JP2014073883A - Picking system, object information derivation device, and picking method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten a processing time spent for picking by efficiently deriving object information without reference to restrictions on picking processing of a robot.SOLUTION: A picking method includes: issuing an information derivation request for a new object by a robot control device 130 to an object information derivation device 120 before a robot finishes picking an object (S312); generating object information by the object information derivation device (S328) a standby time later after the information derivation request is issued (S322); and transmitting the object information to the robot control device (S304). Thus, the object information can be acquired right after no region of the robot is included in a searching range of an object, so the object information is efficiently derived to shorten the processing time spent for picking.

Description

  The present invention relates to a picking system, an object information deriving device, and a picking method for moving an arbitrary object to different positions.

  A plurality of regularly placed objects are detected by an optical detection device (such as a visual sensor), and the object is autonomously recognized by an object recognition device provided at the subsequent stage, and the recognized object 2. Description of the Related Art Picking systems in which objects are picked one by one by industrial robots have become widespread. Further, in recent years, even when the object is not regularly placed, it is possible to specify the position and orientation of the object and pick the object according to the position and orientation. I came.

  In a three-dimensional imaging device that can be used as an optical detection device of such a picking system, an image that is continuously picked up periodically is transmitted to a measurement information processing device unilaterally (so-called dripping), and an imaging start instruction is issued. A technique that omits the response processing is disclosed (for example, Patent Document 1). With this technique, an image can be automatically generated without waiting for an imaging start instruction and transmitted to the measurement information processing apparatus.

JP-A-9-325018

  In the picking system, information detected by the optical detection device is used to derive object information such as the position and orientation of the object, and the picking is executed by moving the robot hand to that position. . When such picking process is repeated by the number of objects, the next object information derivation process is executed in parallel before the picking process is completed, that is, while the rearrangement of the object is being executed. Is desirable.

  However, since the optical detection device must detect the object correctly, the next object information derivation request must be made only after the robot's part is completely out of the search range of the optical detection device. I can't. Also, when the robot comes out of the search range of the optical detection device, the robot itself is in the middle of operation. The next object information derivation request cannot be made to the object recognition apparatus.

  Therefore, the command cannot be transmitted until the robot operation is stopped or the picking process is completed, and the total processing time of picking tends to be prolonged.

  Here, it is conceivable to transmit the object information continuously and unilaterally to the optical detection device side as in Patent Document 1, but unnecessary power is consumed for continuous derivation of the object information. A large-capacity data buffer for holding the transmitted object information is required. Furthermore, since the timing of derivation of the object cannot be measured on the robot control side, the total picking processing time may be delayed depending on the derivation period.

  In view of such a problem, the present invention provides a picking system and object information that can efficiently derive object information and reduce processing time spent for picking regardless of restrictions on the picking process of the robot. An object is to provide a deriving device and a picking method.

  In order to solve the above problems, an optical detection device for detecting an object within an arbitrary search range, an object information deriving device for deriving object information indicating the position and orientation of the detected object, and an object A robot control device that issues an information derivation request for deriving object information and issues a picking command for picking an object based on the derived object information, and a robot that picks an object based on the picking command In the picking system of the present invention, the robot control device includes an object information requesting unit that issues an information derivation request for a new object to the object information deriving device before the robot completes the picking of the object. The object information deriving device includes an object information generating unit that generates object information after a waiting time has elapsed from the information deriving request. .

  In order to solve the above problems, an optical detection device for detecting an object within an arbitrary search range, an object information deriving device for deriving object information indicating the position and orientation of the detected object, and an object A robot controller that issues an information derivation request for deriving object information and issues a picking command for picking the object based on the derived object information, a robot that picks an object based on the picking command, and an object In another picking system of the present invention comprising a relay device that relays communication between the information deriving device and the robot control device, the robot control device is connected through the relay device before the robot completes the picking of the object. The object information deriving device includes an object information requesting unit that issues an information deriving request for a new object, and the relay device is a robot control device. A command determination unit that determines whether or not a command issued from the information is an information derivation request; if the command is an information derivation request; a timer that measures a waiting time from the information derivation request; and an information derivation request after the waiting time has elapsed. And a communication relay unit that transmits to the object information deriving device.

