calculating the range of the numbers. may be displayed.
- step S11 based on the range of the number of workpieces that have disappeared and, in some cases, the range of the number of collapsed workpieces, the range of the number of workpieces to be picked up R(max(J ⁇ (K+I), 1) to max((J+H) ⁇ K, 1 )).
- the maximum number of unloaded workpieces K is subtracted from the maximum number of destroyed workpieces J+H to obtain the maximum number of unloaded workpieces.
- the range R of the number of workpieces to be picked up is calculated by obtaining the minimum value of the number of workpieces to be picked up.
- the minimum number K of the number of collapsed workpieces is set to 0, the maximum number of collapsed workpieces K+I is set to 0, and the number of collapsed workpieces is set to 0.
- the range of the number of workpieces to be taken out is calculated based only on the range. If it is not determined whether or not one or more workpieces W have been taken out based on the enrollment information (if the processing of step S7 is not performed), max(J ⁇ (K+I), 0) to Based on max((J+H) ⁇ K, 0)), the range R of the number of workpieces to be taken out of 0 or more is calculated. In step S11, the calculated range R of the number of workpieces to be taken out may be displayed on the display device 7. FIG.
- step S12 the operation of at least one of the hand 2 and the transport device 3 is controlled based on the range R of the number of workpieces to be taken out.
- the hand 2 and the conveying device 3 are instructed to repeatedly take out and deliver the workpieces W until the range R of the number of workpieces to be taken out becomes one value (the minimum value and the maximum value are the same) and the number of workpieces W to be taken out reaches the desired number. command.
- the range R of the number of workpieces to be taken out does not reach a single value or the desired number of workpieces to be taken out, the workpieces W are put out to the original place or the temporary placement table, and the process returns to step S1 to take out the workpieces W again (step S6). ).
- the range R of the number of workpieces to be taken out becomes one value and the desired number of workpieces to be taken out is reached, the workpieces W are transported to the dispensing position and the workpieces W are delivered.
- the hand system 1 of the first embodiment in order to calculate the range of the number of workpieces to be picked up in consideration of the cavities in the workpiece loading area (disappearance area A and, in some cases, the collapsed area B), the number R of workpieces to be picked up is can be estimated accurately.
- the hand system 1 of the second embodiment will be explained.
- the hand system 1 of the second embodiment differs from the hand system 1 of the first embodiment in that the number of workpieces to be taken out is calculated more precisely. Note that the description of the same configuration and the same operation as those of the hand system 1 of the first embodiment will be omitted below.
- FIG. 6 is a flow chart showing the operation of the hand system 1 of the second embodiment
- FIGS. 7A and 7B are side views showing an example of the work loading area before and after picking up the work.
- the flowchart of FIG. 6 includes steps S20 to S24 for more precisely calculating the processing of step S10 of FIG. Figures 7A and 7B show the same work loading area as Figures 3A and 3B.
- step S20 one workpiece W is removed from the visible area of the three-dimensional information 51, 52 before and after removal from the visual sensor 5 in the change area Q (including the vanishing area A and, in some cases, the collapsed area B).
- Invisible three-dimensional information 53 and 54 are generated, respectively.
- step S21 by subtracting the three-dimensional information 52 after extraction from the invisible three-dimensional information 53 before extraction in the changed area Q, an invisible area (positive area) in the disappearance area A is specified.
- the disappearance invisible number H of workpieces that can be accommodated in the invisible area in A is calculated.
- the disappearance invisible number of workpieces H is obtained by repeatedly subtracting the workpiece W obtained from the workpiece shape information from the invisible area in the disappearance area A, or by calculating the volume of each workpiece W obtained from the workpiece shape information. It is obtained by dividing the volume of the invisible area inside.
- step S22 by subtracting the three-dimensional information 51 before extraction from the invisible three-dimensional information 54 after extraction in the changed area Q, an invisible area (positive area) in the cargo collapse area B is identified.
- the invisible number I of collapsed workpieces that can be accommodated in the invisible area in the collapsed area B is calculated.
- the invisible number of workpiece collapses I is obtained by repeatedly subtracting the workpiece W obtained from the workpiece shape information from the invisible area in the collapsed area B, or by the volume per workpiece W obtained from the workpiece shape information. It is obtained by dividing the volume of the invisible area in the area B.
