Source: https://patents.google.com/patent/CN109318226A/en
Timestamp: 2020-02-26 05:05:14
Document Index: 724835566

Matched Legal Cases: ['art 310', 'art 310', 'art 341', 'art 344', 'art 341', 'art 341', 'art 344', 'art 344', 'art 341', 'art 341', 'art 341', 'art 341']

CN109318226A - Robot controller, robot control method and storage medium - Google Patents
Robot controller, robot control method and storage medium Download PDF
CN109318226A
CN109318226A CN201810606950.7A CN201810606950A CN109318226A CN 109318226 A CN109318226 A CN 109318226A CN 201810606950 A CN201810606950 A CN 201810606950A CN 109318226 A CN109318226 A CN 109318226A
CN201810606950.7A
中岛茜
林剑之介
2018-06-13 Application filed by 欧姆龙株式会社 filed Critical 欧姆龙株式会社
2019-02-12 Publication of CN109318226A publication Critical patent/CN109318226A/en
238000004364 calculation methods Methods 0 abstract claims description 88
239000011551 heat transfer agent Substances 0 abstract claims description 38
A kind of robot controller, robot control method and storage medium, can promptly sort conveyed workpiece.Robot controller (300) has workpiece posture calculation portion (310), reaches prediction section (320), robot posture calculation portion (330) and track data generating unit (340).The heat transfer agent (Ise) that prediction section (320) are based on the conveying speed information (Ivt) from offers such as conveying devices (200), provide from image acquiring device (410) is reached, the sorting predicted position etc. that can be chosen device (120) sorting by the workpiece (W) of conveying device (200) conveying is found out.
Robot controller, robot control method and storage medium
The present invention relates to the control technologies for the robot for sorting object.
The known object (hereinafter also referred to as " workpiece ") being mussily piled up in static container by manipulator by The so-called Bin-Picking system in predetermined position is taken out and transferred load to aly.In Bin-Picking system, measure The position of each workpiece, posture are determined the workpiece that next should be taken out based on measurement result, hold (that is, sorting) by manipulator The work (referring for example to patent document 1) such as the workpiece and transfer.
Patent document 1: Japanese Unexamined Patent Publication 2014-180704 bulletin
However, as described above, existing Bin-Picking system using as sort object workpiece and accommodate workpiece appearance Premised on device is static.Therefore, for the workpiece by manipulator sorting by conveyings such as conveyers, it is necessary to stop conveying every time Machine keeps the workpiece as sorting object static, and there are manipulators to sort the time-consuming problem of workpiece.
The present invention be in view of situation described above and propose, and it is an object of the present invention to provide not having to stop conveyed workpiece just The control technology for the robot that can be promptly sorted.
Robot controller according to an aspect of the present invention, the machine of the workpiece for being conveyed to sorting by conveying device Device people controls, wherein robot controller has: workpiece posture calculation portion, based on the workpiece exported from measuring device Heat transfer agent, calculate the posture of workpiece；Arrival prediction section, the conveying speed of heat transfer agent and conveying device based on workpiece, The workpiece being predicted as in conveying is found out by the sorting predicted position of robotic pick；Robot posture calculation portion, based on calculating Workpiece posture and sort predicted position, calculate sort predicted position robot posture；And track data generates Portion obtains the posture of the work starting position of robot, and the posture based on the acquired robot in work starting position And the posture in the robot for sorting predicted position, generating indicates from work starting position to the robot for sorting predicted position The track data of working trajectory.
According to above structure, the conveying speed of heat transfer agent and conveying device based on workpiece finds out and is predicted as in conveying Workpiece by the sorting predicted position of robotic pick.Also, it the posture of the work starting position based on robot and is sorting The posture of the robot of predicted position, generating indicates from the work starting position of the robot to the work rail for sorting predicted position The track data of mark, therefore start to work from robot to being sorted, even if being conveyed as the workpiece for sorting object, also can Enough considerations convey the movement of caused workpiece to control the sorting work of robot.It is more fast than the prior art thereby, it is possible to realize The sorting work of speed.
Robot control method according to other aspects of the invention, for sorting the workpiece conveyed by conveying device Robot is controlled, wherein robot control method is the following steps are included: the sensing based on the workpiece exported from measuring device Information calculates the posture of workpiece；The conveying speed of heat transfer agent and conveying device based on workpiece finds out and is predicted as in conveying Workpiece is by the sorting predicted position of robotic pick；Posture and sorting predicted position, calculating based on calculated workpiece are picking Select the posture of the robot of predicted position；And obtain robot work starting position posture, and based on it is acquired The posture of the posture of the robot of work starting position and the robot in sorting predicted position, generating indicates from work start bit Set the track data for sorting the working trajectory of robot of predicted position.
Storage medium according to other aspects of the invention, is stored with robot control program, wherein robot controls journey The computer that sequence is used to that the robot for the workpiece for conveying sorting by conveying device to be made to be controlled is carried out as following part Work: workpiece posture calculation portion calculates the posture of workpiece based on the heat transfer agent of the workpiece exported from measuring device；It reaches pre- Survey portion, the conveying speed of heat transfer agent and conveying device based on workpiece find out the workpiece being predicted as in conveying and are picked by robot The sorting predicted position of choosing；Robot posture calculation portion, posture and sorting predicted position based on calculated workpiece, calculates and exists Sort the posture of the robot of predicted position；And track data generating unit, the posture of the work starting position of robot is obtained, And the posture of the posture based on the acquired robot in work starting position and the robot in sorting predicted position, it generates Indicate the track data from work starting position to the working trajectory for the robot for sorting predicted position.
