JP7587963B2 - Workpiece weight estimation system - Google Patents

Description

The present invention relates to a workpiece weight estimation system that can estimate the weight of a workpiece, such as a cardboard box, when the workpiece is loaded onto a loading platform used in logistics.

In recent years, the logistics industry has seen a demand for automation of tasks such as sorting, loading, and unloading in warehouses, and the introduction of various automation systems is underway. In particular, when automating loading in logistics warehouses, it is necessary to know the weight of the boxes to be loaded in order to load them appropriately.

One known method for finding the weight of a box is the invention described in Patent Document 1. This invention detects the weight of a workpiece with a weight sensor, and when placing the workpiece on the table, determines whether the detection result of the weight sensor decreases, stores information about the height of the hand unit when the detection result of the weight sensor decreases, and controls the arm unit based on the stored information during the next holding operation.

Japanese Patent Application Publication No. 4-30986

However, measuring the weight of boxes in real time using a weight sensor requires equipment costs, which increases costs. There is also the problem of longer operation times (takt time).

In view of the above problems, the present invention aims to provide a workpiece weight estimation system that can not only reduce costs but also shorten work time.

The above object of the present invention is achieved by the following means. Note that the parentheses indicate reference symbols of the embodiments described below, but the present invention is not limited to these.

The workpiece weight estimation system according to the invention of claim 1 includes a setting means (e.g., an input device 59 shown in FIG. 1) for setting in advance the maximum weight and maximum density of a plurality of workpieces (e.g., the workpiece W shown in FIG. 1) to be loaded onto a loading platform (e.g., the material handling device M shown in FIG. 1) used for logistics;
A calculation unit (e.g., a work size recognition unit 502 and a work size calculation unit 503 shown in FIG. 2) for calculating the size of a work (e.g., a work W shown in FIG. 1) that has been transported by a transport device (e.g., a conveyor C shown in FIG. 1) among the plurality of workpieces (e.g., a work W shown in FIG. 1);
a weight estimation unit (e.g., workpiece weight estimation unit 504 shown in FIG. 2) for estimating a weight of the workpiece (e.g., workpiece W shown in FIG. 1) using the size of the workpiece (e.g., workpiece size recognition unit 502 and workpiece size calculation unit 503 shown in FIG. 2) calculated by the calculation unit (e.g., workpiece size recognition unit 502 and workpiece size calculation unit 503 shown in FIG. 2) and the maximum density set by the setting unit (e.g., input device 59 shown in FIG. 1);
a comparison means (e.g., a workpiece weight comparison unit 505 shown in FIG. 2) for comparing the weight of the workpiece (e.g., the workpiece W shown in FIG. 1) estimated by the weight estimation means (e.g., the workpiece weight estimation unit 504 shown in FIG. 2) with the maximum weight set by the setting means (e.g., the input device 59 shown in FIG. 1) ;
The plurality of workpieces (e.g., workpiece W shown in FIG. 1 ) include workpieces having different densities (e.g., workpiece W shown in FIG. 1 ), whereas the maximum density set by the setting means (e.g., input device 59 shown in FIG. 1 ) is one for the plurality of workpieces .

According to the invention of claim 2, in the workpiece weight estimation system of claim 1, a robot (e.g., the robot 2 shown in FIG. 1) capable of transferring the transported workpiece (e.g., the workpiece W shown in FIG. 1) to the loading platform (e.g., the material handling M shown in FIG. 1);
The present invention is characterized in that it further comprises a robot instruction means (e.g., robot controller instruction unit 509 shown in FIG. 2) which instructs the robot (e.g., robot 2 shown in FIG. 1) to transfer the workpiece (e.g., workpiece W shown in FIG. 1) to the loading platform (e.g., material handling M shown in FIG. 1) at a speed faster than a speed set based on the maximum weight if the weight of the workpiece (e.g., workpiece W shown in FIG. 1) estimated by the weight estimation means (e.g., workpiece weight estimation unit 504 shown in FIG. 2) is smaller than the maximum weight as a result of the comparison by the comparison means (e.g., workpiece weight comparison unit 505 shown in FIG. 2).

