Robot, control device, and robot system

Patent metadata

Field	Value
Publication number	US-11351672-B2
Application number	US-201816143763-A
Country	US
Kind code	B2
Filing date	Sep 27, 2018
Priority date	Sep 29, 2017
Publication date	Jun 7, 2022
Grant date	Jun 7, 2022

Abstract

A robot causes an image capturing device to capture an image of a container in which a plurality of targets are placed to overlap in part with one another, the plurality of targets including components whose types are different from each other among the component and a component kit in which two or more of the components are assembled with one another, detects types, positions and poses of the plurality of targets based on the captured image captured by the image capturing device, determines a priority order of one or more of component kits being assembled using the targets placed in the container according to the detected types, the detected positions and the detected poses, and assembles the component kit selected based on the determined priority order.

First claim

What is claimed is:

1. A robot connected to an image capturing device, the robot comprising:
an end effector configured to operate with a plurality of targets;
a memory configured to store a program and an initial priority order of an assemble operation of the plurality of targets; and
a processor configured to execute the program so as to:
cause the image capturing device to capture an image of a container in which the plurality of targets are placed as an initial state of the plurality of targets prior to the assemble operation, at least two targets of the plurality of targets being partially overlapped one another, the at least two overlapped targets including a first target and a second target that is on the first target, the plurality of targets including components whose types are different from one another among the components, a component kit being made by assembling two or more of the components with one another by the robot;
detect types, positions and poses of the plurality of targets based on the captured image;
obtain the initial priority order of the assemble operation from the memory;
determine whether the initial priority order of one or more of the component kits being assembled using the plurality of targets placed in the container is operable according to the detected types, the detected positions and the detected poses;
modify the initial priority order to a modified priority order when the first target of the at least two overlapped targets is in a first operation under the initial priority order;
cause the robot to assemble at least two targets of the plurality of targets, except for the first target, to make the component kit based on the modified priority order without moving the first target by the end effector; and
repeat the causing of the image capturing device to capture the image, the detecting of the types, positions and poses of the plurality of targets, the determining whether the modified priority order is operable, the modifying of the modified priority order when the modified priority order is not operable, and the causing of the robot to assemble all of the plurality of targets to form a final product.

2. The robot according to claim 1 ,
wherein the processor is configured to cause the robot to assemble the component kit and then to place the assembled component kit in the container.

3. The robot according to claim 1 ,
wherein the processor is configured to determine if there are more components to assemble with the assembled component kit and, if there are more components to assemble, then the processor updates the initial priority order and continues assembling the component kit.

4. The robot according to claim 1 ,
wherein the processor is configured to cause the robot to place the final product in the container.

5. The robot according to claim 1 ,
wherein the processor is configured to determine a first place priority for the assemble operation is the component kit that has the largest number of assembling process steps needed to be completely assembled.

6. The robot according to claim 1 ,
wherein, when the processor determines that there is the component kit which is assembled with the component kit that has been most recently assembled, the processor is configured to determine a first place priority for the assemble operation is the component kit which is assembled with the component kit that has been most recently assembled.

7. A control device that is connected to an image capturing device and controls a robot, comprising:
a memory configured to store a program and an initial priority order of an assemble operation of a plurality of targets; and
a processor configured to execute the program so as to:
cause the image capturing device to capture an image of a container in which the plurality of targets are placed as an initial state of the plurality of targets prior to the assemble operation, at least two targets of the plurality of targets being partially overlapped one another, the at least two overlapped targets including a first target and a second target that is on the first target, the plurality of targets including components whose types are different from one another among the components, a component kit being made by assembling two or more of the components with one another by an end effector of the robot;
detect types, positions and poses of the plurality of targets based on the captured image;
obtain the initial priority order of the assemble operation from the memory;
determine whether the initial priority order of one or more of the component kits being assembled using the plurality of targets placed in the container is operable according to the detected types, the detected positions and the detected poses;
modify the initial priority order to a modified priority order when the first target of the at least two overlapped targets is in a first operation under the initial priority order;
cause the robot to assemble at least two targets of the plurality of targets, except for the first target, to make the component kit based on the modified priority order without moving the first target by the end effector; and
repeat the causing of the image capturing device to capture the image, the detecting of the types, positions and poses of the plurality of targets, the determining whether the modified priority order is operable, the modifying of the modified priority order when the modified priority order is not operable, and the causing of the robot to assemble all of the plurality of targets to form a final product.

8. A robot system comprising:
a robot having an end effector, the end effector being configured to operate with a plurality of targets;
an image capturing; device;
a memory configured to store a program and an initial priority order of an assemble operation of the plurality of targets; and
a processor configured to execute the program so as to:
cause the image capturing device to capture an image of a container in which the plurality of targets are placed as an initial state of the plurality of targets prior to the assemble operation, at least two targets of the plurality of targets being partially overlapped one another, the at least two overlapped targets including a first target and a second target that is on the first target, the plurality of targets including components whose types are different from one another among the components, a component kit being made by assembling two or more of the components with one another by the robot;
detect types, positions and poses of the plurality of targets based on the captured image;
obtain the initial priority order of the assemble operation from the memory;
determine whether the initial priority order of one or more of the component kits being assembled using the plurality of targets placed in the container is operable according to the detected types, the detected positions and the detected poses;
modify the initial priority order to a modified priority order when the first target of the at least two overlapped targets is in a first operation under the initial priority order;
cause the robot to assemble at least two targets of the plurality of targets, except for the first target, to make the component kit based on the modified priority order without moving the first target by the end effector; and
repeat the causing of the image capturing device to capture the image, the detecting of the types, positions and poses of the plurality of targets, the determining whether the modified priority order is operable, the modifying of the modified priority order when the modified priority order is not operable, and the causing of the robot to assemble all of the plurality of targets to form a final product.

Assignees

• Seiko Epson Corp

Inventors

• Harada Tomoki

Classifications

• G05B2219/40114

  From vision detected initial and user given final state, generate tasks · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• B25J9/1661

  characterised by task planning, object-oriented languages · CPC title

• B25J9/1687

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title

• G05B2219/40033

  Assembly, microassembly · CPC title