  The standby time may be set to be longer than the time from when the robot control device issues an information derivation request until the robot part is not included in the object search range of the object information derivation device.

  You may further provide the area sensor which detects whether the site | part of a robot is contained in the search range.

  In order to solve the above-described problem, the object information of the present invention is derived from object information that is connected to an optical detection device that detects an object within an arbitrary search range and indicates the position and orientation of the detected object. Upon receiving an information derivation request that is a derivation request for object information from the outside, the derivation device requests the optical detection device to obtain a captured image after the standby time has elapsed from the information derivation request, and from the optical detection device. A captured image acquisition unit that stores a received captured image in a data buffer, a target information generation unit that generates target information based on the captured image, and a target information transmission unit that transmits the generated target information to the outside And.

  In order to solve the above problems, an optical detection device for detecting an object within an arbitrary search range, an object information deriving device for deriving object information indicating the position and orientation of the detected object, and an object In the picking method of the present invention in which a robot picks an object using a picking system including a robot control device capable of communicating with the object information deriving device and the robot, the robot control device completes picking of the object by the robot. Before, the object information deriving device issues an information deriving request for deriving the target information for the new object, and the object information deriving device generates the object information after the waiting time has elapsed from the information deriving request, and performs robot control. The apparatus is characterized by issuing a picking command for picking an object based on the derived object information to the robot.

  In order to solve the above problems, an optical detection device for detecting an object within an arbitrary search range, an object information deriving device for deriving object information indicating the position and orientation of the detected object, and an object A book that causes a robot to pick an object using a picking system including a robot control device that can communicate with the object information deriving device, a robot, and a relay device that relays communication between the object information deriving device and the robot control device In another picking method of the invention, the robot controller issues an information derivation request that causes the object information deriving device to derive object information for the new object through the relay device before the robot completes the picking of the object. The relay device delays the information derivation request by the waiting time and transmits it to the object information derivation device, and the object information derivation device responds to the information derivation request. Generates information, the robot controller, characterized in that the emitting pick command to pick an object on the robot, based on the derived object information.

  According to the present invention, it is possible to efficiently derive object information and shorten the processing time spent for picking regardless of the restriction of the picking process of the robot.

It is explanatory drawing which showed the schematic connection relation of the picking system in 1st Embodiment. It is the functional block diagram which showed the schematic structure of the target object information derivation | leading-out apparatus. It is the functional block diagram which showed the schematic structure of the robot control apparatus. It is the flowchart which showed the flow of the process of the picking method. It is explanatory drawing which showed the schematic connection relation of the picking system in 2nd Embodiment. It is the functional block diagram which showed the schematic structure of the relay apparatus. It is the flowchart which showed the flow of the process of the picking method.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

(First Embodiment: Picking System 100)
FIG. 1 is an explanatory diagram showing a schematic connection relationship of the picking system 100. The picking system 100 includes an optical detection device 110, an object information deriving device 120, a robot control device 130, and a robot 140.

  The optical detection device 110 is configured by a camera, a laser scanner, or the like, and detects the object 114 dispersed on the horizontal plane in the search range 112. For example, when one camera is used as the optical detection device 110, the two-dimensional position of the object 114 on the horizontal plane can be detected based on the position (angle of view) of each object 114 in the captured image. If a plurality of cameras are used, for example, the three-dimensional position of the stacked objects 114 can also be detected by the three-point positioning method. Furthermore, when using a laser scanner, it is also possible to detect three-dimensional information based on the reflected light from the object 114 with respect to the light projected from the laser scanner.

