JP7616171B2 - Picking support system, picking support method, and picking support program - Google Patents

Description

This disclosure relates to a picking assistance system, a picking assistance method, and a picking assistance program.

In recent years, there has been a demand for miniaturization of picking robots that pick up items. For example, Patent Document 1 discloses a product forward-pushing display device that uses a spring to push products forward from the rear.

Patent No. 5364067

Using the method disclosed in Patent Document 1, products placed at the back of a tray can be pushed forward, making it easier to pick the products, and for example, the arm can be shortened, making it possible to miniaturize the picking robot. However, the method disclosed in Patent Document 1 requires the installation of a spring on each tray, which increases costs, which is an issue.

The present disclosure has been made in consideration of the above background, and aims to provide a picking support system, a picking support method, and a picking support program that can realize a miniaturized robot without increasing costs.

The picking support system according to the present disclosure is a picking support system equipped with a robot that supports picking of an item stored in a storage container supported by a support member, the robot at least comprising a gripping unit that directly or indirectly grips the storage container, and a control unit that controls the forward and backward movement of the storage container gripped directly or indirectly by the gripping unit, and the control unit controls the movement speed of the storage container so that a first inertial force is applied to the item such that the item moves forward in the storage container before the storage container reaches the predetermined position after starting the movement of the storage container from a reference position toward a predetermined position located in front of the storage container. This picking support system makes it easier to pick the item by using the inertial force applied to the item in the storage container when the storage container is pulled out to move the item located at the back of the storage container to the front of the storage container. This makes it possible, for example, to pick the item even with a robot with a short arm. Here, this picking support system can move items located at the back of a storage container to the front of the container without installing springs or other devices in the container, making it possible to miniaturize the robot without increasing costs.

After starting the movement of the storage container from the reference position toward the predetermined position, the control unit may decelerate the storage container at a deceleration rate such that the item moves forward within the storage container before the storage container reaches the predetermined position.

The control unit may move the storage container from the reference position to a position in front of the predetermined position, and then may start moving the storage container toward the predetermined position, and may accelerate the storage container at an acceleration such that the item moves forward within the storage container before the storage container reaches the predetermined position.

The control unit may control the movement speed of the holding unit to thereby control the movement speed of the storage container that is directly or indirectly held by the holding unit.

The robot further includes a camera installed so as to be able to capture at least the item stored in the storage container that has been moved to the predetermined position, and when the control unit detects from the image captured by the camera that the item is not located in a predetermined forward area in the storage container, the control unit may return the storage container to the reference position, and after starting the movement of the storage container from the reference position toward the predetermined position, control the movement speed of the storage container so that a second inertial force greater than the first inertial force is applied to the item.

The robot may have a hook as the gripping part that is formed to be able to engage with a handle provided on the front surface of the storage container.

The robot may have a suction portion as the gripping portion that suctions the front surface of the storage container.

The robot may further include a removal unit configured to remove the item located in a predetermined forward area within the storage container that has been moved to the predetermined position.

The control unit may control the movement speed of the storage container based on information about the item and a coefficient of friction between the item and the storage container.

The picking support method according to the present disclosure is a picking support method using a robot that supports the picking of an item stored in a storage container supported by a support member, in which the storage container is directly or indirectly gripped by a gripping part, the movement of the storage container is started from a reference position toward a predetermined position located in front of the storage container, and the movement speed of the storage container is controlled so that a first inertial force that moves the item forward in the storage container is applied to the item by the time the storage container reaches the predetermined position. This picking support method makes it easier to pick the item by using the inertial force applied to the item in the storage container when the storage container is pulled out to move the item located at the back of the storage container to the front of the storage container. As a result, for example, even a robot with a short arm can pick the item. Here, this picking support method can move the item located at the back of the storage container to the front of the storage container without installing a spring or the like in the storage container, so that the robot can be made smaller without increasing costs.