- step S22 is not required if a loading method is adopted in which there is no possibility that the works W will collapse.
- step S23 by subtracting the invisible three-dimensional information 53 before extraction from the three-dimensional information 51 before extraction in the changed area Q, the visible area (positive area) in the disappearance area A is identified.
- the disappearance visible number of workpieces J is obtained by repeatedly subtracting the workpiece W obtained from the workpiece shape information from the visible area in the disappearance area A, or by calculating the volume of each workpiece W obtained from the workpiece shape information. It is obtained by dividing the volume of the visible area inside.
- step S24 in the change area Q, the visible area (positive area) is specified, and the visible number K of collapsed workpieces that can be accommodated in the visible area in the collapsed goods area B is calculated.
- the step S24 of calculating the visible number K of collapsed works becomes unnecessary.
- the visible number of collapsed workpieces K is obtained by repeatedly subtracting the number of workpieces W obtained from the workpiece shape information from the visible area in the collapsed area B, or by the volume per workpiece W obtained from the workpiece shape information. It is obtained by dividing the volume of the visible area in the area B.
- step S11 based on the range of the number of workpieces that have disappeared (J to J+H) and, in some cases, the range of the number of workpieces that have collapsed (K to K+I), the range of the number of workpieces to be picked up from R (max (J-(K+I), 1) to Calculate max((J+H)-K, 1)).
- the maximum number of unloaded workpieces K is subtracted from the maximum number of destroyed workpieces J+H to obtain the maximum number of unloaded workpieces.
- the range R of the number of workpieces to be picked up is calculated by obtaining the minimum value of the number of workpieces to be picked up.
- the minimum number K of the number of collapsed workpieces is set to 0, the maximum number of collapsed workpieces K+I is set to 0, and the number of collapsed workpieces is set to 0.
- the range of the number of workpieces to be taken out is calculated based only on the range. If it is not determined whether or not one or more workpieces W have been taken out based on the enrollment information (if step S7 is not performed), max(J ⁇ (K+I), 0) to max( Based on (J+H)-K, 0)), the range R of the number of picked-out workpieces of 0 or more is calculated.
- the disappearable invisible number H of workpieces that can be accommodated in the invisible area in the disappearing area A and, depending on the case, the invisible workpiece collapse that can be accommodated in the invisible area in the collapse area B By calculating the number of workpieces I, and the number of workpieces to be picked up, the range R of the number of workpieces to be picked up can be calculated more accurately in consideration of the voids in the workpiece loading area (disappearance area A and, in some cases, the collapsed area B). R can be estimated more accurately.
- FIGS. 8A and 8B are side views showing another example of the work loading area before and after picking up the work.
- FIG. 8A three rectangular works W having short sides and long sides are stacked vertically, one work W in the middle is set vertically, and the remaining two works W are laid down, and two works W are stacked.
- 1 shows a workpiece loading area before workpiece removal, including a cavity of .
- FIG. 8B shows the work loading area after one work W has been taken out and not even one work W has collapsed.
- the visual sensor 5 picks up an image of the work loading area from above and outputs three-dimensional information 51 (indicated by dashed lines) before the work is taken out and three-dimensional information 52 (indicated by the broken line) after the work is taken out.
- the range J to J+H of the number of disappeared workpieces that can be accommodated in the extinction area A is 1 to 3. Since there is no cargo collapse area B, the range K to K+I of the number of collapsed workpieces is zero. Therefore, the range R(max(J-(K+I), 1) to max((J+H)-K, 1)) of the number of workpieces to be taken out is one to three. Because the range R of the number of workpieces to be taken out does not become one value (the minimum value and the maximum value are the same) or does not become the desired number (one in this embodiment, but may be multiple). , the work W is delivered to the original place or the temporary placement table, and the work W is taken out again.
- the disappearance invisible number H of workpieces that can be accommodated in the invisible area in the disappearance area A is two. Since the cargo collapse area B does not exist, the invisible number I of collapsed workpieces that can be accommodated in the invisible area in the cargo collapse area B is zero. The disappearance visible number J of workpieces that can be accommodated in the visible area in the disappearance area A becomes one. Since the cargo collapse area B does not exist, the number K of visible collapsed workpieces that can be accommodated in the visible area in the cargo collapse area B is zero.