  In the present embodiment, a single camera is used and the captured image is transmitted to the object information deriving device 120. However, the number of cameras and the presence or absence of a laser scanner are not limited, and the two-dimensional position of the object 114 or As long as the three-dimensional position can be grasped, various existing detection means such as infrared rays can be used.

  The object information deriving device 120 receives from the robot control device 130 the position of the object 114 (here, a two-dimensional position related to the X-axis coordinates and the Y-axis coordinates, or a three-dimensional information related to the X-axis coordinates, the Y-axis coordinates, and the Z-axis coordinates). When an information derivation request that is a derivation request for object information indicating position) and posture (orientation) is received, object information is derived based on the captured image received from the optical detection device 110, and the robot control device To 130.

  When the robot control device 130 issues an information derivation request to the object information deriving device 120 and receives the object information derived by the object information deriving device 120, the robot control device 130 sends the object 114 to the robot 140 based on the object information. Issue a picking command to pick. Here, picking refers to a series of processes for gripping (sucking), moving, and rearranging the object 114, and a generic name of commands for performing the processes is called a picking command.

  The robot 140 receives a picking command such as gripping, moving, and rearrangement from the robot control device 130, and grips (sucks) the commanded object 114 with the hand 142 based on the picking command to a different position. Move and rearrange, such as aligning.

  In such a picking system 100, in many cases, a picking process is repeatedly performed in which a plurality of irregularly placed objects 114 are sequentially moved and rearranged in a predetermined position. Therefore, a series of processes such as derivation of the object information → gripping the object 114 → movement of the object 114 → relocation of the object 114 are repeatedly performed.

  In such a repetitive operation of the picking process, the next object information derivation process is executed in parallel before the picking process is completed, that is, while the rearrangement of the object 114 is being executed. desirable. However, since the optical detection device 110 has to correctly detect the object 114, the next object information derivation request is made after the part of the robot 140 has completely come out of the search range 112 of the optical detection device 110. It can only be done.

  Also, when the robot 140 comes out of the search range 112 of the optical detection device 110, the robot 140 is already in the process of picking, so that no other request is made when the robot 140 is operating. Due to restrictions on sequence control of the robot 140, transmission of the next command is restricted, and the next information derivation request cannot be made to the object information deriving device 120. Then, until the picking process (gripping, moving, and rearranging the object 114) is completed, an information derivation request cannot be transmitted, and the total processing time for picking is prolonged. At this time, even if gripping, moving, and rearrangement of the object 114 are all performed in accordance with independent commands, and a separate information derivation request can be executed between each command, the timing is It is between the movement of the object 114 and the rearrangement of the object 114, and it is still the same that the process for moving the object 114 must be completed.

  Therefore, in this embodiment, the robot control device 130 makes an information derivation request at a timing before the robot 140 exits from the search range 112 of the optical detection device 110, that is, before the movement process of the object 114 starts. The target object information deriving device 120 derives the next target object information by estimating the time when the robot 140 leaves from the search range 112 of the optical detection device 110. By doing so, it is possible to efficiently derive the object information regardless of the restriction of the picking process of the robot 140 and to shorten the processing time spent for picking. Hereinafter, specific configurations of the object information deriving device 120 and the robot control device 130 will be described, and then a specific processing flow (picking method) will be described in detail.

(Object information deriving device 120)
FIG. 2 is a functional block diagram showing a schematic configuration of the object information deriving device 120. The object information deriving device 120 includes a model holding unit 210, a data buffer 212, a communication unit 214, and a central control unit 216.

  The model holding unit 210 includes a ROM, a nonvolatile RAM, a flash memory, an HDD (Hard Disk Drive), and the like, and holds model information indicating a two-dimensional model or a three-dimensional model corresponding to the object 114. The data buffer 212 is configured by SRAM, DRAM, or the like, and holds captured images received from the optical detection device 110. The communication unit 214 establishes communication with the robot control apparatus 130 via a communication line such as a dedicated line, a LAN (Local Area Network), the Internet, etc., receives an information derivation request from the robot control apparatus 130, and derives the information Send object information upon request.