Further, according to the invention of claim 3, in the workpiece weight estimation system of claim 1, a robot (e.g., the robot 2 shown in FIG. 1) capable of transferring the transported workpiece (e.g., the workpiece W shown in FIG. 1) to the loading platform (e.g., the material handling M shown in FIG. 1);
The present invention is characterized in that it further comprises a robot instruction means (e.g., robot controller instruction unit 509 shown in FIG. 2) which instructs the robot (e.g., robot 2 shown in FIG. 1) to transfer the workpiece (e.g., workpiece W shown in FIG. 1) to the loading platform (e.g., material handling M shown in FIG. 1) at a speed slower than a speed set based on the maximum weight if the weight of the workpiece (e.g., workpiece W shown in FIG. 1) estimated by the weight estimation means (e.g., workpiece weight estimation unit 504 shown in FIG. 2) is greater than the maximum weight as a result of the comparison by the comparison means (e.g., workpiece weight comparison unit 505 shown in FIG. 2).

Next, the effects of the present invention will be explained using reference symbols in the drawings. Note that the reference symbols in parentheses are those of the embodiments described below, but the present invention is not limited to these.

According to the invention of claim 1, the weight of the workpiece (e.g., workpiece W shown in FIG. 1) is estimated using the calculated size (volume) of the workpiece (e.g., workpiece W shown in FIG. 1) and the maximum density of the workpiece (e.g., workpiece W shown in FIG. 1) that is set in advance. Furthermore, the estimated weight of the workpiece (e.g., workpiece W shown in FIG. 1) is compared with the set maximum weight of the workpiece (e.g., workpiece W shown in FIG. 1). This makes it possible to determine the speed at which the robot (e.g., robot 2 shown in FIG. 1) transfers the workpiece (e.g., workpiece W shown in FIG. 1) to the loading platform (e.g., material handling machine M shown in FIG. 1).

According to the present invention, a weight sensor as in the past is no longer necessary, which reduces costs. Furthermore, since a weight sensor is not required in the robot hand, there is no need to wait for a period of time for weight measurement after the robot (e.g., robot 2 shown in FIG. 1) grasps a workpiece (e.g., workpiece W shown in FIG. 1), thereby shortening the operation time.

The present invention not only reduces costs, but also shortens work time.

According to the invention of claim 2, if the weight of the work (e.g., workpiece W shown in FIG. 1) estimated by the weight estimation means (e.g., workpiece weight estimation unit 504 shown in FIG. 2) is smaller than the maximum weight as a result of the comparison by the comparison means (e.g., workpiece weight comparison unit 505 shown in FIG. 2), the robot (e.g., robot 2 shown in FIG. 1) transfers the work (e.g., workpiece W shown in FIG. 1) to a loading platform (e.g., material handling M shown in FIG. 1) at a speed faster than the speed set based on the maximum weight. This makes it possible to shorten the time required to transfer the work (e.g., workpiece W shown in FIG. 1) to a loading platform (e.g., material handling M shown in FIG. 1), thereby further shortening the operation time.

Furthermore, according to the invention of claim 3, if the weight of the work (e.g., work W shown in FIG. 1) estimated by the weight estimation means (e.g., work weight estimation unit 504 shown in FIG. 2) is greater than the maximum weight as a result of the comparison by the comparison means (e.g., work weight comparison unit 505 shown in FIG. 2), the robot (e.g., robot 2 shown in FIG. 1) transfers the work (e.g., work W shown in FIG. 1) to the loading platform (e.g., material handling M shown in FIG. 1) at a speed slower than the speed set based on the maximum weight. This makes it possible to transfer the work (e.g., work W shown in FIG. 1) to the loading platform (e.g., material handling M shown in FIG. 1) so that the work (e.g., work W shown in FIG. 1) does not fall during transfer using the robot (e.g., robot 2 shown in FIG. 1) even when a work (e.g., work W shown in FIG. 1) that is heavier than the expected weight is transferred.

1 is a schematic overall view of a workpiece weight estimation system according to an embodiment of the present invention; FIG. 2 is a functional configuration diagram of the information processing device according to the embodiment. FIG. 4 is a flowchart showing the operation of the workpiece weight estimation system according to the embodiment. FIG. 1 is a graph showing areas where task time can be improved.

Below, an embodiment of the workpiece weight estimation system according to the present invention will be described in detail with reference to the drawings. Note that in the following description, when directions such as up, down, left, and right are indicated, they refer to up, down, left, and right when viewed from the front of the illustration.

