Handling system, work system, and program
First Claim
1. A handling system comprising:
- a conveying part for moving a carrying part on which a plurality of articles are carried along a conveyance path and thereby conveying said plurality of articles;
a visual sensor for repeating imaging of an imaging region set in said conveyance path at a predetermined time interval, acquiring images in a plurality of tracking ranges obtained by dividing said carrying part in a conveyance direction, and detecting relative positions of articles within each tracking range with respect to each tracking range based on each acquired image;
a movement amount detecting part for detecting an amount of movement of said carrying part;
a tracking range monitoring part for monitoring the amounts of movement of said plurality of tracking ranges from said imaging region based on the amount of movement detected by said movement amount detecting part and specifying the tracking range passing through a predetermined detection area;
an article selecting part for selecting an article satisfying a predetermined selection condition within the tracking range specified by said tracking range monitoring part;
a handling part for selectively picking up articles carried on said carrying part; and
a controlling part for controlling the operation of said handling part so as to pick up the article selected by said article selecting part.
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Accused Products
Abstract
A handling system able to efficiently process information relating to a plurality of conveyed articles, the handling system provided with a conveyer for conveying workpieces, a visual sensor for detecting positions of workpieces by acquiring images of a plurality of tracking ranges obtained by dividing a belt into sections, an encoder for detecting an amount of movement of the belt, a tracking manager for monitoring amounts of movement of the plurality of tracking ranges based on the amount of movement detected by the encoder and specifying the tracking range passing through a workpiece detection area, a workpiece manager for selecting the article in the tracking range specified by the tracking manager, and a controller for controlling operations of robots so as to hold the workpiece selected by the workpiece manager.
35 Citations
8 Claims
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1. A handling system comprising:
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a conveying part for moving a carrying part on which a plurality of articles are carried along a conveyance path and thereby conveying said plurality of articles;
a visual sensor for repeating imaging of an imaging region set in said conveyance path at a predetermined time interval, acquiring images in a plurality of tracking ranges obtained by dividing said carrying part in a conveyance direction, and detecting relative positions of articles within each tracking range with respect to each tracking range based on each acquired image;
a movement amount detecting part for detecting an amount of movement of said carrying part;
a tracking range monitoring part for monitoring the amounts of movement of said plurality of tracking ranges from said imaging region based on the amount of movement detected by said movement amount detecting part and specifying the tracking range passing through a predetermined detection area;
an article selecting part for selecting an article satisfying a predetermined selection condition within the tracking range specified by said tracking range monitoring part;
a handling part for selectively picking up articles carried on said carrying part; and
a controlling part for controlling the operation of said handling part so as to pick up the article selected by said article selecting part. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A work system comprising:
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a conveying part for moving a carrying part on which a plurality of articles are carried along a conveyance path and thereby conveying said plurality of articles;
a visual sensor for repeating imaging of an imaging region set in said conveyance path at a predetermined time interval, acquiring images in a plurality of tracking ranges obtained by dividing said carrying part in a conveyance direction, and detecting relative positions of articles within each tracking range with respect to each tracking range based on each acquired image;
a movement amount detecting part for detecting an amount of movement of said carrying part;
a tracking range monitoring part for monitoring the amounts of movement of said plurality of tracking ranges from said imaging region based on the amount of movement detected by said movement amount detecting part and specifying the tracking range passing through a predetermined detection area;
an article selecting part for selecting an article satisfying a predetermined selection condition within the tracking range specified by said tracking range monitoring part;
a work part for selectively performing work on articles carried on said carrying part; and
a controlling part for controlling the operation of said work part so as to performing work on the article selected by said article selecting part.
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8. A program for making a computer connected to a visual sensor for repeating imaging of an imaging region set in a conveyance path through which a carrying part on which a plurality of articles are carried at a predetermined time interval, acquiring images in a plurality of tracking ranges obtained by dividing said carrying part in a conveyance direction, and detecting relative positions of articles within each tracking range with respect to each tracking range based on each acquired image, a movement amount detecting part for detecting an amount of movement of said carrying part, and a handling part for selectively picking up articles carried on said carrying part function as
a tracking range monitoring part for monitoring the amounts of movement of said plurality of tracking ranges from said imaging region based on the amount of movement detected by said movement amount detecting part and specifying the tracking range passing through a predetermined detection area, an article selecting part for selecting an article satisfying a predetermined selection condition within the tracking range specified by said tracking range monitoring part, and a controlling part for controlling the operation of said handling part so as to pick up the article selected by said article selecting part.
Specification