  The central control unit 216 uses a semiconductor integrated circuit including a central processing unit (CPU), a signal processing unit (DSP: Digital Signal Processor), a ROM and memory storing programs, a RAM as a work area, etc. The entire derivation device 120 is managed and controlled. In the present embodiment, the central control unit 216 also functions as a captured image acquisition unit 220, an object extraction unit 222, a pattern matching unit 224, an object information generation unit 226, and an object information transmission unit 228.

  The captured image acquisition unit 220 requests the optical detection device 110 to acquire a captured image, and holds the captured image received from the optical detection device 110 in the data buffer 212. The object extraction unit 222 extracts one independent object from the captured image held in the data buffer 212. The pattern matching unit 224 compares the one object extracted by the object extracting unit 222 with the model information held by the model holding unit 210 by using a pattern matching method such as ICP (Iterative Closest Points). An object is specified as the target object 114. The target object information generation unit 226 specifies the two-dimensional position or the three-dimensional position and the posture of the target object 114 based on the pattern matching result of the pattern matching unit 224, and generates the target object information. The target object information transmission unit 228 transmits the target object information generated by the target object information generation unit 226 to the robot control device 130 through the communication unit 214.

  As described above, in the present embodiment, the object information deriving device 120 derives the object information by estimating the time that the robot 140 exits from the search range 112 of the optical detection device 110. Specifically, when the captured image acquisition unit 220 receives an information derivation request from the robot controller 130, the captured image acquisition unit 220 requests the optical detection device 110 to acquire a captured image after a standby time has elapsed since the reception of the information derivation request. To do. As a result, the object information generation unit 226 generates object information after the waiting time has elapsed from the information derivation request.

  Here, the waiting time is the time from when the robot control device 130 issues an information derivation request to when the part of the robot 140 is not included in the search range 112 of the object 114 in the optical detection device 110 or longer. I just need it. Here, for example, a time until the part of the robot 140 is not included in the search range 112 of the object 114 in the optical detection device 110 is predicted, and the time is set in advance as a standby time.

  By providing such a waiting time, the derivation of the object information can be started even when the robot 140 is in the picking process, in particular, the moving process of the object 114. In addition, it is difficult to modify the processing of the optical detection device 110, the robot control device 130, and the robot 140, which are existing products that can be procured from outside, but the object information deriving device 120 has been developed independently. Therefore, the modification can be easily performed, and a great efficiency effect can be achieved only by a simple modification.

  Further, instead of predicting and setting in advance the time until the part of the robot 140 is not included in the search range 112 of the object 114 in the optical detection device 110, for example, the part of the robot 140 is in the search range 112. You may further provide the area sensor 116 which detects whether it is contained. In this case, even if the captured image acquisition unit 220 receives the information derivation request from the robot control device 130, the captured image acquisition unit 220 does not proceed immediately, and the area sensor 116 does not include the part of the robot 140 from the search range 112. The acquisition of the captured image is requested after receiving the signal to that effect. Even in this case, as a result, the target object information generation unit 226 generates target object information after the waiting time has elapsed from the information derivation request.

(Robot controller 130)
FIG. 3 is a functional block diagram showing a schematic configuration of the robot controller 130. The robot control device 130 includes a communication unit 240 and a central control unit 242.

  The communication unit 240 establishes communication with the object information deriving device 120 via a communication line such as a dedicated line, a LAN, or the Internet, and issues an information deriving request to the object information deriving device 120. The central control unit 242 manages the entire robot control device 130 by a semiconductor integrated circuit including a central processing unit (CPU), a signal processing unit (DSP), a ROM and memory storing programs, a RAM as a work area, and the like. And control. In the present embodiment, the central control unit 242 also functions as an object information requesting unit 250, an object standby unit 252, an object gripping unit 254, an object moving unit 256, and an object rearranging unit 258.