<Explanation of workpiece weight estimation system>
As shown in Fig. 1, the workpiece weight estimation system 1 uses a suction hand 20 provided on a robot 2 to load one of a plurality of workpieces W to be loaded onto a material handling device M transported by a conveyor C onto the material handling device M. As shown in Fig. 1, the material handling device M is a pallet Pa on which one or more workpieces W are loaded, but is not limited to a pallet Pa and may be any type of device such as a basket cart or a cart truck.

Now, the operation of this work weight estimation system 1 will be described in more detail. First, the work weight estimation system 1 uses the imaging unit 3 to capture an image of the size of the work W transported by the conveyor C. Then, the information processing device 5 calculates the size (volume) of the work W from the captured image. Next, the information processing device 5 estimates the weight of the work W using the maximum density of the work W set in advance and the calculated size (volume) of the work W. Then, the information processing device 5 compares the estimated weight of the work W with the maximum weight of the work W set in advance. Next, the imaging unit 4 shown in FIG. 1 is used to capture an image of the material handling device M on which one or more workpieces W are stacked on the pallet Pa. Then, the information processing device 5 recognizes the stacking state of the workpieces W in the material handling device M from the captured image. Thus, the information processing device 5 calculates the stacking order based on the recognized size of the workpieces W, the estimated weight of the workpieces W, and the stacking state of the workpieces W in the material handling device M, and then transmits the picking position of the workpieces W to the robot controller 7 via the programmable logic controller 6 (hereinafter referred to as PLC 6). At this time, the information processing device 5 also transmits the speed at which the workpieces W are transferred to the material handling device M to the robot controller 7 via the programmable logic controller 6 (hereinafter referred to as PLC 6) based on the comparison result of the maximum weight of the workpieces W set in advance and the estimated weight of the workpieces W. In response to this, the robot controller 7 controls the robot 2, which picks the workpieces W according to the stacking order and stacks them on the material handling device M.

The following describes each part of Figure 1 in detail.

The robot 2 is, for example, a vertical articulated robot with four degrees of freedom. To explain in more detail, the robot 2 is a robot arm for loading one or more workpieces W transported on the conveyor C from the conveyor C to the material handling device M using a suction hand 20 attached to the robot arm 21. Note that in this embodiment, a vertical articulated robot with four degrees of freedom is exemplified as the robot 2, but this is not limited to this, and it may also be a six-degree-of-freedom robot, a cartesian coordinate robot, a polar coordinate robot, a horizontal articulated (SCARA) robot, or a parallel link robot. In other words, any type is acceptable as long as it is possible to transfer one or more workpieces W transported on the conveyor C to the material handling device M.

The suction hand 20 generates a vacuum using a vacuum generator built into the suction hand 20 that uses compressed air sent from the compressor 8 to suction one or more workpieces W transported on the conveyor C. Note that in this embodiment, an example has been shown in which one or more workpieces W transported on the conveyor C are transferred by suction, but this is not limited to this, and a hand that clamps one or more workpieces W transported on the conveyor C with a gripper may also be used, and any type of hand may be used as long as it is capable of transferring one or more workpieces W transported on the conveyor C.

As shown in FIG. 1, the imaging unit 3 is a three-dimensional image sensor that captures images of the workpiece W transported by the conveyor C and is capable of outputting three-dimensional point cloud information. The imaging unit 3 is equipped with a camera and a projector, and calculates three-dimensional point cloud information of the subject by an active stereo method using the camera and projector. Note that the active stereo method using a camera and projector is a common technology, so a detailed explanation will be omitted.

The imaging unit 4 is a three-dimensional image sensor that captures an image of the stacked state of the workpieces W in the material handling machine M, in which one or more workpieces W are stacked on the pallet Pa shown in FIG. 1, and is capable of outputting three-dimensional point cloud information. The imaging unit 4 is equipped with a camera and a projector, and calculates three-dimensional point cloud information of the subject by an active stereo method using the camera and projector. Note that the active stereo method using a camera and projector is a common technology, so a detailed description will be omitted.

As shown in FIG. 1, the information processing device 5 has a CPU 50, a RAM 51, a ROM 52, an auxiliary storage device 53, an input/output interface 54, a communication interface 55, a display device 56, a bus 57, an input controller 58, and an input device 59. The CPU 50 executes and controls each function of the information processing device 5, and the RAM 51 temporarily stores programs and data supplied from an external device, etc.