In accordance with the invention it is possible to provide a kind of machine that can be promptly sorted without stopping conveyed workpiece The control technology of people.
Fig. 1 is the integrally-built figure for showing robotic pick system.
Fig. 2 is the figure for showing the hardware configuration of robot controller.
Fig. 3 is the block diagram for showing the structure of robot controller.
Fig. 4 is the flow chart for showing robot control processing.
Fig. 5 is the block diagram for showing the structure of robot controller of variation.
Fig. 6 is the flow chart for showing the robot control processing of variation.
Fig. 7 is the block diagram for showing the structure of robot controller of application examples.
1 ... robotic pick system；100 ... robots；110 ... arms；120 ... sorting plants；200 ... conveying devices； 300,300a, 300b ... robot controller；301…CPU；302 ... memories；303 ... input units；304 ... output dresses It sets；305 ... storage devices；306 ... communication devices；310 ... workpiece posture calculation portions；320 ... reach prediction section；330 ... machines People's posture calculation portion；340 ... track data generating units；Calculation part the time required to 341 ... work；342 ... speed sync portions； 343 ... interference determination units；344 ... speed/acceleration calculation parts；350 ... hold data generating section；360 ..., which place posture, calculates Portion；370 ... track data selectors；400 ... workpiece measuring devices；410 ... image acquiring devices.
In the following, referring to attached drawing, detailed description of embodiments of the present invention.It should be noted that for identical element Same reference numerals are marked, and omit repeated explanation.In addition, following implementation is for illustrating example of the invention, not It is intended to the present invention being only defined in the embodiment.In addition, the present invention be able to carry out within the scope of its spirit it is various Deformation.
<robotic pick system>
Fig. 1 is the figure for showing the robotic pick system 1 of present embodiment.As shown in Figure 1, robotic pick system 1 is Robot 100 sort the workpiece W in the shell C conveyed by conveying device 200 one by one and be transplanted on scheduled frame D (or conveying dress Set) on system.
Conveying device 200 is, for example, the various conveyers being set in factory, is conveyed in shell C by conveying device 200 The multiple workpiece W accommodated.In the present embodiment, it is assumed that multiple workpiece W are with the transported feelings of the state in shell C in bulk Condition, but multiple workpiece W can also state (that is, not being housed in the state in shell C) to be directly placed on conveyer It is conveyed.
Workpiece W is, for example, the various workpiece such as metal parts, food, machining object.The work sorted by robot 100 from shell C Part W is for example shifted into the predetermined position on frame D.
Robotic pick system 1 has: robot 100, in the shape for stopping the workpiece W conveyed by conveying device 200 Workpiece W is sorted from shell C under state and is transplanted on frame D；Robot controller 300 controls the work of robot 100； Workpiece measuring device 400, obtain the image of workpiece W, and measure the posture of workpiece W, position etc..
Robot 100 is the so-called articulated robot for having arm 110 and sorting plant (manipulator) 120.Robot 100 have the structure for the required six degree of freedom that carries out working in three dimensions.But the present invention is not intended to be limited to six certainly By the robot spent, the machine for the structure with seven freedom that redundant degree of freedom is increased on six degree of freedom can also be applied to People etc..
Sorting plant 120 is installed on the front end of arm 110.The sorting plant 120 of present embodiment is, for example, parallel hand, refers to more Hand refers to multi-joint hand etc. more, keeps workpiece W by making multiple components that work be opened and closed.The opening and closing work of sorting plant 120 It is controlled according to the control signal provided from robot controller 300.
<workpiece measuring device>
Workpiece measuring device 400 exports the image data of workpiece W to robot controller 300.In detail, workpiece is surveyed Amount device 400 has the control program that the image acquiring device 410, CPU, storage of the image data for obtaining workpiece W are executed by CPU Memories, the communication interface such as ROM, RAM etc..Image acquiring device 410 is for example able to use imaging sensor.Workpiece calibration dress 400 are set from memory reading control program and to execute by CPU, thus using the image data of workpiece W as heat transfer agent via Communication interface is output to robot controller 300.
<robot controller>
Robot controller 300 carries out each section of robot 100 by providing control signal to robot 100 Maincenter control.Robot controller 300 is by the calculating mechanism that is connect in a manner of being able to carry out two-way communication with robot 100 At.
Fig. 2 is the figure for showing the structure of robot controller 300.
Robot controller 300 is made of information processing units such as personal computers.Robot controller 300 has It stores by memories 302 such as CPU301 ROM, RAM of various control programs executed, with keyboard, mouse, operation button etc. The storage devices 305 such as input unit 303, the output device 304 with liquid crystal display panel etc., hard disk, leading to each communication interface T unit 306 etc..
Fig. 3 is the block diagram for showing the structure of robot controller 300.
Robot controller 300 by CPU301 read and explain/execute memory 302 etc. in the software that is stored, Realize each section as follows.
As shown in figure 3, robot controller 300 has workpiece posture calculation portion 310, reaches prediction section 320, robot Posture calculation portion 330 and track data generating unit 340.
