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.
Claims20
A control device comprising:
- a communication interface configured to communicate with at least one image capturing apparatus and with a robot;
- at least one processor configured, when a plurality of articles in a supply region are represented in image data generated by the at least one image capturing apparatus, to:
- perform, as a first object recognition operation, an object recognition operation for identifying, based on the image data, a first article of the plurality of articles;
- perform, as a first trajectory planning operation, a trajectory planning operation for generating a first set of trajectory information that defines a trajectory for the first article from the supply region to a delivery region;
- perform, as a second object recognition operation, an object recognition operation for identifying, based on the image data, a second article of the plurality of articles, wherein the second object recognition operation is performed concurrently with the first trajectory planning operation;
- and
- perform, as a first execution operation, an execution operation for outputting a first set of control information that is generated based on the first set of trajectory information, wherein the first set of control information is for causing the robot to move the first article from the supply region to the delivery region.
A non-transitory computer-readable medium having instructions thereon that, when executed by at least one processor of a control device, causes the at least one processor to:
- perform a first object recognition operation when:
- i) the control device is configured to communicate with at least one image capturing apparatus and with a robot, and ii) a plurality of articles in a supply region are represented in image data generated by the at least one image capturing apparatus, wherein the first object recognition operation is for identifying, based on the image data, a first article of the plurality of articles;
- perform, as a first trajectory planning operation, a trajectory planning operation for generating a first set of trajectory information that defines a trajectory for the first article from the supply region to a delivery region;
- perform, as a second object recognition operation, an object recognition operation for identifying, based on the image data, a second article of the plurality of articles, wherein the second object recognition operation is performed concurrently with the first trajectory planning operation;
- and
- perform, as a first execution operation, an execution operation for outputting a first set of control information that is generated based on the first set of trajectory information, wherein the first set of control information is for causing the robot to move the first article from the supply region to the delivery region.
A control device comprising:
- a communication interface configured to communicate with at least one image capturing apparatus and with a robot;
- at least one processor configured, when an article in a supply region is represented in image data generated by the at least one image capturing apparatus, to:
- generate a first set of trajectory information which defines a first trajectory for the article from the supply region to a delivery region;
- perform an interference detection operation for the first trajectory by:
- (i) dividing the first trajectory into a first plurality of zones, and (ii) determining whether at least one zone of the first plurality of zones contains an interference for the robot or the article along the first trajectory;
- in response to a determination that at least one zone of the first plurality of zones contains an interference for the robot or the article along the first trajectory:
- canceling a remainder of the interference detection operation for the first trajectory and generating a second set of trajectory information which defines a second trajectory for the article from the supply region to the delivery region;
- and performing the interference detection operation for the second trajectory.
Dependencies are inferred from the claim text.