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US 11,097,421 B2Granted
Control device, picking system, distribution system, program, control method and production method
AssigneeMUJIN, Inc.
InventorRosen Diankov
Life of this patent
Estimating the term…
Abstract
An trajectory information generating unit for generating trajectory information defining a trajectory for which a picking hand picks a work at a first position and arranges the work at a second position, an execution control unit for operating a picking apparatus based on trajectory information generated by the trajectory information generating unit, and an execution time estimating unit for estimating a period of time from when the picking apparatus receives an instruction for starting an operation on a work to a time when the operation of the picking apparatus on the work is ended are included. The trajectory information generating unit may adjust an amount of calculation based on an estimation result of the execution time estimating unit.
Claims12
A control device for controlling a picking apparatus that arranges a work picked at a first position of a first container by using a picking hand at a second position of a second container being different from the first container, the control device comprising:
- a trajectory information generating unit for generating trajectory information that defines a trajectory, along which no interference occurs, for which the picking hand picks the work at the first position and arranges the work at the second position;
- an execution control unit for operating the picking apparatus based on the trajectory information generated by the trajectory information generating unit;
- and
- an execution time estimating unit for estimating a period of time from when the picking apparatus receives an instruction for starting an operation on the work to a time when the operation of the picking apparatus on the work is ended, wherein
- the trajectory information generating unit includes:
- a first candidate information acquiring unit for acquiring first candidate information representing each of one or more postures that the picking hand takes at the first position;
- a second candidate information acquiring unit for acquiring second candidate information representing each of one or more postures that the picking hand takes at the second position;
- an extracting unit for extracting one combination from among one or more combinations representing the one or more postures represented by the first candidate information and the one or more postures represented by the second candidate information;
- a trajectory calculating unit for calculating a trajectory for which (i) the picking hand picks, at the first position, the work using a posture corresponding to the first position included in the one combination and (ii) the picking hand arranges, at the second position, the work with a posture corresponding to the second position included in the one combination;
- a determining unit for determining whether an interference is present or absent in the trajectory calculated by the trajectory calculating unit;
- a constraint condition setting unit for determining a constraint condition representing a calculation amount or calculation time duration of a process for at least one of the first candidate information acquiring unit, the second candidate information acquiring unit, the extracting unit, the trajectory calculating unit and the determining unit based on an estimation result of the execution time estimating unit, wherein
- the trajectory information generating unit generates the trajectory information by performing at least one of the following processes (a) to (d),
- (a) acquiring, by the first candidate information acquiring unit, gripping information representing each of one or more methods of gripping the work by using the picking hand, and
- repeating, by the first candidate information acquiring unit within a range of the constraint condition corresponding to the first candidate information acquiring unit, (i) determining whether the interference of the picking hand is present or absent in a case that the picking hand grips, according to each gripping method represented by the gripping information, the work at the first position, and (ii) acquiring, as the first candidate information, information representing a position and a posture of the picking hand of each gripping method that is determined as not interfering,
- (b) acquiring, by the second candidate information acquiring unit, gripping information representing each of one or more methods of gripping the work by using the picking hand, and
- repeating, by the second candidate information acquiring unit within a range of the constraint condition corresponding to the second candidate information acquiring unit, (i) determining whether the interference of the picking hand is present or absent in a case that the picking hand grips, according to each gripping method represented by the gripping information, the work at the second position, and (ii) acquiring, as the second candidate information, information representing a position and a posture of the picking hand of each gripping method that is determined as not interfering,
- (c) calculating, by the extracting unit, an evaluation function for at least part of the one or more combinations within a range of the constraint condition corresponding to the extracting unit, and
- extracting, by the extracting unit, a combination with the highest evaluation function, as the one combination, among the combinations calculated according to the evaluation function, or
- (d) dividing, by the determining unit, the trajectory calculated by the trajectory calculating unit into a plurality of zones,
- determining, by the determining unit, whether the interference is present or absent for each zone, and
- canceling, by the determining unit, the determining process in all zones of the trajectory calculated by the trajectory calculating unit before the determining process is ended if, in a determining processing for the each zone, a calculation time or calculation amount of the determining processing exceeds a threshold based on the constraint condition corresponding to the extracting unit.