<workpiece posture calculation portion>
Workpiece posture calculation portion 310 detects workpiece W based on the heat transfer agent Ise provided from workpiece measuring device 400, finds out Indicate the posture number of the posture of the work starting position (that is, the position at the measurement moment of workpiece W) as the workpiece W for sorting object According to Dwp1.In the present embodiment, the detection carried out by workpiece posture calculation portion 310 as the workpiece W for sorting object is instantiated The case where, but replace this, workpiece W can also be detected from the image data of workpiece W by workpiece measuring device 400, by indicating The heat transfer agent of coordinate value, the coordinate system of obtained workpiece W etc. is output to workpiece posture calculation portion 310, and by workpiece posture meter Calculation portion 310 is based on heat transfer agent and finds out gesture data Dwp1.On the other hand, based on from the workpiece W's for reaching the output of prediction section 320 Reaching predictive information Ipa (specifically, indicates the sorting prediction bits confidence of the sorting predicted position of aftermentioned predicted workpiece W Cease Ipp, indicate reach prediction time arrival prediction time information Iat) and workpiece W gesture data Dwp1, find out expression work The gesture data Dwp2 of the posture of the sorting predicted position of part W.Workpiece posture calculation portion 310 is being calculated as the work for sorting object When the posture of the work starting position of part W, the matching with CAD model (model data) is carried out.About the matching work with CAD model Make, in detail for, firstly, the CAD model of workpiece W is stored in advance in memory of workpiece posture calculation portion 310 etc..Work Part posture calculation portion 310 carries out the matching of the heat transfer agent Ise and CAD model that provide from workpiece measuring device 400, utilizes matching As a result the posture of workpiece W is calculated.It is compared as a result, with the case where CAD model not used as the workpiece W of benchmark, energy Enough carry out the calculating of high-precision posture.
It should be noted that in the posture of workpiece W, such as used the rolling pitching yaw angle of three rotary shafts Posture statement used.In addition, workpiece posture calculation portion 310 by by workpiece W work starting position gesture data Dwp1 (is turned over multiplied by the amount of movement of the XYZ axis direction until sorting predicted position of workpiece W and around the rotation amount of XYZ axis Roll pitching yaw angle), the posture of the sorting predicted position of workpiece W is calculated, gesture data Dwp2 is found out.
In addition, in the case where the posture of workpiece W changes on the move, if the variation of the posture of previously known workpiece W Amount then can also be provided the variable quantity of posture as compensation.Workpiece posture calculation portion 310 is finding out workpiece W in the above described manner Work starting position gesture data Dwp1 and workpiece W sortings predicted position gesture data Dwp2 after, by sort prediction The gesture data Dwp2 of position is output to robot posture calculation portion 330.In addition, in the present embodiment, instantiating by workpiece Posture calculation portion 310 finds out the gesture data Dwp1's for the posture for indicating the work starting position as the workpiece W for sorting object Situation, but replace this, can also be calculated gesture data Dwp1 by workpiece measuring device 400, and by the calculated gesture data of institute Dwp1 is output to workpiece posture calculation portion 310 together with the heat transfer agent of position, the distance of expression workpiece W etc..
<reaching prediction section>
Reach prediction section 320 based on indicate from the information of the conveying speeds of the offers such as conveying device 200 (hereinafter also referred to as " conveying speed information ") Ivt and from image acquiring device 410 provide heat transfer agent Ise, find out and conveyed by conveying device 200 Workpiece W can be chosen device 120 (i.e. manipulator) sorting position (hereinafter also referred to as " sort predicted position "), can It reaches at the time of sorting predicted position (hereinafter also referred to as " reaching prediction time ") etc..As an example for sorting predicted position, example It can such as be set as in the range of the front center of robot 100 difference to the left and right X degree, radius Ym, but be not intended to limit In this, it is also contemplated that the layout designs etc. of factory are appropriately configured.Reach the sorting prediction that prediction section 320 finds out workpiece W Position and after reaching prediction time, will indicate the sorting predicted position of predicted workpiece W sorting predicted position information Ipp and Indicate that the arrival prediction time information Iat for reaching prediction time is output to workpiece posture as the arrival predictive information Ipa of workpiece W Calculation part 310.
<robot posture calculation portion>
Sorting predicted position of the robot posture calculation portion 330 based on the workpiece W provided from workpiece posture calculation portion 310 Gesture data Dwp2 calculates the posture for sorting the robot 100 of predicted position.Robot posture calculation portion 330 calculates sorting After the posture of the robot 100 of predicted position, using calculated result as the gesture data for the robot 100 for sorting predicted position Drp2 is output to track data generating unit 340.It should be noted that in the present embodiment, instantiating and being calculated by workpiece posture Portion 310 finds out the case where gesture data Dwp2 of the sorting predicted position of workpiece W, but can also be by robot posture calculation portion 330 using from reach prediction section 320 provide workpiece W reach predictive information Ipa and from workpiece posture calculation portion 310 provide The gesture data Dwp1 of the work starting position of workpiece W, finds out the gesture data Dwp2 of the sorting predicted position of workpiece W.