On the other hand, ROM 52 stores programs and various parameters that do not require modification, and auxiliary storage device 53 stores various information. The input/output interface 54 transmits and receives data to and from external devices, and the communication interface 55 is a device for connecting to a network and transmits and receives data to and from external devices via the network.

On the other hand, the display device 56 displays graphics drawn by the CPU 50, and the bus 57 is a system bus that connects the CPU 50, RAM 51, ROM 52, auxiliary storage device 53, input/output interface 54, communication interface 55, display device 56, and input controller 58. The input controller 58 is a controller that controls input signals from the input device 59, which is an external input device for receiving operation instructions from a user, such as a keyboard or mouse. The functions and processes of the information processing device 5, which will be described later, are realized by the CPU 50 reading out programs stored in the ROM 52, etc., and executing these programs.

The PLC 6 transfers commands between the information processing device 5 and the robot controller 7. Furthermore, the PLC 6 controls the conveyor C to transport multiple workpieces W placed on the conveyor C. Specifically, sensors SE such as photoelectric sensors are provided at predetermined intervals below the conveyor C as shown in FIG. 1, and the PLC 6 uses these sensors SE to control the conveyor C to stop driving when a workpiece W is transported within a range where the robot 2 can pick it up.

The robot controller 7 is a control device that houses a servo amplifier, a circuit board, etc., and is a device that comprehensively controls the movement of the robot 2. The robot controller 7 can also store and execute a program that has been created in advance to control the robot 2.

The compressor 8 is an air compressor that compresses and supplies air, and supplies compressed air to the suction hand 20.

The workpieces W are cardboard boxes containing specific products, and come in various types (sizes, weights, etc.) that are loaded onto the material handling equipment M. Note that in this embodiment, cardboard boxes are used as an example, but the materials can be other than cardboard as long as they can be stacked on the pallet Pa. For example, they can be made of plastic or wood, and they can also be bag-shaped objects as long as they can approximate the shape of a box.

Pallet Pa is a loading platform for carrying cargo used in logistics, and can be lifted by inserting the claws of a forklift or hand lift between the legs of pallet Pa. In this embodiment, multiple workpieces W are loaded onto pallet Pa, but of course a cart may be used instead of a pallet.

The conveyor C is a roller conveyor that transports the workpieces W to a range where the robot 2 can pick them up. The order in which the workpieces W are transported on the conveyor C is not specified, and the conveyor C is designed to leave gaps between the workpieces W. The conveyor C is controlled by the PLC 6 shown in FIG. 1 so that the gaps are equal to or larger than the size of the suction hand 20 equipped to the robot 2. In other words, the suction hand 20 that picks up the workpieces W may be larger than the size of the workpieces W. In that case, if the workpieces W are lined up without any gaps, the suction hand 20 will not be able to pick up the workpieces W. For this reason, the conveyor C is controlled by the PLC 6 shown in FIG. 1 so that the gaps are equal to or larger than the size of the suction hand 20 equipped to the robot 2. Note that the conveyor C does not necessarily have to be a roller conveyor, and may be a belt conveyor.

<Description of Information Processing Device>
Next, the functional configuration of the information processing device 5 according to this embodiment will be described with reference to Fig. 2. As shown in Fig. 2, the functional configuration of the information processing device 5 includes a determination unit 500, a setting storage unit 501, a work size recognition unit 502, a work size calculation unit 503, a work weight estimation unit 504, a work weight comparison unit 505, a stacking state recognition unit 506, a stacking sequence calculation unit 507, a picking position calculation unit 508, and a robot controller instruction unit 509. Each component will be described below.

The judgment unit 500 exchanges information between the functional blocks based on the state held by the judgment unit 500 or the state held by each functional block, and also exchanges information with external devices, and controls the robot 2 and conveyor C via the imaging unit 3, imaging unit 4, and PLC 6.

The setting storage unit 501 stores the setting values required for processing.

The work size recognition unit 502 recognizes the length, width, and height of the work W based on a three-dimensional image of the work W transported by the conveyor C captured by the imaging unit 3 shown in FIG. 1.

The work size calculation unit 503 calculates the size (volume) of the work W by multiplying the length, width, and height of the work W recognized by the work size recognition unit 502.