- the range R(max(J-(K+I), 1) to max((J+H)-K, 1)) of the number of workpieces to be taken out is one to three. Since the range R of the number of workpieces to be taken out does not become one value (the minimum value and the maximum value are the same) or the desired number of workpieces to be taken out (one in this embodiment), The work W is delivered, and the work W is taken out again.
- FIGS. 9A and 9B are side views showing another example of the work loading area before and after picking up the work.
- FIG. 9A three rectangular works W having short and long sides are randomly stacked in the horizontal direction, two works W are laid down, and the leftmost remaining one work W is the middle work. It shows the work loading area before picking up the work leaning against W.
- FIG. 9B shows the work loading area after unloading the one work W in the middle and the leftmost work W collapsed.
- the visual sensor 5 picks up an image of the work loading area from above and outputs three-dimensional information 51 (indicated by dashed lines) before the work is taken out and three-dimensional information 52 (indicated by the broken line) after the work is taken out.
- the range J to J+H of the number of disappeared workpieces that can be accommodated in the extinction area A is two to two.
- the range K to K+I of the number of collapsed workpieces that can be accommodated in the collapsed cargo area B is 1 to 1 piece. Therefore, the range R(max(J-(K+I), 1) to max((J+H)-K, 1)) of the number of workpieces to be taken out is 1 to 1.
- the workpiece W is transported to the dispensing position. Therefore, since the range R of the number of workpieces to be taken out has one value (the minimum value and the maximum value are the same) and the desired number of workpieces to be taken out (one in this embodiment), the workpiece W is transported to the dispensing position. will do.
- the processing for calculating the number of workpieces to be taken out in the second embodiment since there is no invisible area in the disappearing area A, the disappearing workpieces that can be accommodated in the invisible area in the disappearing area A
- the invisible number H becomes 0. Since there is no invisible area in the cargo collapse area B, the invisible number I of collapsed workpieces that can be accommodated in the invisible area in the cargo collapse area B is zero.
- the disappearance visible number J of workpieces that can be accommodated in the visible area in the disappearance area A is two.
- the visible number K of collapsed workpieces that can be accommodated in the visible region in the collapsed cargo area B is one.
- the range R(max(J-(K+I), 1) to max((J+H)-K, 1)) of the number of workpieces to be taken out is 1 to 1. Since the range R of the number of workpieces to be taken out has one value (the minimum value and the maximum value are the same) and the desired number of workpieces to be taken out (one in this embodiment), the workpiece W is transported to the dispensing position. will do.
- FIGS. 10A and 10B are side views showing another example of the work loading area before and after picking up the work.
- FIG. 10A two rectangular works W having a short side and a long side are laid down, and one work W on the left side is caught by one work W on the right side, and one work W is lifted. It shows the previous work loading area.
- FIG. 10B shows the work loading area after picking out one work W on the right side and the work W on the left side having fallen like ground subsidence.
- the visual sensor 5 picks up an image of the work loading area from above and outputs three-dimensional information 51 (indicated by dashed lines) before the work is taken out and three-dimensional information 52 (indicated by the broken line) after the work is taken out.
- the range J to J+H of the number of disappeared workpieces that can be accommodated in the extinction area A is two to two.
- the cargo collapse area B negative area or positive area
- the range K to K+I of the number of collapsed workpieces that can be accommodated in the collapsed cargo area B is erroneously set to 0 to 0 (originally 1 to 1).
- the range R (max(J-(K+I), 1) to max((J+H)-K, 1)) of the number of workpieces to be taken out is erroneously set to 2 to 2, and one value (minimum and maximum values are the same).
- the number of workpieces to be taken out (two) is not the desired number of workpieces to be taken out (one in this embodiment)
- the workpieces W are delivered to the original place or the temporary placement table, and the workpieces W are taken out again. , the malfunction of the hand system 1 can be prevented.
- the desired number of workpieces to be taken out is two, there is a possibility that only one workpiece W will be transported to the dispensing position by mistake.
- the enrollment information includes the number of workpieces to be taken out (1 piece)
- the calculated number of workpieces to be taken out (2 pieces) is verified based on the number of workpieces to be taken out of the enrollment information (1 piece), thereby preventing errors in the hand system 1. You can prevent it from working.
- the disappearing invisible number of workpieces that can be accommodated in the invisible area in the disappearing area A is H becomes 0 pieces. Since there is no invisible area in the cargo collapse area B, the invisible number I of collapsed workpieces that can be accommodated in the invisible area in the cargo collapse area B is zero.