<track data generating unit>
The appearance of work starting position of the track data generating unit 340 based on the expression robot 100 provided from robot 100 The gesture data Drp1 of gesture and the expression provided from robot posture calculation portion 330 sort the gesture data of the posture of predicted position Drp2 generates the track data Dtr of robot 100.Here, the track data Dtr of robot 100 is indicated from robot 100 Work starting position to the sorting predicted position predicted trace information data.Trace information can be by being based on machine The posture of people 100 determines the original state of the robot 100 of work starting position, and calculates pre- from the original state to sorting Track that location is set is found out.After track data generating unit 340 generates track data Dtr, as track data Dtr or control machine The control signal Sc of the work of device people 100 is output to robot 100.Robot 100 is exported according to from track data generating unit 340 Control signal Sc, carry out arm 110, the work in each joint, the opening and closing work of sorting plant 120.
A-2. it works
Fig. 4 is the flow chart for showing the robot control processing executed by the robot controller 300 of present embodiment.
Robot controller 300 obtains image data (heat transfer agent) (step of workpiece W from workpiece measuring device 400 S1 after), firstly, obtaining the conveying speed (step S2) of conveying device 200.In detail, the arrival of robot controller 300 Prediction section 320 obtains the conveying speed of conveying device 200 based on the conveying speed information Ivt provided from conveying device 200.This Outside, reach prediction section 320 and receive heat transfer agent Ise from workpiece measuring device 400, and based on the received heat transfer agent Ise of institute and Acquired conveying speed finds out the sorting predicted position of workpiece W and reaches prediction time (step S3).Also, reach prediction Portion 320 will indicate the sorting predicted position information Ipp of the sorting predicted position of predicted workpiece W and indicate to reach prediction time Arrival prediction time information Iat be output to workpiece posture calculation portion 310 as the arrival predictive information Ipa of workpiece W.In addition, In the present embodiment, the arrival predictive information Ipa of workpiece W is output to workpiece posture calculation portion 310, but machine can also be passed through Device people posture calculation portion 330 calculates the gesture data Dwp2 for indicating to sort the posture of workpiece W of predicted position, in such case Under, gesture data Dwp2 is output to robot posture calculation portion 330.
On the other hand, workpiece posture calculation portion 310 is based on the heat transfer agent Ise detection provided from workpiece measuring device 400 Workpiece W, and find out the gesture data Dwp1 for indicating the posture of the work starting position as the workpiece W for sorting object, another party Face, based on the arrival predictive information Ipa from the workpiece W for reaching the output of prediction section 320 (that is, indicating the sorting of predicted workpiece W The sorting predicted position information Ipp of predicted position, indicate to reach the arrival prediction time information Iat of prediction time) and workpiece W Gesture data Dwp1 finds out the gesture data Dwp2 (step S4) for indicating the posture of sorting predicted position of workpiece W.Workpiece posture The gesture data Dwp2 of calculated workpiece W is output to robot posture calculation portion 330 by calculation part 310.
Sorting predicted position of the robot posture calculation portion 330 based on the workpiece W provided from workpiece posture calculation portion 310 Gesture data Dwp2 calculates the posture (step S5) for sorting the robot 100 of predicted position.Robot posture calculation portion 330 is counted After calculating the posture for sorting the robot 100 of predicted position, using calculated result as the appearance for the robot 100 for sorting predicted position Gesture data Drp2 is output to track data generating unit 340.
The appearance of work starting position of the track data generating unit 340 based on the expression robot 100 provided from robot 100 The gesture data Drp1 of gesture and the expression provided from robot posture calculation portion 330 sort the gesture data of the posture of predicted position Drp2 generates the track data Dtr (step S6) of robot 100, is output to machine as track data Dtr or control signal Sc People 100 (step S7).Robot 100 carries out arm 110, each pass according to the control signal Sc exported from track data generating unit 340 Work, opening and closing work of sorting plant 120 of section etc., and the workpiece W moved in conveying device 200 is transplanted on frame D Predetermined position.A series of processing discussed above are repeated by robot controller 300 for each workpiece W.By holding This robot control processing of row, without stopping conveying device 200, can be transplanted on frame for each workpiece W in conveying device 200 The predetermined position of D.
B-1. structure
Fig. 5 is the block diagram for showing the structure of robot controller 300a of variation.Robot control dress shown in fig. 5 The hardware configuration for setting 300a is identical as the robot controller 300 of present embodiment.But robot controller 300a exists Have calculation part 341 the time required to work, speed sync portion 342, interference determination unit 343, speed/acceleration calculation part 344, On this point of holding data generating section 350, it is different from the robot controller 300 of present embodiment.In terms of other, due to It is identical as robot controller 300 shown in Fig. 3, therefore same reference numerals are marked to corresponding part, and omit detailed Explanation.It should be noted that robot controller 300a is also identical as robot controller 300, by by CPU301 The software stored in reading and explain/execute memory 302 etc., realizes each section shown in fig. 5.
<calculation part the time required to work>
Work the time required to gesture data Drp1, Drp2 etc. of the calculation part 341 based on above-mentioned robot 100, calculate from The current location of robot to workpiece W sorting predicted position robot 100 work the time required to.Track data generating unit The time required to 340 by calculation part 341 calculated work the time required to considering by work, can to workpiece W movement (that is, Conveying until workpiece W is sorted by robot 100) calculating of track data Dtr that is not postponed.