  The object information request unit 250 requests the object information through the communication unit 240 in order to specify the object 114 picked by the robot 140. The object standby unit 252 positions the hand 142 of the robot 140 near the object 114 according to the object information. The object gripping unit 254 causes the hand 142 to grip the object 114 in accordance with the object information according to the object information. The object moving unit 256 causes the robot 140 to move the object 114 to a predetermined position. The object rearrangement unit 258 controls the hand 142 so that the object 114 assumes a predetermined posture, releases the grip, and rearranges the object 114 at a predetermined position.

  As described above, in this embodiment, the robot controller 130 requests the information derivation at a timing before the robot 140 exits from the search range 112 of the optical detection device 110, that is, before the movement process of the object 114 is started. I do. Specifically, the object information requesting unit 250 sends the object information deriving device 120 to the new object 114 at a timing before the object 114 is moved and the movement process of the object 114 is started. An information derivation request is issued. And since the said captured image acquisition part 220 requests | requires acquisition of a captured image after progress of waiting time after receiving an information derivation | leading-out request, the site | part of the robot 140 is included in the search range 112 of the target object 114 as a result. It becomes possible to acquire the object information immediately after being lost.

  In this way, the robot controller 130 can efficiently acquire the object information without waiting for the movement process of the object 114 to be completed, and the processing time spent for picking can be shortened. Become. Further, since the modification in the robot control device 130 is only a change in the order of commands that can be easily changed by the user, it is possible to achieve a great efficiency effect with only a simple modification.

(Picking method)
Next, a picking method using the picking system 100 will be described.

  FIG. 4 is a flowchart showing a processing flow of the picking method. The object information request unit 250 of the robot control device 130 transmits an object information acquisition request as a command (S300). Then, the object information transmitting unit 228 of the object information deriving device 120 transmits the object information to the robot control device 130 in response to the reception of the object information acquisition request from the robot control device 130 (YES in S302). (S304).

  When the object information is received (YES in S306), the object waiting unit 252 of the robot control device 130 positions the hand 142 of the robot 140 near the object 114 according to the object information (S308). Subsequently, the object gripping unit 254 causes the hand 142 to grip the object 114 in accordance with the object information in accordance with the object information (S310).

  Next, the object information request unit 250 of the robot control apparatus 130 transmits an information derivation request as a command (S312). Then, in response to the reception of the information derivation request from the robot control device 130 (YES in S314), the captured image acquisition unit 220 of the object information derivation device 120 transmits a reception confirmation response to the robot control device 130 (S316). .

  When the reception confirmation response is received (YES in S318), the object moving unit 256 of the robot control device 130 causes the robot 140 to move the object 114 to a predetermined position (S320). At this time, the captured image acquisition unit 220 of the object information deriving device 120 determines whether or not the standby time has elapsed after receiving the information deriving request (S322), and when the standby time has elapsed (YES in S322), The acquisition of the captured image is requested (S324).

  Then, the object rearrangement unit 258 of the robot control device 130 controls the hand 142 so that the object 114 assumes a predetermined posture, releases the grip, and rearranges the object 114 at a predetermined position ( S326). At this time, the target object information generation unit 226 of the target object information deriving device 120 generates target object information (S328).

  Here, in the stage before the movement processing of the target object 114 is started, that is, in the stage where the part of the robot 140 is still included in the search range 112 of the target object 114, the target object information An information deriving request for a new object is issued to the deriving device 120. Then, the object information deriving device 120 generates the object information after the waiting time has elapsed from the information deriving request, and the robot control device 130 picks the object 114 based on the derived object information.

  Accordingly, since the object information can be acquired immediately after the part of the robot 140 is not included in the search range 112 of the object 114, the object information can be efficiently derived and the processing time spent for picking can be shortened. It becomes possible to plan.