- the disappearance visible number J of workpieces that can be accommodated in the visible area in the disappearance area A is two.
- the visible area (positive area) in the cargo collapse area B is specified. Therefore, even if the cargo collapse area B actually exists, the visible number K of collapsed workpieces that can be accommodated in the visible area in the collapse area B is erroneously zero. Therefore, the range R (max(J-(K+I), 1) to max((J+H)-K, 1)) of the number of workpieces to be taken out is erroneously set to 2 to 2, and one value (minimum and maximum values are the same).
- the number of workpieces to be taken out (two) is not the desired number of workpieces to be taken out (one in this embodiment), the workpieces W are delivered to the original place or the temporary placement table, and the workpieces W are taken out again. , the malfunction of the hand system 1 can be prevented.
- the desired number of workpieces to be taken out is two, there is a possibility that only one workpiece W will be transported to the dispensing position by mistake.
- the enrollment information includes the number of workpieces to be taken out (1 piece)
- the calculated number of workpieces to be taken out (2 pieces) is verified based on the number of workpieces to be taken out of the enrollment information (1 piece), thereby preventing errors in the hand system 1. You can prevent it from working.
- the hand system 1 of the third embodiment will be explained.
- the hand system 1 of the third embodiment differs from the hand system 1 of the first embodiment in that the visual sensor 5 is used as the presence sensor and thus the presence sensor 6 is not provided.
- the visual sensor 5 measures and outputs three-dimensional information of a target space including a workpiece loading area where a plurality of workpieces W are loaded (stacked or piled up) and the hand 2 for picking up the workpiece W.
- the visual sensor 5 is installed at a fixed point different from the hand 2 and the conveying device 3, so that the visual sensor 5 outputs three-dimensional information of the target space including the hand 2 from which the workpiece W is taken out.
- the visual sensor 5 when the visual sensor 5 outputs three-dimensional information of the target space including the hand 2, the visual sensor 5 may be attached to the hand 2 or the transport device 3 as in the first embodiment. Note that the description of the same configuration and the same operation as those of the hand system 1 of the first embodiment will be omitted below.
- the enrollment information acquisition unit 43 acquires the three-dimensional information 52 after picking up the work from the visual sensor 5 . Based on the three-dimensional information 52 after picking up the workpieces, the enrolled information acquiring unit 43 generates the enrolled information indicating whether or not one or more workpieces W have been picked up by the hand 2, and uses the created enrolled information to calculate the number of picked workpieces. Send to section 44 .
- FIG. 12 is a range image diagram showing an example of the three-dimensional information 52 after picking up the workpiece.
- the enrollment information acquisition unit 43 of the present embodiment presets an enrollment confirmation area 52a including the hand 2 in the three-dimensional information 52 after picking up the workpiece.
- the enrollment information acquisition unit 43 detects the workpieces W from the enrollment confirmation area 52 a using image processing such as matching processing, and generates enrollment information indicating whether or not one or more workpieces W have been taken out by the hand 2 .
- the taken-out work number calculation unit 44 executes calculation processing for the range of the number of taken-out works.
- the taken-out work number calculation unit 44 does not execute the calculation process for the range of the number of taken-out works, and sets the number of taken-out works as 0 to the operation control unit 45. Send out. This can prevent unnecessary calculation processing by the work extraction number calculation unit 44 .
- the enrollment information acquisition unit 43 may calculate the number of workpieces to be taken out from the enrollment confirmation area 52a using image processing.
- the workpiece number calculation unit 44 calculates that the calculated range of the number of workpieces to be picked up is one value (the minimum value and the maximum value are the same) and the desired number of workpieces to be picked up (this embodiment 1 in the form), the calculated number of workpieces to be taken out should be recalculated based on the number of workpieces to be taken out of the enrollment information.
- the visual sensor 5 is used as a presence sensor, there is no need to prepare a presence sensor separate from the visual sensor 5, and a low-cost hand system 1 can be provided. In addition, unnecessary calculation processing by the work extraction number calculation unit 44 can be prevented.
- the computer program described above may be recorded on a computer-readable non-transitory recording medium such as a CD-ROM and provided, or may be distributed via a wired or wireless connection to a WAN (wide area network) or LAN (local area network). It may be distributed and provided from a server device on a network).
