WORKPIECE PICKING DEVICE

Abstract

A workpiece picking device capable of correctly detecting the size of a workpiece. The picking device has a robot capable of picking the same kind of workpieces contained in a work container, a robot controller for controlling the robot, a video camera positioned above the work container so as to widely image the workpieces and an image processor for processing an image obtained by the video camera. The three-dimensional position and posture of each workpiece is measured by a three-dimensional vision sensor arranged on a wrist element of the robot.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and advantages of the present invention will be made more apparent by the following description, of the preferred embodiments thereof, with reference to the accompanying drawings wherein:

FIG. 1 shows a schematic configuration of a workpiece picking device according to the invention;

FIG. 2 is a flowchart showing a procedure of an operation for picking a workpiece;

FIG. 3 is a diagram showing an illustrative pattern of a detection result of the workpiece;

FIG. 4 is a schematic diagram showing the positional relation between the workpiece and a video camera; and

FIG. 5 is a diagram explaining a setting method of the condition in relation to the detection of the workpiece.

Claims

1. A workpiece picking device for picking a workpiece by means of a robot, using an image including the same kind of workpieces, comprising: an imaging means for imaging a plurality of workpieces;a detecting part for detecting one or more workpieces in the image, based on the feature of the workpiece predetermined using the imaging means;a selecting part for selecting one workpiece to be picked from the workpieces detected by the detecting part;a robot for picking the workpiece selected by the selecting part;a detection result storing part for storing a detection result by detecting part in relation to the workpiece picked by the robot; anda condition setting part for setting a condition in relation to the next detection by the detecting part, using the detection result stored in the detection result storing part.

2. The workpiece picking device according to claim 1, wherein the detection result stored in the detection result storing part is a detection result in relation to a workpiece which is the latest picked workpiece.

3. The workpiece picking device according to claim 1, wherein the detection result stored in the detection result storing part is a detection result in relation to a predetermined number of workpieces which are counted from the latest picked workpiece.

4. The workpiece picking device according to claim 1, wherein the detection result stored in the detection result storing part is information in relation to the size of an image of the workpiece imaged by the imaging means, and the condition setting part is configured to limit the size of the workpiece to be detected in the next detection by the detecting part within a range that is calculated by adding a certain margin to the size stored in the storing part.

5. The workpiece picking device according to claim 1, wherein the detection result stored in the detection result storing part is information in relation to the vertical position of the workpiece, and the condition setting part is configured to limit the size of the workpiece to be detected in the next detection by the detecting part within a range that is calculated by adding a certain margin to a value representing the size of the workpiece obtained by converting the vertical position of the workpiece stored in the storing part.