<speed sync portion>
Speed sync portion 342 makes the conveying speed of conveying device 200 after sorting plant (manipulator) 120 reaches workpiece W (that is, the relative velocity zero for making the two) synchronous with the operating rate of robot 100.Specifically, workpiece is reached in manipulator 120 After W, using synchronous encoder etc. successively the conveying speed of detection conveying device 200 and the operating rate of manipulator 120 it Difference controls the work of conveying device 200 and manipulator 120 in a manner of making difference be zero.It reaches and sorts in manipulator 120 After predicted position, by keeping the conveying speed of conveying device 200 synchronous with the operating rate of robot 100, it can be filled by sorting It sets 120 couples of workpiece W and carries out stable sorting work.It should be noted that manipulator 120 is constant speed before reaching workpiece W In the case of, the conveying speed of conveying device 200 can also be cooperated to work in the state of constant speed.
<interference determination unit>
Interfere determination unit (constraint condition determination unit) 343 based on the track data generated by track data generating unit 340, base In (1) as follows, (2) two concepts, determine whether the movement (track) of robot 100 is interfered with barrier.
(1) track generated every time to part carries out interference judgement, and the track that do not interfered by connection, generate not with barrier The track data for hindering object to collide.
(2) to the entire track until the work starting position to the sorting predicted position predicted of robot 100 into Row interference determines, if do not interfered, uses as track data.
In the case where determining that robot 100 is not collided with barrier by interference determination unit 343, track data generating unit 340 generate the track data Dtr of robot 100, are output to robot 100 as track data Dtr or control signal Sc.By This, can will sort the problem of robot 100 is collided with barrier in work and prevent in the first place.It should be noted that in this change In shape example, as one of constraint condition, interference of the barrier to robot 100 is instantiated, but be not intended to be limited to this.Except this Except, the settings such as track, the speed/acceleration for considering robot 100 can also will be generated in the movable area of robot 100 For one of constraint condition.
<speed/acceleration calculation part>
When in track, data generating section 340 generates track data Dtr, speed/acceleration calculation part 344 is by optimal machine In the speed/acceleration reflection to the track data Dtr of robot 100 in each joint of people 100.It is substantially carried out from two viewpoints each The optimization of the speed/acceleration in joint.One be robot 100 work variation in the case where (change point of work), By the trapezoidal control etc. of speed, the smooth work in each joint of robot 100 is realized.The other is holding workpiece W's In the case of, by each joint of slowly mobile robot 100, realize reliable holding of the robot 100 to workpiece W.
<holding data generating section>
It holds generation sorting plant (manipulator) 120 of data generating section 350 and steadily holds the desired position workpiece W, angle Degree etc. holds data.Data generating section 350 is held based on heat transfer agent Ise, the expression workpiece provided from workpiece measuring device 400 Weight, information of friction of W etc. execute the plan of holding, such as select optimal gripping point, generate and hold in optimal gripping point Holding data Dgr needed for workpiece W.Here, holding plan refers to that finding out can be steady in the posture of given workpiece W Surely the Plan Problem of the configuration of the manipulator 120 of workpiece W is held, gripping point refers to that the hand for holding manipulator 120 when executing is sat Mark the posture of system.After holding the generation holding of data generating section 350 data Dgr, holding data Dgr generated is exported To robot posture calculation portion 330.In this way, holding position by selecting based on the plan of holding, and determine the sorting for catching workpiece W The position of device 120, angle are able to carry out stable sorting work.It should be noted that can also be in workpiece measuring device Setting holds data generating section 350 in 400.
B-2. it works
Fig. 6 is the flow chart for showing the robot control processing executed by the robot controller 300 of variation.It needs Illustrate, same reference numerals is marked to the step corresponding with robot shown in Fig. 4 control processing, and omit specifically It is bright.
Robot controller 300 from workpiece measuring device 400 obtain workpiece W image data (step S1) after, firstly, Obtain the conveying speed (step S2) of conveying device 200.In detail, 320 base of arrival prediction section of robot controller 300 In the conveying speed information Ivt provided from conveying device 200, the conveying speed of conveying device 200 is obtained.In addition, reaching prediction Portion 320 from workpiece measuring device 400 receive heat transfer agent Ise, and based on received heat transfer agent Ise and acquired conveying Speed finds out the sorting predicted position of workpiece W and reaches prediction time (step S3).Also, institute will be indicated by reaching prediction section 320 When the sorting predicted position information Ipp of the sorting predicted position of the workpiece W of prediction and expression reach the arrival prediction of prediction time Information Iat is carved as the arrival predictive information Ipa of workpiece W and is output to workpiece posture calculation portion 310.In addition, in this variation, It has been output to workpiece posture calculation portion 310, but expression can also have been calculated by robot posture calculation portion 330 and sort predicted position The gesture data Dwp2 of posture of workpiece W gesture data Dwp2 is output to robot posture calculation portion in this case 330。
On the other hand, workpiece posture calculation portion 310 is based on the heat transfer agent Ise detection provided from workpiece measuring device 400 Workpiece W, and the gesture data Dwp1 indicated as posture of the workpiece W of object at the starting position that works is sorted is found out, it is another Aspect, based on the arrival predictive information Ipa from the workpiece W for reaching the output of prediction section 320 (that is, indicating picking for predicted workpiece W Select the sorting predicted position information Ipp of predicted position, indicate to reach the arrival prediction time information Iat of prediction time) and workpiece W Gesture data Dwp1, find out indicate workpiece W sort predicted position at posture gesture data Dwp2 (step S4).Workpiece The gesture data Dwp2 of calculated workpiece W is output to and holds data generating section 350 by posture calculation portion 310.