- a computer-readable non-transitory recording medium such as a CD-ROM and provided, or may be distributed via a wired or wireless connection to a WAN (wide area network) or LAN (local area network). It may be distributed and provided from a server device on a network).
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Abstract
Description
本開示の他の態様は、ワークの取出し及び払出しを行うハンドと、ハンドを用いてワークを搬送する搬送装置と、ハンド及び搬送装置の少なくとも一方の動作を制御する制御装置と、ワークが複数積載された対象空間の三次元情報を出力する視覚センサと、を備え、制御装置は、対象空間の三次元情報を視覚センサから取得する三次元情報取得部と、ワークの形状情報を取得するワーク形状情報取得部と、ワーク取出し前後の対象空間の三次元情報とワークの形状情報とに基づいてワークの積載領域の中の空洞を考慮してワーク取出し個数の範囲を算出するワーク取出し個数算出部と、ワーク取出し個数の範囲に基づき、搬送装置及びハンドの少なくとも一方の動作を制御する動作制御部と、を備える、ハンドシステムを提供する。
本開示の別の態様は、複数積載されたワークの中から取出されたワークの取出し個数の算出過程を視覚的に表示する表示装置であって、ワーク取出し前後の対象空間の三次元情報の少なくとも一方に、ワーク取出し後にワークの積載領域で変化した変化領域を重ねた重畳画像を表示する表示部を備える、表示装置を提供する。
2 ハンド
3 搬送装置
4 制御装置
5 視覚センサ
6 在籍センサ
7 表示装置
40 ワーク取出し個数算出装置
41 三次元情報取得部
42 ワーク形状情報取得部
43 在籍情報取得部
44 ワーク取出し個数算出部
45 動作制御部
51 ワーク取出し前の三次元情報
52 ワーク取出し後の三次元情報
52a 在籍確認領域
53 ワーク取出し前の不可視三次元情報
54 ワーク取出し後の不可視三次元情報
A 消滅領域
B 荷崩れ領域
H ワーク消滅不可視個数
I ワーク荷崩れ不可視個数
J ワーク消滅可視個数
K ワーク荷崩れ可視個数
Q 変化領域
W ワーク
Claims (15)
- ワークが複数積載された対象空間の三次元情報を取得する三次元情報取得部と、
前記ワークの形状情報を取得するワーク形状情報取得部と、
ワーク取出し前後の前記対象空間の三次元情報と前記ワークの形状情報とに基づいて前記ワークの積載領域の中の空洞を考慮してワーク取出し個数の範囲を算出するワーク取出し個数算出部と、
を備える、ワーク取出し個数算出装置。 - 前記ワーク取出し個数算出部は、ワーク取出し後に前記積載領域から消滅した消滅領域に収容可能なワーク消滅個数の範囲に基づき、前記ワーク取出し個数の範囲を算出する、請求項1に記載のワーク取出し個数算出装置。
- 前記ワーク取出し個数算出部は、ワーク取出し後に前記ワークの前記積載領域に新たに出現した荷崩れ領域に収容可能なワーク荷崩れ個数の範囲を加味し、前記ワーク取出し個数の範囲を算出する、請求項2に記載のワーク取出し個数算出装置。
- 前記ワーク取出し個数算出部は、前記ワーク消滅個数の最大数から前記ワーク荷崩れ個数の最小数を減算して前記ワーク取出し個数の最大値を求め、前記ワーク消滅個数の最小数から前記ワーク荷崩れ個数の最大数を減算して前記ワーク取出し個数の最小値を求めることにより、前記ワーク取出し個数の範囲を算出する、請求項3に記載のワーク取出し個数算出装置。
- ワーク取出し後に前記ワークの積載領域から消滅した消滅領域に収容可能なワーク消滅個数の範囲と、
場合により、ワーク取出し後に前記ワークの積載領域に新たに出現した荷崩れ領域に収容可能なワーク荷崩れ個数の範囲と、
前記ワーク消滅個数の範囲と、場合により前記ワーク荷崩れ個数の範囲とに基づき算出されたワーク取出し個数の範囲と、
前記ワーク取出し個数の範囲の最大値と最小値が一致した場合にはワーク取出し個数と、