The picking support program according to the present disclosure is a picking support program for a robot that supports picking of an item stored in a storage container supported by a support member, and causes a computer to execute a process of gripping the storage container directly or indirectly with a gripping unit and starting the movement of the storage container from a reference position toward a predetermined position located in front of the storage container, and a process of controlling the movement speed of the storage container so that a first inertial force is applied to the item such that the item moves forward in the storage container before the storage container reaches the predetermined position. This picking support program makes it easier to pick the item by using the inertial force applied to the item in the storage container when the storage container is pulled out to move the item located at the back of the storage container to the front of the storage container. As a result, for example, even a robot with a short arm can pick the item. Here, this picking support program can move the item located at the back of the storage container to the front of the storage container without installing a spring or the like in the storage container, thereby realizing a miniaturized robot without increasing costs.

This disclosure provides a picking support system, a picking support method, and a picking support program that can achieve miniaturization of robots without increasing costs.

1 is a schematic diagram illustrating a configuration example of a picking support system according to a first embodiment. 2 is a flowchart showing an operation of the picking support system shown in FIG. 1 . 2 is a diagram for explaining an example of the operation of the picking support system shown in FIG. 1 . 1. FIG. 4 is a diagram for explaining another example of the operation of the picking support system shown in FIG.

The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means for solving the problems. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are given the same reference numerals, and duplicate explanations have been omitted as necessary.

<First embodiment>
FIG. 1 is a schematic diagram showing a configuration example of a picking support system 1 according to the first embodiment. The picking support system 1 according to the present embodiment uses the inertial force applied to the items in the tray when the tray is pulled out to move the items arranged at the back of the tray to the front of the tray, making it easier to pick the items. This allows, for example, a robot with a short arm to pick the items. Here, the picking support system 1 according to the present embodiment can move the items arranged at the back of the tray to the front of the tray without installing a spring or the like on the tray, so that the robot can be made smaller without increasing costs. A specific description will be given below.

As shown in FIG. 1, the picking support system 1 includes a picking support robot 11, a shelf 501, and one or more trays (storage containers) 502 installed on the shelf 501. The picking support robot 11 can also be referred to as the picking support system 1.

Tray 502 installed on shelf 501 can move in the front-back direction (y-axis direction) on shelf 501, and stores items TG1 such as products and parts used in manufacturing products. Note that tray 502 only needs to have a bottom surface along which items TG1 can move, and an open top.

The picking support robot 11 is a work robot for supporting the picking of the item TG1 stored in the tray 502. Specifically, the picking support robot 11 includes at least a main body 111, a control unit 112 built into the main body 111, an arm 113 attached to the main body 111, a hook 114, a suction pad (removal unit) 115, a camera 116, and a storage unit 117.

The arm 113 is configured to be able to grip the tray 502 and move it in the forward and backward directions. Specifically, the arm 113 grips the tray 502 and moves it in the forward and backward directions by engaging a hook 114 provided at the tip of the arm 113 with a handle 503 provided on the front of the tray 502. Note that moving the tray 502 to the front of the shelf 501 means pulling the tray 502 out from the shelf 501 toward the outside of the shelf 501 (e.g., toward the robot facing the shelf 501), and moving the tray 502 backward means pushing the tray 502 pulled out from the shelf 501 back toward the inside of the shelf 501.

In addition, a suction pad (suction portion) that grips the tray 502 by suctioning the front surface of the tray 502 may be attached to the tip of the arm 113 as a gripping portion instead of the hook 114. In this case, the handle 503 of the tray 502 is not necessary.

The arm 113 is also configured to be able to pick up the item TG1 stored in the tray 502. Specifically, the arm 113 picks up the item TG1 by adsorbing it with the suction pad 115 provided at the tip of the arm 113.

When the tray 502 is located at the reference position P0 at the back of the shelf 501, the upper shelf gets in the way and the arm 113 is unable to pick up the item TG1 in the tray 502. Also, since the arm 113 is designed to be short in length to achieve compactness, even when the tray 502 is pulled out to a predetermined position P1 in front of the shelf 501, it is unable to pick up the item TG1 located at the rear of the tray 502 and can only pick up the item TG1 located at the front of the tray 502.