The work weight estimation unit 504 estimates the weight of the work W by multiplying the maximum density of the work W, which is preset by the user using the input device 59 (see Figure 1), by the size (volume) of the work W calculated by the work size calculation unit 503.

The work weight comparison unit 505 compares the maximum weight of the work W that is preset by the user using the input device 59 (see FIG. 1) with the weight of the work W estimated by the work weight estimation unit 504.

The loading state recognition unit 506 recognizes the loading state of the workpieces W in the material handling device M based on a three-dimensional image captured by the imaging unit 4 shown in FIG. 1.

The stacking order calculation unit 507 calculates the stacking order of the workpieces W based on the size of the workpieces W recognized by the workpiece size recognition unit 502, the weight of the workpieces W estimated by the workpiece weight estimation unit 504, and the stacking state of the workpieces W in the material handling device M recognized by the stacking state recognition unit 506.

The picking position calculation unit 508 calculates the position at which the robot 2 picks up the work W calculated by the stacking sequence calculation unit 507.

The robot controller instruction unit 509 instructs the robot controller 7 shown in FIG. 1 via the PLC 6 to pick the workpiece W at the picking position calculated by the picking position calculation unit 508 according to the stacking order calculated by the stacking order calculation unit 507 and stack it on the material handling machine M. At this time, the robot controller instruction unit 509 also instructs the robot controller 7 shown in FIG. 1 via the PLC 6 as to the speed at which the workpiece W is transferred to the material handling machine M based on the comparison result made by the workpiece weight comparison unit 505. Specifically, if the weight of the workpiece W estimated by the workpiece weight estimation unit 504 is smaller than the maximum weight of the workpiece W set in advance as a result of the comparison, the robot controller instruction unit 509 instructs the robot controller 7 shown in FIG. 1 via the PLC 6 to transfer the workpiece W to the material handling machine M at a speed faster than the transfer speed set based on the maximum weight of the workpiece W. This makes it possible to shorten the time required to transfer the workpiece W to the material handling machine M, thereby shortening the operation time.

On the other hand, if the comparison shows that the weight of the workpiece W estimated by the workpiece weight estimation unit 504 is greater than the maximum weight of the workpiece W that has been set in advance, an instruction is sent to the robot controller 7 shown in FIG. 1 via the PLC 6 to transfer the workpiece W to the material handling unit M at a speed slower than the transfer speed set based on the maximum weight of the workpiece W. This makes it possible to transfer the workpiece W to the material handling unit M using the robot 2 without dropping it during transfer, even when transferring a workpiece W that is heavier than expected.

The robot controller 7, to which an instruction is issued by the robot controller instruction unit 509 via the PLC 6, controls the robot 2 to pick the workpiece W at the picking position calculated by the picking position calculation unit 508 according to the stacking sequence calculated by the stacking sequence calculation unit 507, and controls the robot 2 to transfer the picked workpiece W to the material handling device M at the speed instructed by the robot controller instruction unit 509 and stack it. Note that, in this embodiment, the instruction is issued to the robot controller 7 via the PLC 6, but it is also possible to issue the instruction to the robot controller 7 without via the PLC 6.

<Description of Processing Contents of Information Processing Device>
Next, the process contents of the information processing device 5 according to the present embodiment will be described with reference to the flowchart shown in FIG.

First, the user sets the maximum weight and maximum density of the workpieces W using the input device 59 (see FIG. 1). More specifically, there are multiple workpieces W to be loaded onto the material handling machine M, and they have various weights and densities. From among these, the user determines the maximum weight and maximum density of the workpieces W, and sets the determined maximum weight and maximum density of the workpieces W using the input device 59 (see FIG. 1) (step S1). The set information is stored in the setting storage unit 501.

The maximum weight and maximum density may be determined by sampling each workpiece W, or by picking out several workpieces W from among a number of workpieces W and sampling them. Alternatively, if the logistics warehouse has information in advance, that information may be used to determine the maximum weight and maximum density, or a value that is a little more than that information may be used to determine the maximum weight and maximum density. In other words, the maximum weight and maximum density may be determined by any method.

Next, after completing the above settings, the judgment unit 500 shown in FIG. 2 commands the PLC 6 to control the conveyor C. As a result, the PLC 6 controls the conveyor C so that the workpiece W is transported to a range where the robot 2 can pick it up. Then, using the sensor SE shown in FIG. 1, the PLC 6 controls the conveyor C to stop driving when the workpiece W is transported to a range where the robot 2 can pick it up (step S2).