  Here, the object grasping unit 254 makes an information derivation request after causing the hand 142 to grasp the object 114, but the timing for issuing the information derivation request is not limited to this, and the object standby unit 252 performs the hand 142. May be positioned after the object 114 is positioned near the object 114.

(Second Embodiment: Picking System 400)
In the first embodiment, a delay corresponding to the standby time is realized in the object information deriving device 120. In the second embodiment, a relay device is provided between the robot control device 130 and the object information deriving device 120, and the relay device has a delay function for the waiting time.

  FIG. 5 is an explanatory diagram showing a schematic connection relationship of the picking system 400. The picking system 400 includes an optical detection device 110, an object information deriving device 120, a robot control device 130, a robot 140, and a relay device 410. Since the optical detection device 110, the object information deriving device 120, the robot control device 130, and the robot 140 that have already been described as the constituent elements in the first embodiment have substantially the same functions, a duplicate description is omitted. Here, the relay apparatus 410 having a different configuration will be mainly described.

(Relay device 410)
FIG. 6 is a functional block diagram illustrating a schematic configuration of the relay device 410. The relay device 410 includes a communication relay unit 412, a command determination unit 414, and a timer 416. Here, the relay device 410, the communication relay unit 412, and the command determination unit 414 are configured by a PGA (Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or individual hardware.

  The communication relay unit 412 is communicably connected to both the robot control device 130 and the object information deriving device 120, and normally transmits a command or response from one side to the other without any processing. The command determination unit 414 determines whether or not the command issued from the robot control device 130 is an information derivation request. If the command is an information derivation request, the timer 416 measures the waiting time from the information derivation request.

  As described above, the communication relay unit 412 normally merely relays communication between the robot control device 130 and the object information deriving device 120, but the command determination unit 414 is issued from the robot control device 130. If it is determined that the command is an information derivation request, the information derivation request is not transmitted to the target object information derivation device 120 at that time, but is transmitted after the standby time has elapsed.

(Picking method)
Next, a picking method using the picking system 400 will be described.

  FIG. 7 is a flowchart showing a processing flow of the picking method. Here, the description already given in the first embodiment is omitted, and only different processes are referred to.

  When the object information request unit 250 of the robot control device 130 transmits an information derivation request as a command (S312), the command determination unit 414 of the relay device 410 determines whether or not the command is an information derivation request ( S450). If the command is an information derivation request (YES in S450), the communication relay unit 412 transmits a dummy reception confirmation response to the robot controller 130 (S452).

  Then, the timer 416 of the relay device 410 determines whether or not the standby time has elapsed after receiving the information derivation request (S454), and when the standby time has elapsed (YES in S454), the timer information 416 A derivation request is made (S456). The object information deriving device 120 performs a reception confirmation response to the information deriving request (S316). However, since it is duplicated with the dummy reception confirmation response, the communication relay unit 412 of the relay device 410 receives the reception confirmation response. The confirmation response is received (YES in S458) and is not transmitted to the robot controller 130.

  Thus, as in the first embodiment, the object information can be acquired immediately after the part of the robot 140 is not included in the search range 112 of the object 114. Therefore, the object information can be efficiently derived for picking. It is possible to shorten the processing time spent. Here, since the object information deriving device 120 is not required to be modified, the existing object information deriving device 120 can be used as it is.

  As described above, according to the picking systems 100 and 400 described above, it is possible to efficiently derive the object information and reduce the processing time spent for picking regardless of the restriction of the picking process of the robot 140.

  In addition, a program that functions as the object information deriving device 120 by a computer and a storage medium that stores the program are also provided. Further, the program may be read from a storage medium and taken into a computer, or may be transmitted via a communication network and taken into a computer.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Is done.

  Note that each step in the picking method of the present specification does not necessarily have to be processed in time series in the order described as a flowchart, and may include processing in parallel or by a subroutine.