The camera 116 is installed so that it can capture images of the area surrounding the picking support robot 11. At the very least, the camera 116 is installed so that it can capture images of the inside of the tray 502 that has been pulled out to the predetermined position P1 using the arm 113.

The control unit 112 performs overall control of the picking support robot 11. For example, the control unit 112 uses the arm 113 to grasp the tray 502 and move it in the forward and backward directions, and to pick up the item TG1 in the tray 502. The control unit 112 also uses the arm 113 to store the picked item TG1 in the storage unit 117, and then drives the picking support robot 11 to transport it to a designated location. The control unit 112 may also transport the picked item TG1 directly to the designated location using the arm 113.

Here, when the tray 502 is pulled out, the control unit 112 uses the inertial force acting on the item TG1 in the tray 502 to move the item TG1 located at the rear of the tray 502 forward, making it easier to pick the item TG1. This makes it possible to pick the item TG1 in the tray 502 even with a short arm 113, for example. In other words, the control unit 112 uses the arm 113 to start moving the tray 502 from the reference position P0 toward the predetermined position P1, and then rapidly decelerates the tray 502 so that an inertial force F1 that moves the item TG1 forward in the tray 502 is applied to the item TG1 by the time the tray 502 reaches (stops) the predetermined position P1 (so that at least an inertial force F1 directed from the rear to the front of the tray 502 is applied to the item TG1). As a result, item TG1 located at the rear of tray 502 moves forward, making it easier to pick item TG1; for example, even an arm 113 with a short length can pick item TG1 in tray 502.

The inertial force F1 applied to the item TG1 is determined based on information about the item TG1 (such as the weight, size, and surface material of the item TG1) and the friction coefficient of the contact surface between the item TG1 and the tray 502. For example, the smaller the friction coefficient of the contact surface between the item TG1 and the tray 502, the more easily the item TG1 slips, so the movement speed, etc. of the tray 502 are adjusted to reduce the inertial force F1, and the larger the friction coefficient, the less easily the item TG1 slips, so the movement speed, etc. of the tray 502 are adjusted to increase the inertial force F1.

When the control unit 112 detects from the image captured by the camera 116 that the item TG1 is not located at the front (predetermined front area) of the tray 502 that has been pulled out to the predetermined position P1, the control unit 112 may use the arm 113 to return the tray 502 to the reference position P0, and then pull out the tray 502 again so that an inertial force F2 greater than the inertial force F1 is applied to the item TG1.

(Operation of picking support system 1)
Next, the operation of the picking support system 1 will be described with reference to Fig. 2 and Fig. 3 in addition to Fig. 1. Fig. 2 is a flowchart showing the operation of the picking support system 1. Fig. 3 is a diagram for explaining an example of the operation of the picking support system 1. Note that S101, S102, and S103 in Fig. 3 correspond to the operations of steps S101, S102, and S103 shown in the flowchart in Fig. 2, respectively.

In the picking support system 1, the picking support robot 11 first engages the hook 114 of the arm 113 with the handle 503 of the tray 502 placed at the reference position P0 (step S101).

Then, the picking support robot 11 uses the arm 113 to start moving the tray 502 from the reference position P0 to the specified position P1 (step S102). In the example of FIG. 3, the picking support robot 11 uses the arm 113 to move the tray 502 from the reference position P0 to the specified position P1 so that the maximum speed is the first specified speed.

Then, the picking support robot 11 uses the arm 113 to suddenly decelerate the tray 502 so that an inertial force F1 is applied to the item TG1 so that the item TG1 moves forward in the tray 502 before the tray 502 reaches the predetermined position P1 (step S103). In the example of FIG. 3, the picking support robot 11 suddenly stops the tray 502 at the predetermined position P1 with a deceleration such that the item TG1, which is moving together with the tray 502 at a first predetermined speed, moves forward in the tray 502. As a result, the item TG1 is subjected to the inertial force F1 and moves forward in the tray 502. This makes it easier to pick the item TG1, and for example, it becomes possible to pick the item TG1 in the tray 502 even with a short arm 113.