Hold the appearance of sorting predicted position of the data generating section 350 based on the workpiece W provided from workpiece posture calculation portion 310 Gesture data Dwp2, the heat transfer agent Ise provided from workpiece measuring device 400, the weight, the information of friction that indicate workpiece W etc. are held Row holds plan, selectes optimal gripping point, generates holding data Dgr needed for holding workpiece W in optimal gripping point.It holds Holding data Dgr generated is output to robot posture calculation portion 330 by data generating section 350.
Robot posture calculation portion 330 is based on the holding data Dgr exported from holding data generating section 350, computing machine People is in the posture (step S5) for sorting the robot 100 at predicted position.Also, robot posture calculation portion 330 will be calculated and be tied Fruit is output to track data generating unit 340 as the gesture data Drp2 for the robot 100 for sorting predicted position.Track data is raw At portion 340 based on the gesture data Drp1 for indicating posture of the robot 100 at work starting position provided from robot 100 , in the gesture data Drp2 for sorting the posture at predicted position, machine is generated with from the expression that robot posture calculation portion 330 provides The track data Dtr (step S6) of device people 100.
Interfere determination unit 343 based on the track data generated by track data generating unit 340, determines the fortune of robot 100 Whether dynamic (track) with barrier interferes (step S6A).Robot 100 and barrier are being confirmed as not by interference determination unit 343 After interference, speed sync portion 342 is when track data generating section 340 generates track data Dtr, in order to (mechanical in sorting plant Hand) 120 arrival workpiece W after keep the conveying speed of conveying device 200 synchronous with the operating rate of robot 100, calculating synchronous speed It spends (step S6B).
On the other hand, speed/acceleration calculation part 344 is when track data generating section 340 generates track data Dtr, meter The speed/acceleration (step S6C) in each joint of optimal robot 100.In addition, 341 base of calculation part the time required to work In gesture data Drp1, Drp2 etc. of robot 100, the sorting predicted position from the current location of robot to workpiece W is calculated Until robot 100 work the time required to (step S6D).Also, work required time calculation part 341 judges calculated The time required to work whether within lower limit working time (setting time) Tmin (step S6E).Calculation part the time required to work 341 in the case where being judged as that the calculated working time has exceeded lower limit working time Tmin (step S6E: no), return to Step S6 repeats above-mentioned a series of activities, with the track data Dtr in order to regenerate robot 100.
On the other hand, calculation part 341 works the time required to being judged as calculated work in lower limit the time required to work When within time Tmin (step S6E: yes), the output of track data Dtr is indicated to track data generating unit 340.Track data Generating unit 340 according to work the time required to calculation part 341 instruction, using the track data Dtr generated in step s 6 as control Signal Sc processed is output to robot 100 (step S7).Robot 100 believes according to the control exported from track data generating unit 340 Number Sc carries out arm 110, the work in each joint, opening and closing work of sorting plant 120 etc., the work that will be moved in conveying device 200 Part W is transplanted on the predetermined position on frame D.In this way, can also be in speed/acceleration in view of the presence or absence of barrier, robot 100 It spends, the work of robot 100 required time optimizes the work plan of robot 100.It should be noted that under above-mentioned It as long as limiting conveying speed etc. of the working time Tmin for example based on 200 conveying workpieces W of conveying device to precalculate out, and is work The calculated lower limit working time Tmin of the setting of calculation part 341 institute the time required to making.But, lower limit working time Tmin It is configured to production line operation person etc. and is able to carry out suitably set change.
Here, Fig. 7 is the block diagram for showing the structure of robot controller 300b of application examples.Robot shown in Fig. 7 The hardware configuration of control device 300b is identical as the robot controller 300 of present embodiment.But robot controller 300b is having on this point of placing posture calculation portion 360, track data selector 370, the robot control with present embodiment Device 300 processed is different.In terms of other, due to identical as robot controller 300 shown in Fig. 3, to corresponding Part mark same reference numerals, and omit detailed description.It should be noted that robot controller 300b also with machine People's control device 300 is identical, by the software stored in being read by CPU301 and explained/executed memory 302 etc., realizes figure Each section shown in 7.
<placing posture calculation portion>
It places posture calculation portion 360 and calculates the workpiece W placement (mounting) for being sorted robot 100 in frame D, conveying device Predetermined position on 200) when workpiece W posture.By using the structure, such as the work that robot 100 can be transferred Part W is placed in the state of proper alignment is placed on frame D, the pallet in conveying device 200, in case.It should be noted that placing When workpiece W posture can utilize the heat transfer agent Ise exported from workpiece measuring device 400, defeated from other various sensors etc. The information related with the placement of workpiece W that enters calculates.
<track data selector>
Track data selector 370 is based on to the arrival predicted position of workpiece W, moment, the speed that can assign robot 100 Degree, acceleration etc. select the track optimal to sorting from the multiple track data Dtr generated by track data generating unit 340 Data Dtr.Thereby, it is possible to generate optimal route planning.It should be noted that present aspect is right with track data generating unit 340 One workpiece W generates multiple track data Dtr, or premised on generating multiple track data Dtr to multiple workpiece W, this point It please notes.