  The present invention can be used for a picking system, an object information deriving device, and a picking method for moving an arbitrary object to different positions.

DESCRIPTION OF SYMBOLS 100, 400 ... Picking system 110 ... Optical detection device 112 ... Search range 114 ... Object 120 ... Object information deriving device 130 ... Robot control device 140 ... Robot 220 ... Captured image acquisition part 226 ... Object information generation part 228 ... Object information transmission unit 250 ... object information request unit 410 ... relay device 412 ... communication relay unit 414 ... command determination unit 416 ... timer

Claims (7)

An optical detection device for detecting an object within an arbitrary search range;
An object information deriving device for deriving object information indicating the position and orientation of the detected object;
A robot control device that issues an information derivation request for deriving the object information and issues a picking command for picking the object based on the derived object information;
A robot for picking the object based on the picking command;
A picking system comprising:
The robot control device includes an object information requesting unit that issues the information derivation request for a new object to the object information deriving device before the robot completes the picking of the object.
The object information deriving device includes an object information generating unit that generates object information after a waiting time elapses from the information deriving request. An optical detection device for detecting an object within an arbitrary search range;
An object information deriving device for deriving object information indicating the position and orientation of the detected object;
A robot control device that issues an information derivation request for deriving the object information and issues a picking command for picking the object based on the derived object information;
A robot for picking the object based on the picking command;
A relay device that relays communication between the object information deriving device and the robot control device;
A picking system comprising:
The robot control device includes an object information requesting unit that issues the information derivation request for a new object to the object information deriving device through the relay device before the robot completes the picking of the object.
The relay device includes a command determination unit that determines whether a command issued from the robot control device is an information derivation request, and a timer that measures a waiting time from the information derivation request if the command is an information derivation request And a communication relay unit that transmits the information derivation request to the object information derivation device after the standby time has elapsed.   The waiting time is set to be equal to or longer than a time from when the robot controller issues the information derivation request until the robot part is not included in the object search range of the object information derivation apparatus. The picking system according to claim 1 or 2, characterized by the above.   The picking system according to claim 3, further comprising an area sensor that detects whether or not the part of the robot is included in the search range. An object information deriving device that is connected to an optical detection device that detects an object within an arbitrary search range and derives object information indicating the detected position and orientation of the object,
When an information derivation request that is a derivation request for object information is received from the outside, after the waiting time has elapsed from the information derivation request, the optical detection device is requested to acquire a captured image and received from the optical detection device. A captured image acquisition unit for storing the captured image in a data buffer;
An object information generating unit that generates object information based on the captured image;
An object information transmitting unit for transmitting the generated object information to the outside;
An object information deriving device comprising: Optical detection device for detecting an object within an arbitrary search range, object information deriving device for deriving object information indicating the position and orientation of the detected object, and communication with the object information deriving device A picking method for causing the robot to pick the object using a picking system including a robot control device and a robot,
The robot control device issues an information derivation request for causing the target information deriving device to derive target information for a new target before the robot completes the picking of the target,
The object information deriving device generates object information after elapse of a waiting time from the information deriving request,
The picking method, wherein the robot control device issues a picking command for picking the object based on the derived object information. Optical detection device for detecting an object within an arbitrary search range, object information deriving device for deriving object information indicating the position and orientation of the detected object, and communication with the object information deriving device A picking method for causing the robot to pick the object using a picking system comprising a possible robot control device, a robot, and a relay device that relays communication between the object information deriving device and the robot control device There,
Before the robot completes the picking of the object, the robot control device issues an information derivation request that causes the object information derivation device to derive object information for the new object through the relay device;
The relay device transmits the information derivation request to the target information derivation device by delaying the information derivation request by a waiting time;
The object information deriving device generates object information in response to the information deriving request,
The picking method, wherein the robot control device issues a picking command for picking the object based on the derived object information.

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