Next, the determination unit 500 controls the imaging unit 3 to image the workpiece W as shown in FIG. 1. The captured three-dimensional image is then output by the determination unit 500 to the workpiece size recognition unit 502 (see FIG. 2). In response to this, the workpiece size recognition unit 502 recognizes the length, width, and height of the workpiece W based on the captured three-dimensional image (step S3).

Next, the work size calculation unit 503 multiplies the length, width, and height of the work W recognized by the work size recognition unit 502 to calculate the size (volume) of the work W (step S4).

Next, the work weight estimation unit 504 reads out the maximum density of the work W stored in the setting storage unit 501 via the judgment unit 500, and estimates the weight of the work W by multiplying the read out maximum density by the size (volume) of the work W calculated by the work size calculation unit 503 (step S5).

Next, the work weight comparison unit 505 reads the maximum weight of the work W stored in the setting storage unit 501 via the judgment unit 500, and compares the read maximum weight with the weight of the work W estimated by the work weight estimation unit 504 (step S6).

Next, the judgment unit 500 controls the imaging unit 4 to image the stacking state of the workpieces W in the material handling device M, in which multiple workpieces W are stacked on the pallet Pa shown in FIG. 1. The captured three-dimensional image is then output by the judgment unit 500 to the stacking state recognition unit 506 (see FIG. 2). In response to this, the stacking state recognition unit 506 recognizes the stacking state of the workpieces W in the material handling device M based on the captured three-dimensional image (step S7).

Next, the stacking order calculation unit 507 calculates the stacking order of the workpieces W based on the size of the workpieces W recognized by the workpiece size recognition unit 502, the weight of the workpieces W estimated by the workpiece weight estimation unit 504, and the stacking state of the workpieces W in the material handling device M recognized by the stacking state recognition unit 506 (step S8).

Next, the picking position calculation unit 505 calculates the position where the robot 2 will pick up the work W calculated by the stacking sequence calculation unit 507 (step S9).

Next, the robot controller instruction unit 509 issues an instruction to the robot controller 7 shown in FIG. 1 via the PLC 6 to pick the workpiece W at the picking position calculated by the picking position calculation unit 508 according to the stacking order calculated by the stacking order calculation unit 507 and stack it on the material handling machine M. Furthermore, the robot controller instruction unit 509 determines the speed at which the workpiece W is transferred to the material handling machine M based on the comparison result of the workpiece weight comparison unit 505, and issues an instruction to the robot controller 7 shown in FIG. 1 via the PLC 6. As a result, the robot controller 7 controls the robot 2 to pick the workpiece W at the picking position calculated by the picking position calculation unit 508 according to the stacking order calculated by the stacking order calculation unit 507, and controls the robot 2 to transfer the picked workpiece W to the material handling machine M at the speed instructed by the robot controller instruction unit 509 and stack it (step S10).

Next, when the robot controller 7 sends a processing notification of the end of control, the judgment unit 500 instructs the PLC 6 to control the conveyor C to deliver one new workpiece W to the range where the robot 2 can pick it up. As a result, the PLC 6 controls the conveyor C to deliver one new workpiece W to the range where the robot 2 can pick it up (step S11).

Then, after processing step S11, the judgment unit 500 returns to processing step S3, and repeats the processing of steps S3 to S11 until there are no more workpieces W to be loaded.

According to the present embodiment described above, the weight of the workpiece W is estimated using the size (volume) of the workpiece W calculated by the workpiece size calculation unit 503 and the maximum density of the workpiece W held in the setting holding unit 501. Furthermore, the estimated weight of the workpiece W is compared with the maximum weight of the workpiece W held in the setting holding unit 501. This makes it possible to determine the speed at which the robot 2 transfers the workpiece W to the material handling device M.

According to this embodiment, the weight sensor used in the past is no longer necessary, which reduces costs. Furthermore, since the suction hand 20 does not require a weight sensor, there is no need to wait for a period of time to measure the weight after the robot 2 grasps the workpiece W, thereby shortening the operation time.

Therefore, this embodiment not only reduces costs but also shortens work time.