It should be noted that robot 100 be also possible to mobile robot (such as oneself formed mapping carry out it is mobile from Dynamic transfer robot), automatic conveying vehicle (AGV；Automated Guided Vehicle) on the robot that carries, can also be With the articulated robot of the straight line coaxial combination in the direction XYZ.In this case, track data generating unit 340 is in addition to sorting Except the robot 100 of workpiece W, the track data of mobile robot, automatic conveying vehicle also can be generated.Robot 100 as a result, Workpiece W can be sorted in arbitrary site.
In addition, in the present embodiment, making robot 100 physically carry out sorting work, but be not intended to limit In this, the robot on simulator can also be made to carry out sorting work.In this way, can to make robot work on not practical, but Simulate the sorting work of virtual robot.
In above-mentioned embodiment etc., instantiate the case where multiple workpiece W have been put into shell C but it is also possible to be Various types of containers (such as saving space container or accumulator) etc..By the way that workpiece W is put into container, the posture of workpiece W It is easily varied as free position.
Conveying device 200 is also possible to mobile robot, automatic conveying vehicle, movable stage etc. other than conveyer. By utilizing using mobile robot, automatic conveying vehicle as conveying device, workpiece W can be transported to arbitrary site.
Workpiece measuring device 400 is also possible to pass three-dimensional distance imaging sensor, image other than imaging sensor Sensor and the structure of distance measuring sensor combination.By using three-dimensional distance imaging sensor etc., work can be more precisely found out Position, shape, inclination of part W etc..
Sorting plant 120 is also possible to absorption dress other than parallel hand, multifinger hand, referring to the arm devices such as multi-joint hand more It sets.That is, the various sorting plants for being able to maintain workpiece W can be utilized.
Here, workpiece posture calculation portion 310 is being calculated as the posture for sorting the workpiece W of object at work starting position When, replace the matching carried out with CAD model (model data), is also possible to and according to measurement result data progress generated Matching and the matching for having used the pattern of 2D sensor to carry out.In addition, the heat transfer agent Ise of workpiece W and of model data Match, substitution is carried out by workpiece posture calculation portion 310, can also be carried out in workpiece measuring device 400 and the matching of CAD model.
In addition, reach prediction section 320 generate indicate workpiece W sorting predicted position sorting predicted position information Ipp, Indicate workpiece W in the gesture data Dwp2 for sorting the posture at predicted position and the arrival prediction time for indicating arrival prediction time When information Iat, encoder values, the rotation speed of conveyer etc. provided from conveying device 200 also can use.In addition, can also In the hope of going out movement velocity, the direction of workpiece W, so that generating above-mentioned sorting predicted position information Ipp, workpiece W is sorting prediction Gesture data Dwp2, arrival prediction time information Iat at position.By utilizing these information, in addition to sorting predicted position, work Part W can also find out the workpiece W's of any position except the arrival prediction time for sorting the posture at predicted position, workpiece W Position, posture, arrival prediction time etc..
In addition, track data generating unit 340 also can use RRT when generating the track data Dtr of robot 100 (Rapidly-Exploring Random Tree: quickly traversing random tree), PRM (Probabilistic Roadmap Method: outline path profile method) etc. stochastical samplings method, CHOMP (Covariant Hamiltonian Optimization for Motion Planning: for motion planning covariant Hamiltonian optimize) etc. trajectory optimizations method.According to this aspect, Track data Dtr can more quickly be generated.But, it is not intended that it is defined in this, also can use unit split plot design, potential field method Generate the track data Dtr of robot 100.
In addition, track data generating unit 340 is also possible to pre-enter as the conveyer of conveying device 200, shell C The structure of the relevant barrier data of barrier (data including determining position, shape).By pre-entering the barrier number According to track data generating unit 340 can generate the not track data with the robot 100 of barrier collision.It should be noted that Also the dyspoiesis object data such as various sensors can be used, and be output to track data generating unit 340.
It should be noted that in the present specification, " portion " refers not only to physical structure, it also include that " portion " is somebody's turn to do by software realization The case where performed processing.In addition, both can realize " portion ", a device institute by more than two physical structures, device The processing of execution can also realize more than two " portions ", device by a physical unit, device.
In addition, in the present specification, step in above-mentioned each processing energy in the range of not generating contradiction with process content It reaches any change sequence or executes side by side.
In addition, the program of each processing of implementation illustrated in the present specification also can store in the recording medium.By making With the recording medium, above procedure can be installed in robot controller 300.Here, the record of storage above procedure is situated between Matter is also possible to the recording medium of non-transitory.The recording medium of non-transitory is not particularly limited, such as is also possible to CD- The recording mediums such as ROM.
A kind of robot controller, at least one hardware for having at least one processor and being connect with the memory Processor, the robot of workpiece for being conveyed to sorting by conveying device control,
The hardware processor is carried out by executing the preset program stored in the memory as with lower component Work,
Workpiece posture calculation portion calculates the workpiece based on the heat transfer agent of the workpiece exported from measuring device Posture；
Prediction section is reached, the conveying speed of heat transfer agent and the conveying device based on the workpiece finds out and is predicted as The workpiece in conveying is by the sorting predicted position of the robotic pick；
Robot posture calculation portion, posture and the sorting predicted position based on the calculated workpiece calculate institute State posture of the robot at the sorting predicted position；And
Track data generating unit obtains posture of the robot at work starting position, and based on acquired institute Posture and robot posture the sorting predicted position at of the robot at the work starting position is stated, is generated Indicate the track data from the work starting position to the working trajectory of the robot for sorting predicted position.
