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WO-2026094264-A1 - PROCESSING DEVICE, PROCESSING METHOD, AND RECORDING MEDIUM

WO2026094264A1WO 2026094264 A1WO2026094264 A1WO 2026094264A1WO-2026094264-A1

Abstract

This processing device comprises: a determination means that, in a series of operations for each of one or more robots including a plurality of operations for executing work, determines an optimization range indicating up to which operation among the plurality of operations is to be optimized; and a calculation means that performs optimization calculation that satisfies a constraint condition in the execution of the work including at least the execution of the work in the optimization range, and minimizes an objective function indicating the time required for the work.

Inventors

  • WAKAYAMA Hisaya

Assignees

  • 日本電気株式会社

Dates

Publication Date
20260507
Application Date
20241101

Claims (10)

  1. A determination means for determining the optimization range, which indicates which of the multiple actions to be optimized in a series of actions for each of one or more robots, including multiple actions for performing a task, A calculation means for performing an optimization calculation that satisfies constraints in the execution of the work, which includes at least the execution of the work within the optimization range, and minimizes an objective function that indicates the time required for the work; A processing device equipped with the following features.
  2. Acquisition means for acquiring the operating state of each of the one or more robots at the start of the optimization calculation, The apparatus according to claim 1, comprising:
  3. The aforementioned determination means is The optimization range is determined based on optimization range definition information that uniquely associates the operating state of each of the one or more robots with the optimization range of each of the one or more robots. The apparatus according to claim 2.
  4. A generation means for generating the aforementioned optimization range definition information, The apparatus according to claim 3, comprising:
  5. The generating means is The system performs optimization calculations in advance for the tasks to be calculated and the operating states of each of the one or more robots, and generates the optimization range definition information based on the operating transitions when the times of the operating transitions in which all of the tasks of the one or more robots are completed within a predetermined time difference are close together. The apparatus according to claim 4.
  6. The generating means is Based on the fact that the aforementioned operation transition falls within a predetermined time range, the optimization range definition information is generated. The apparatus according to claim 5.
  7. The aforementioned determination means is When operation is started from the operating state of each of the one or more robots, the optimization range is determined so that all of the tasks of the one or more robots are completed within a predetermined time difference. The apparatus according to any one of claims 1 to 6.
  8. A control means that controls the one or more robots based on the optimization calculation performed by the calculation means, The apparatus according to any one of claims 1 to 7, comprising
  9. In a series of operations for each of one or more robots, which includes multiple operations to perform a task, the optimization range is determined, which indicates which of the multiple operations will be optimized. An optimization calculation is performed that satisfies the constraints in the execution of the work, which includes at least the execution of the work within the optimization range, and minimizes the objective function that indicates the time taken for the work. Processing methods included.
  10. In a series of operations for each of one or more robots, which includes multiple operations to perform a task, the optimization range is determined, which indicates which of the multiple operations will be optimized. An optimization calculation is performed that satisfies the constraints in the execution of the work, which includes at least the execution of the work within the optimization range, and minimizes the objective function that indicates the time taken for the work. A recording medium that stores a program that causes a computer to execute a program.

Description

Processing apparatus, processing method, and recording medium This disclosure relates to an processing apparatus, a processing method, and a recording medium. Techniques for optimizing programs that control the operation of controlled objects such as robots are known. Patent Document 1 discloses a related technique: a method for optimizing the nonlinear control characteristics of a controlled object according to its operating conditions. This figure shows an example of the configuration of an optimization device according to some embodiments of the present disclosure.This figure shows an example of the configuration of an optimization device according to some embodiments of the present disclosure.This figure shows an example of operation definition information relating to some embodiments of the present disclosure.This figure shows an example of optimization range definition information for some embodiments of the present disclosure.This figure shows an example of the processing flow of a processing system according to some embodiments of the present disclosure.This figure shows an example of operation definition information relating to some embodiments of the present disclosure.This figure shows an example of the configuration of an optimization device according to some embodiments of the present disclosure.This figure shows an example of the processing flow of a processing system according to some embodiments of the present disclosure.This figure shows an example of the calculation result of the operation plan in updating the optimization range definition information according to some embodiments of the present disclosure.This figure shows an example of the extraction results in updating the optimization range definition information according to some embodiments of this disclosure.This figure shows an example of the extraction time range in updating the optimization range definition information according to some embodiments of this disclosure.This figure shows an example of the configuration of an apparatus according to some embodiments of the present disclosure.This figure shows an example of the processing flow of a processing apparatus according to some embodiments of the present disclosure.This is a schematic block diagram showing the configuration of a computer according to at least one embodiment. The embodiments will be described in detail below with reference to the drawings. In each embodiment of this disclosure, "optimization" refers to identifying and adopting the best result from among multiple results obtained in the process. However, strictly speaking, a better result than the "optimization" may exist. In other words, there may be a more suitable result other than the multiple results obtained in the process. <Implementation> This document describes a processing system 1 according to one embodiment of the present disclosure. The processing system 1 according to one embodiment of the present disclosure is a system that narrows the scope of motion planning to reduce the cost of motion planning when controlling multiple objects to be controlled. Examples of processing system 1 include a robot system that controls multiple robots, an autonomous driving system that automatically drives multiple automobiles, a transport system that performs joint transport by multiple drones or coordinated transport by multiple AGVs (Automatic Guided Vehicles), a collaborative work system by multiple autonomously operating construction machines, and a collaborative system in which multiple manufacturing machines work together. In the following description, a robot system will be described as a specific example of processing system 1. However, processing system 1 is not limited to a robot system. For example, as described above, processing system 1 may be a robot system that controls multiple robots, an autonomous driving system that automatically drives multiple automobiles, a transport system that performs joint transport by multiple drones or coordinated transport by multiple AGVs, a collaborative work system by multiple autonomously operating construction machines, or a collaborative system in which multiple manufacturing machines work together. (Processing system configuration) Figure 1 shows an example of the configuration of a processing system 1 according to some embodiments of the present disclosure. The processing system 1 comprises robots 10a1, 10a2, ..., 10aM, an optimization device 20, and trays 30a1, 30a2, ..., 30aN. Robots 10a1, 10a2, ..., 10aM are sometimes collectively referred to as robot 10. Trays 30a1, 30a2, ..., 30aN are sometimes collectively referred to as tray 30. M and N are integers of 2 or more. The processing system 1, for example, uses multiple (i.e., M) arm robots 10 to perform the task of aligning items (not shown) placed on the source tray 30a1 to the destination tray 30a2. Furthermore, if the items placed in the source tray 30a1 run out, or if there is no longer enough space to arra