Patent ID: 11945115
Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A machine learning device that learns an action of a robot including a hand unit to pick out a targeted workpiece from a container containing a plurality of randomly stacked workpieces, the machine learning device comprising:
a behavior observing unit configured to observe a behavior pattern of the robot performing a pick-out action to pick out the targeted workpiece by the hand unit from the container;
a displaced amount observing unit configured to observe, based on pieces of image data captured before and after the pick-out action by the robot and output from an image capturing device that captures an image of an inside of the container, a workpiece displaced amount indicating a displaced amount of an untargeted workpiece, not the targeted workpiece, in the container, caused by the hand unit picking out the targeted workpiece from the container;
a learning unit configured to learn, based on supervised data in which the behavior pattern and the workpiece displaced amount are associated with each other, an influence value on the untargeted workpiece with the behavior pattern for picking out the targeted workpiece by the hand unit from the container, an influence rate depending on the workpiece displaced amount,
a behavior determining unit configured to recognize, when the pieces of image data captured by a single shot conducted before the pick-out action of the robot is output from the image capturing device after the learning unit has learned the influence value, a randomly stacked condition of the plurality of workpieces in the container based on the image data, and determine for each of the workpieces a behavior pattern of a minimum influence value as a behavior pattern of the robot to pick out each of the workpieces by the hand unit from the container; and
a determined unit configured to determine whether all the workpieces each ranked by the influence rate smaller than a predetermined reference value and recognized based on the image data captured by the single shot have been picked out from the container.