Controller and control method for robotic system
AssigneeMUJIN, Inc.
InventorsIsamu Arase, Satoshi Tendo, Rosen Nikolaev Diankov
Life of this patent
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Abstract
A controller for a robotic system is provided. The controller may derive first data including information about operation objects and information about pallet before loading and/or unloading of the operation object on/from the pallet. The controller may derive a control sequence for loading and/or unloading the operation object on/from the pallet based on the first data before execution of the corresponding loading/unloading task. Based on the control sequence, the controller may instruct a robot to execute the task of loading and/or unloading the operation object on/from the pallet.
Claims20
A controller for controlling an operation robot to manipulate an operation object to load the operation object on a pallet and/or unload the operation object from the pallet, the controller comprising:
- a data deriving unit for deriving:
- first data including information about the operation object and information about the pallet before loading of the operation object on the pallet and/or before unloading of the operation object from the pallet, and
- second data including information about the operation object and information about the pallet after loading of the operation object on the pallet and/or after unloading of the operation object from the pallet;
- a data storage unit for storing the first data and the second data;
- and
- a robot control unit for:
- creating or deriving a control sequence for loading of the operation object on the pallet and/or unloading of the operation object from the pallet based on the first data before loading of the operation object on the pallet and/or before unloading of the operation object from the pallet, and
- instructing the operation robot to, based on the control sequence, execute a task of loading the operation object on the pallet and/or unloading the operation object from the pallet,
- wherein the robot control unit creates or derives the control sequence based on the first data and the second data such that:
- a plurality of types of operation objects in which stock keeping units are different from each other are loaded on the pallet, and
- operation objects having same or similar stock keeping units are placed on the pallet in a concentrated manner.
A tangible, non-transitory computer readable medium having processor instructions stored thereon that, when executed by one or more processors of a computer, cause the computer to perform a method for controlling an operation robot for manipulating an operation object to load the operation object on a pallet and/or unload the operation object from the pallet, and wherein the method comprises:
- deriving first data including information about the operation object and information about the pallet before loading of the operation object on the pallet and/or before unloading of the operation object from the pallet;
- deriving second data including information about the operation object and information about the pallet after loading of the operation object on the pallet and/or after unloading of the operation object from the pallet;
- storing the first data and the second data;
- creating or deriving a control sequence for loading of the operation object on the pallet and/or unloading of the operation object from the pallet based on the first data before loading of the operation object on the pallet and/or before unloading of the operation object from the pallet;
- and
- instructing the operation robot to, based on the control sequence, execute a task of loading the operation object on the pallet and/or unloading the operation object from the pallet,
- wherein creating or deriving the control sequence includes creating or deriving the control sequence based on the first data and the second data such that:
- a plurality of types of operation objects in which stock keeping units are different from each other are loaded on the pallet, and
- operation objects having same or similar stock keeping units are placed on the pallet in a concentrated manner.
A method for controlling an operation robot adapted to manipulate an operation object to load the operation object on a pallet and/or unload the operation object from the pallet, wherein the method is performed by a controller having a data deriving unit, a data storage unit, and a robot control unit, and wherein the method comprises:
- deriving first data using the data deriving unit, the first data including information about the operation object and information about the pallet, before loading of the operation object on the pallet and/or before unloading of the operation object from the pallet;
- storing the first data using the data storage unit;
- creating or deriving, using the robot control unit and based on the first data, a control sequence for loading an operation object on the pallet and/or unloading an operation object from the pallet before loading of the operation object on the pallet and/or unloading of the operation object from the pallet;
- and
- instructing, using the robot control unit and based on the control sequence, the operation robot to execute a task of loading the operation object on the pallet and/or unloading the operation object from the pallet.
Dependencies are inferred from the claim text.