のうちの少なくとも一つを表示する表示部をさらに備える、請求項1から4のいずれか一項に記載のワーク取出し個数算出装置。 - 前記表示部は、前記ワーク消滅個数の範囲と、場合により前記ワーク荷崩れ個数の範囲と、前記ワーク取出し個数の範囲と、のうちの少なくとも一つの算出根拠になった場所に、前記ワークの形状モデルを重ねた重畳画像を表示する、請求項5に記載のワーク取出し個数算出装置。
- 前記ワーク取出し個数算出部は、ワーク取出し前後の前記対象空間の前記三次元情報を差分することにより、ワーク取出し後に前記積載領域で変化した変化領域を特定する、請求項1から6のいずれか一項に記載のワーク取出し個数算出装置。
- 前記変化領域は、ワーク取出し後に前記対象空間の前記三次元情報から消滅した消滅領域と、ワーク取出し後に前記対象空間の前記三次元情報に新たに出現した荷崩れ領域と、の少なくとも一方を含む、請求項7に記載のワーク取出し個数算出装置。
- 1個以上の前記ワークを取出したか否かを示す在籍情報を取得する在籍情報取得部をさらに備え、前記ワーク取出し個数算出部は、前記在籍情報に基づいて前記ワーク取出し個数の範囲の計算処理を実行するか否かを判定する、請求項1から8のいずれか一項に記載のワーク取出し個数算出装置。
- 前記ワーク取出し個数の範囲に基づき、前記ワークの取出し及び払出しを行うハンドと、前記ハンドを用いて前記ワークを搬送する搬送装置と、の少なくとも一方の動作を制御する動作制御部をさらに備える、請求項1から9のいずれか一項に記載のワーク取出し個数算出装置。
- 前記動作制御部は前記ワーク取出し個数の範囲が一つの値になり且つ所望の取出し個数になるまで前記ワークの取出し及び払出しを繰り返す動作を前記ハンドに対して指令する、請求項10に記載のワーク取出し個数算出装置。
- ワークの取出し及び払出しを行うハンドと、
前記ハンドを用いてワークを搬送する搬送装置と、
前記ハンド及び前記搬送装置の少なくとも一方の動作を制御する制御装置と、
前記ワークが複数積載された対象空間の三次元情報を出力する視覚センサと、
を備え、
前記制御装置は、
前記対象空間の三次元情報を前記視覚センサから取得する三次元情報取得部と、
前記ワークの形状情報を取得するワーク形状情報取得部と、
ワーク取出し前後の前記対象空間の三次元情報と前記ワークの形状情報とに基づいて前記ワークの積載領域の中の空洞を考慮してワーク取出し個数の範囲を算出するワーク取出し個数算出部と、
前記ワーク取出し個数の範囲に基づき、前記ハンド及び前記搬送装置の少なくとも一方の動作を制御する動作制御部と、
を備える、ハンドシステム。 - 1個以上のワークを取出したか否かを示す在籍情報を出力する在籍センサをさらに備え、前記ワーク取出し個数算出部は前記在籍情報に基づいて前記ワーク取出し個数の範囲の計算処理を実行するか否かを判定する、請求項12に記載のハンドシステム。
- 複数積載されたワークの中から取出されたワークの取出し個数の算出過程を視覚的に表示する表示装置であって、ワーク取出し前後の対象空間の三次元情報の少なくとも一方に、ワーク取出し後にワークの積載領域で変化した変化領域を重ねた重畳画像を表示する表示部を備える、表示装置。
- 前記変化領域は、前記ワーク取出し後に前記積載領域から消滅した消滅領域と、場合により前記ワーク取出し後に前記積載領域に新たに出現した荷崩れ領域と、の少なくとも一方を含み、前記表示部は、前記変化領域、前記消滅領域、及び場合により前記荷崩れ領域の少なくとも一つを識別して表示する、請求項14に記載の表示装置。
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JP2018144156A (ja) * | 2017-03-03 | 2018-09-20 | 株式会社キーエンス | ロボットシミュレーション装置、ロボットシミュレーション方法、ロボットシミュレーションプログラム及びコンピュータで読み取り可能な記録媒体並びに記録した機器 |
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JP2018144156A (ja) * | 2017-03-03 | 2018-09-20 | 株式会社キーエンス | ロボットシミュレーション装置、ロボットシミュレーション方法、ロボットシミュレーションプログラム及びコンピュータで読み取り可能な記録媒体並びに記録した機器 |
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