Then, the picking support robot 11 picks up the item TG1 by adsorbing it with the suction pad 115 provided at the tip of the arm 113 (step S104).

In this way, the picking support system 1 according to the present embodiment uses the inertial force acting on the item TG1 in the tray 502 when the tray 502 is pulled out to move the item TG1 arranged at the back of the tray 502 to the front of the tray 502, making it easier to pick the item TG1. This allows, for example, a picking support robot 11 with a short arm to pick the item TG1. Here, the picking support system 1 according to the present embodiment can move the item TG1 arranged at the back of the tray 502 to the front of the tray 502 without installing a spring or the like on the tray 502, thereby making it possible to miniaturize the picking support robot 11 without increasing costs.

In this embodiment, as shown in Fig. 3, the control unit 112 uses the arm 113 to start the movement of the tray 502 from the reference position P0 toward the predetermined position P1, and then suddenly decelerates the tray 502 so that an inertial force F1 is applied to the item TG1 such that the item TG1 moves forward in the tray 502 before the tray 502 reaches (stops) the predetermined position P1, but this is not limited to the above. For example, as shown in Fig. 4, the control unit 112 may use the arm 113 to move the tray 502 from the sub-position P0 to a position P2 in front of the predetermined position P1, and then suddenly accelerate the tray 502 with an acceleration such that the item TG1 moves forward in the tray 502 before the tray 502 reaches the predetermined position P1. Note that steps S101, S102, and S103 in FIG. 4 correspond to steps S101, S102, and S103, respectively, shown in the flowchart in FIG. 2.

Here, control of the movement speed of the tray 502 is not limited to directly controlling the movement speed of the tray 502, but also includes controlling the movement speed of the tray 502 by controlling the position of the tray 502, controlling the acceleration of the tray 502, controlling the magnitude of the force applied to the tray 502, etc.

In addition, in this embodiment, the picking support robot 11 directly grips the tray 502 provided on the shelf 501 and moves it in the forward and backward directions, but this is not limited to the above. If a support portion that supports the tray 502 on the shelf 501 is configured to work in conjunction with the tray 502, the picking support robot 11 may grip the support portion and move it in the forward and backward directions. In other words, the picking support robot 11 may indirectly grip the tray 502 and move it in the forward and backward directions.

In the present embodiment, the picking support robot 11 controls the moving speed of the gripping part such as the hook 114 to control the moving speed of the tray 502 gripped by the gripping part, but the present invention is not limited to this. For example, if the tray 502 is configured to be movable relative to the support part via a sliding mechanism provided between the bottom surface of the tray 502 and the support part of the shelf 501 that supports the tray 502, and an actuator is provided on the sliding mechanism, the picking support robot 11 may control the moving speed of the tray 502 by controlling the actuator. Similarly, if the support part that supports the tray 502 of the shelf 501 is configured to be linked with the tray 502, and an actuator is provided on the sliding mechanism of the support part, the picking support robot 11 may control the moving speed of the support part and the tray 502 by controlling the actuator. In these cases, the sliding mechanism can be defined as the gripping part.

In addition, in this embodiment, the case where the bottom surface of the tray 502 is supported by the shelf 501 has been described as an example, but this is not limited thereto. For example, both sides of the tray 502 may be supported by a support member having a sliding mechanism. In this case, the support member and both sides of the tray 502 are provided with a fitting structure that fits into each other.

In addition, in this embodiment, the picking support robot 11 is described as having an arm 113 as an example, but this is not limited thereto. The picking support robot 11 does not have to have the arm 113. In other words, the picking support robot 11 may be configured to assist in picking the item TG1 (including picking it up) without using the arm 113. In this case, the hook 114 and the suction pad 115 are attached directly to the main body 111 of the picking support robot 11, for example.