Furthermore, according to this embodiment, two types of calculations are performed using the maximum density and maximum weight, so that overestimation of the weight of the workpiece W can be suppressed. Thus, by suppressing overestimation of the weight of the workpiece W in this manner, the speed and acceleration settings of the robot motion become closer to the appropriate ones. Furthermore, by suppressing overestimation of the weight of the workpiece W, overestimation in the compression calculation is suppressed, and the amount of workpiece W that can be stacked increases.

Furthermore, according to this embodiment, there is no need for communication to exchange weight data with the warehouse management system, so there is no need for a system for weight management.

In this embodiment, an example is shown in which the weight of the workpiece W is estimated during the actual work of transporting the workpiece W and loading it onto the material handling device M, but it is also possible to present an area R1 as shown in FIG. 4.

That is, the user sets the maximum weight and maximum density of the workpieces W using the input device 59 (see FIG. 1). Furthermore, the user sets the length, width, and height of the various workpieces W to be loaded onto the material handling device M using the input device 59 (see FIG. 1). In response to this, the workpiece size calculation unit 503 shown in FIG. 2 calculates the size (volume) of each workpiece W based on the length, width, and height of the various workpieces W that have been input.

Next, the work weight estimation unit 504 multiplies the set maximum density of the work W by the size (volume) of each work W calculated by the work size calculation unit 503 to estimate the weight of each work W.

Next, the work weight comparison unit 505 compares the set maximum weight of the work W with the weight of each work W estimated by the work weight estimation unit 504. In response to this, the judgment unit 500 displays the region R1 (see FIG. 4) where the maximum weight > the estimated weight of the work W is satisfied as a region where the work time may be improved, as shown in FIG. 4, on the display device 56 shown in FIG. 1.

In this way, the user can know in advance how much work size (volume) is required to improve the work time.

Examples of work W that meets the region R1 shown in FIG. 4 include cases where the same item is packaged in different quantities, such as six bottles in a box or 12 bottles in a box, or similar items such as futons and clothing that are packaged in different volumes. On the other hand, examples of work W that do not meet the region R1 shown in FIG. 4 include cases where items with extremely different densities are handled together, such as a mixture of metal lumps and futons.

The contents illustrated in this embodiment are merely examples, and various modifications and changes are possible within the scope of the gist of the present invention described in the claims. For example, the imaging unit 3 is shown as an example of a method for recognizing the size of the workpiece W, but this is not limiting, and a two-dimensional image sensor may also be used.

1 Workpiece weight estimation system 2 Robot 3 Imaging unit 4 Imaging unit 5 Information processing device 56 Display device (presentation means)
59 Input device (setting means)
500: Determination unit 501: Setting storage unit 502: Work size recognition unit (calculation means)
503 Work size calculation unit (calculation means)
504 Work weight estimation unit (weight estimation means)
505 Work weight comparison unit (comparison means)
509 Robot controller instruction unit (robot instruction means)
W Work M Material Handling (Loading Platform)
C Conveyor (transport device)

Claims (3)

A setting means for setting in advance a maximum weight and a maximum density of a plurality of workpieces to be loaded onto a loading platform used for logistics;
A calculation means for calculating a size of a workpiece transported by a transport device among the plurality of workpieces;
a weight estimation means for estimating a weight of the workpiece by using the size of the workpiece calculated by the calculation means and the maximum density set by the setting means;
A workpiece weight estimation system comprising: a comparison means for comparing the weight of the workpiece estimated by the weight estimation means with the maximum weight set by the setting means,
A workpiece weight estimation system, wherein the plurality of workpieces include workpieces having different densities, whereas the maximum density set by the setting means is one for the plurality of workpieces. A robot capable of transferring the transported workpiece to the loading platform;
The workpiece weight estimation system of claim 1, further comprising a robot instruction means for instructing the robot to transfer the workpiece to the loading platform at a speed faster than a speed set based on the maximum weight if the weight of the workpiece estimated by the weight estimation means is smaller than the maximum weight as a result of the comparison by the comparison means. A robot capable of transferring the transported workpiece to the loading platform;
The work weight estimation system as described in claim 1, further comprising a robot instruction means for instructing the robot to transfer the work to the loading platform at a speed slower than a speed set based on the maximum weight if the weight of the work estimated by the weight estimation means is greater than the maximum weight as a result of the comparison by the comparison means.

Images