18 more elements
A tangible, non-transitory computer-readable medium having processor instructions stored thereon that, when executed cause the processor to perform operations for controlling a picking apparatus that arranges a work picked at a first position of a first container by using a picking hand at a second position of a second container being different from the first container, the operations comprising:
- generating trajectory information defining a trajectory, along which no interference occurs, for which the picking hand picks the work at the first position and arranges the work at the second position;
- operating the picking apparatus based on trajectory information generated in the generating the trajectory information;
- and
- estimating execution time which represents a period of time from when the picking apparatus receives an instruction for starting an operation on the work to a time when the operation of the picking apparatus on the work is ended, wherein
- generating the trajectory information includes
- acquiring first candidate information representing each of one or more postures that the picking hand takes at the first position;
- acquiring second candidate information representing each of one or more postures that the picking hand takes at the second position;
- extracting one combination from among one or more combinations representing the one or more postures represented by the first candidate information and the one or more postures represented by the second candidate information;
- calculating a trajectory for which (i) the picking hand picks, at the first position, the work using a posture corresponding to the first position included in the one combination and (ii) the picking hand arranges, at the second position, the work with a posture corresponding to the second position included in the one combination;
- determining whether an interference is present or absent in the trajectory calculated in the calculating trajectory;
- and
- determining a constraint condition representing a calculation amount or calculation time duration of a process for at least one of the acquiring first candidate information, the acquiring second candidate information, the extracting, the calculating trajectory and the determining based on an estimation result of the estimating execution time, wherein
- generating trajectory information includes generating the trajectory information by performing at least one of the following processes (a) to (d),
- (a) acquiring gripping information representing each of one or more methods of gripping the work by using the picking hand, and
- repeating, within a range of the constraint condition corresponding to acquiring the first candidate information, (i) determining whether the interference of the picking hand is present or absent in a case that the picking hand grips, according to each gripping method represented by the gripping information, the work at the first position, and (ii) acquiring, as the first candidate information, information representing a position and a posture of the picking hand of each gripping method that is determined as not interfering,
- (b) acquiring gripping information representing each of one or more methods of gripping the work by using the picking hand, and
- repeating, within a range of the constraint condition regarding the acquiring second candidate information, (i) determining whether the interference of the picking hand is present or absent in a case that the picking hand grips, according to each gripping method represented by the gripping information, the work at the second position, and (ii) acquiring, as the second candidate information, information representing a position and a posture of the picking hand of each gripping method that is determined as not interfering,
- (c) calculating an evaluation function for at least part of the one or more combinations within a range of the constraint condition corresponding to the extracting, and
- extracting a combination with the highest evaluation function, as the one combination, among the combinations calculated according to the evaluation function, or
- (d) dividing the trajectory calculated in the calculating trajectory into a plurality of zones,
- determining whether the interference is present or absent for each zone, and
- canceling the determining process in all zones of the trajectory calculated by the trajectory calculating unit before the determining process is ended if, in a determining process for the each zone, a calculation time or calculation amount of the determining process exceeds a threshold based on the constraint condition corresponding to the extracting.
19 more elements
A control method for controlling a picking apparatus that arranges a work picked at a first position of a first container by using a picking hand at a second position of a second container being different from the first container, the control method comprising
- generating trajectory information defining a trajectory, along which no interference occurs, for which the picking hand picks the work at the first position and arranges the work at the second position;
- operating the picking apparatus based on trajectory information generated in the generating the trajectory information;
- and
- estimating execution time which is a period of time from when the picking apparatus receives an instruction for starting an operation on the work to a time when the operation of the picking apparatus on the work is ended, wherein
- generating the trajectory information includes
- acquiring first candidate information representing each of one or more postures that the picking hand takes at the first position;
- acquiring second candidate information representing each of one or more postures that the picking hand takes at the second position;
- extracting one combination from among one or more combinations representing the one or more postures represented by the first candidate information and the one or more postures represented by the second candidate information;
- calculating a trajectory for which (i) the picking hand picks, at the first position, the work using a posture corresponding to the first position included in the one combination and (ii) the picking hand arranges, at the second position, the work with a posture corresponding to the second position included in the one combination;
- determining whether an interference is present or absent in the trajectory calculated in the calculating trajectory;
- and
- determining a constraint condition representing a calculation amount or calculation time duration of a process for at least one of the acquiring first candidate information, the acquiring second candidate information, the extracting, the calculating trajectory and the determining based on an estimation result of the estimating execution time, wherein
- generating trajectory information includes generating the trajectory information by performing at least one of the following processes (a) to (d),
- (a) acquiring gripping information representing each of one or more methods of gripping the work by using the picking hand, and
- repeating, within a range of the constraint condition corresponding to acquiring the first candidate information, (i) determining whether the interference of the picking hand is present or absent in a case that the picking hand grips, according to each gripping method represented by the gripping information, the work at the first position, and (ii) acquiring, as the first candidate information, information representing a position and a posture of the picking hand of each gripping method that is determined as not interfering,
- (b) acquiring gripping information representing each of one or more methods of gripping the work by using the picking hand, and
- repeating, within a range of the constraint condition corresponding to the acquiring second candidate information, (i) determining whether the interference of the picking hand is present or absent in a case that the picking hand grips, according to each gripping method represented by the gripping information, the work at the second position, and (ii) acquiring, as the second candidate information, information representing a position and a posture of the picking hand of each gripping method that is determined as not interfering,
- (c) calculating an evaluation function for at least part of the one or more combinations within a range of the constraint condition corresponding to the extracting, and
- extracting a combination with the highest evaluation function, as the one combination, among the combinations calculated according to the evaluation function, or
- (d) dividing the trajectory calculated in the calculating trajectory into a plurality of zones,
- determining whether the interference is present or absent for each zone, and
- canceling the determining process in all zones of the trajectory calculated by the trajectory calculating unit before the determining process is ended if, in a determining process for the each zone, a calculation time or calculation amount of the determining process exceeds a threshold based on the constraint condition corresponding to the extracting.
19 more elements
Dependencies are inferred from the claim text.