A kind of robot control method, the work for being conveyed to sorting by conveying device by least one hardware processor The robot of part is controlled,
The hardware processor executes following steps:
Based on the heat transfer agent of the workpiece exported from measuring device, the posture of the workpiece is calculated；
The conveying speed of heat transfer agent and the conveying device based on the workpiece is found out described in being predicted as conveying Workpiece is by the sorting predicted position of the robotic pick；
Posture and the sorting predicted position based on the calculated workpiece, calculate the robot in the sorting Posture at predicted position；And
Posture of the robot at work starting position is obtained, and based on the acquired robot in the work Make the posture of posture and the robot at the sorting predicted position at starting position, generating indicates to open from the work Beginning position to it is described sort predicted position the robot working trajectory track data.
1. the robot of a kind of robot controller, the workpiece for being conveyed to sorting by conveying device controls, wherein The robot controller has:
Workpiece posture calculation portion calculates the posture of the workpiece based on the heat transfer agent of the workpiece exported from measuring device；
Prediction section is reached, the conveying speed of heat transfer agent and the conveying device based on the workpiece finds out and is predicted as conveying In the workpiece by the sorting predicted position of the robotic pick；
Robot posture calculation portion, posture and the sorting predicted position based on the calculated workpiece, calculates the machine Posture of the device people at the sorting predicted position；And
Track data generating unit obtains posture of the robot at work starting position, and based on the acquired machine Posture and robot posture the sorting predicted position at of the device people at the work starting position, generating indicates From the work starting position to the track data of the working trajectory of the robot for sorting predicted position.
2. robot controller according to claim 1, wherein
The robot controller is also equipped with calculation part the time required to work, and calculation part is based on described the time required to the work The posture of posture of the robot at the work starting position and the robot at the sorting predicted position, calculate from The work starting position to it is described sort predicted position the robot work the time required to,
It is defeated that the track data generating unit will be deemed as the track data of the work required time within setting time Out to the robot.
3. robot controller according to claim 1, wherein
The robot controller is also equipped with speed sync portion, after the robot reaches the sorting predicted position, institute Stating speed sync portion keeps the conveying speed of the conveying device synchronous with the operating rate of the robot.
4. robot controller according to claim 1, wherein
The robot controller is also equipped with holding data generating section, and the holding data generating section is based on filling from the measurement The heat transfer agent of offer is provided, generate the position kept needed for the workpiece comprising the robot robot stabilizedly and The holding data of angle.
5. robot controller according to claim 1, wherein
The robot controller is also equipped with constraint condition determination unit, and the constraint condition determination unit is based on by the track number According to the track data that generating unit generates, determine whether the robot interferes with barrier during the work of the robot.
6. robot controller according to claim 1, wherein
The robot controller is also equipped with speed/acceleration calculation part, in the changed feelings of the work of the robot Condition and the robot keep at least any one in the case where the workpiece in the case of, the speed/acceleration calculation part meter Calculate the speed and acceleration in each joint of the robot.
7. robot controller according to claim 1, wherein
The workpiece posture calculation portion passes through the heat transfer agent and the work of the workpiece export from the measuring device The matching of the model data of part calculates the posture of the workpiece.
8. robot controller according to claim 1, wherein
The arrival prediction section also makes other than using the heat transfer agent of the workpiece and the conveying speed of the conveying device The sorting prediction is found out with the encoder values of the conveying device and rotation speed, the movement velocity of the workpiece and direction Position.
9. robot controller according to claim 1, wherein
The track data generating unit generates the track data using stochastical sampling method or trajectory optimization method.
10. robot controller according to claim 1, wherein
The track data generating unit passes through the barrier data for utilizing position and shape for determining inputted barrier, Generate the track data not collided with the barrier.
11. robot controller according to claim 1, wherein
The robot controller is also equipped with placement posture calculation portion, and the placement posture calculation portion calculates the robot and exists The posture of the workpiece when workpiece to be placed into predetermined position has been sorted after the workpiece according to the track data.
12. robot controller according to claim 1, wherein
The track data generating unit generates multiple track datas,
The robot controller is also equipped with track data selector, and the track data selector is predicted based on the sorting Position, selection is suitable for the track data of the sorting from multiple track datas.
13. robot controller according to claim 1, wherein
The robot is the robot on simulator.
14. the robot of a kind of robot control method, the workpiece for being conveyed to sorting by conveying device controls, In, the robot control method the following steps are included:
The conveying speed of heat transfer agent and the conveying device based on the workpiece finds out the workpiece being predicted as in conveying By the sorting predicted position of the robotic pick；
Posture and the sorting predicted position based on the calculated workpiece calculate the robot and predict in the sorting Posture at position；And
Posture of the robot at work starting position is obtained, and is opened based on the acquired robot in the work The posture of posture and the robot at the sorting predicted position at beginning position, generating indicates from the work start bit Set the track data of the working trajectory of the robot for sorting predicted position.
15. a kind of storage medium, is stored with robot control program, wherein the robot control program is for making to sorting It is worked by the computer that the robot of the workpiece of conveying device conveying is controlled as with lower component:
CN201810606950.7A 2017-08-01 2018-06-13 Robot controller, robot control method and storage medium CN109318226A (en)
CN109318226A true CN109318226A (en) 2019-02-12
CN201810606950.7A CN109318226A (en) 2017-08-01 2018-06-13 Robot controller, robot control method and storage medium
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