Furthermore, in this embodiment, the picking support robot 11 has the function of picking the item TG1 and the function of gripping and moving the tray 502, but this is not limited to the above. Of the function of picking the item TG1 and the function of gripping and moving the tray 502, the picking support robot 11 may only have the function of gripping and moving the tray 502. In this case, a robot other than the picking support robot 11 picks the item TG1.

The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the invention.

In addition, this disclosure can realize some or all of the processing of the picking support robot 11 by having a CPU (Central Processing Unit) execute a computer program.

The above-mentioned program includes a set of instructions (or software code) for causing a computer to perform one or more functions described in the embodiments when the program is loaded into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a temporary computer-readable medium or communication medium. By way of example and not limitation, temporary computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

1 Picking support system 11 Picking support robot 111 Main body 112 Control unit 113 Arm 114 Hook 115 Suction pad (removal unit)
116 Camera 117 Storage section 501 Shelf 502 Tray 503 Handle TG1 Item

Claims (11)

A picking support system including a robot that supports picking of an item stored in a storage container supported by a support member,
The robot comprises:
A gripping portion that directly or indirectly grips the storage container;
A control unit that controls a forward and backward movement of the storage container directly or indirectly gripped by the gripping unit;
At least
the control unit controls a moving speed of the storage container such that, after starting the movement of the storage container from a reference position toward a predetermined position located in front of the storage container, a first inertial force is applied to the item such that the item moves forward within the storage container before the storage container reaches the predetermined position.
Picking support system. the control unit, after starting the movement of the storage container from the reference position toward the predetermined position, decelerates the storage container at a deceleration such that the item moves forward within the storage container before the storage container reaches the predetermined position.
The picking support system according to claim 1 . the control unit moves the storage container from the reference position to a position in front of the predetermined position, starts the movement of the storage container toward the predetermined position, and accelerates the storage container at an acceleration such that the item moves forward within the storage container before the storage container reaches the predetermined position.
The picking support system according to claim 1 . The control unit controls a moving speed of the gripping unit to thereby control a moving speed of the storage container directly or indirectly gripped by the gripping unit.
The picking support system according to claim 1 . the robot further includes a camera installed so as to be able to photograph at least the item stored in the storage container that has been moved to the predetermined position;
When the control unit detects from the image captured by the camera that the item is not located in a predetermined front area within the storage container, the control unit returns the storage container to the reference position, and then starts moving the storage container from the reference position toward the predetermined position, and controls the moving speed of the storage container so that a second inertial force larger than the first inertial force is applied to the item.
The picking support system according to claim 1 . The robot includes, as the gripping portion, a hook formed to be able to engage with a handle provided on a front surface of the storage container.
The picking support system according to claim 1 . The robot includes, as the gripping unit, a suction unit that suctions a front surface of the storage container.
The picking support system according to claim 1 . The robot further includes a pickup unit configured to be able to pick up the item located in a predetermined front area in the storage container that has been moved to the predetermined position.
The picking support system according to claim 1 . The control unit controls a moving speed of the storage container based on information about the item and a friction coefficient between the item and the storage container.
A picking support system according to any one of claims 1 to 7. A picking support method for a robot that supports picking of an item stored in a storage container supported by a support member, comprising:
gripping the container directly or indirectly with a gripping portion to start moving the container from a reference position toward a predetermined position located in front of the container;
controlling a moving speed of the storage container such that a first inertial force is applied to the item such that the item moves forward within the storage container before the storage container reaches the predetermined position;
Picking assistance methods. A picking support program for a robot that supports picking of an item stored in a storage container supported by a support member, comprising:
a process of directly or indirectly gripping the container with a gripping unit and starting to move the container from a reference position toward a predetermined position located in front of the container;
controlling a moving speed of the storage container such that a first inertial force is applied to the item such that the item moves forward within the storage container before the storage container reaches the predetermined position;
A picking support program that causes a computer to execute the above.

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