WORKPIECE DETECTING SYSTEM, PICKING APPARATUS, PICKING METHOD, AND TRANSPORT SYSTEM
First Claim
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1. A workpiece detection system, comprising:
- a plurality of transmitters disposed on a workpiece, each transmitter transmitting a first signal;
three or more receivers receiving the first signal transmitted from the transmitter; and
a position calculator detecting a location of the transmitter based on the first signal received by each of the receivers, whereinthe position calculator detects a posture of the workpiece from information on the detected locations of the plurality of transmitters.
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Abstract
A workpiece detection system includes: a plurality of transmitters disposed on a workpiece, each transmitter transmitting a first signal; three or more receivers receiving the first signal transmitted from the transmitter; and a position calculator detecting a location of the transmitter based on the first signal received by each of the receivers. The position calculator detects a posture of the workpiece from information on the detected locations of the plurality of transmitters.
30 Citations
17 Claims
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1. A workpiece detection system, comprising:
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a plurality of transmitters disposed on a workpiece, each transmitter transmitting a first signal; three or more receivers receiving the first signal transmitted from the transmitter; and a position calculator detecting a location of the transmitter based on the first signal received by each of the receivers, wherein the position calculator detects a posture of the workpiece from information on the detected locations of the plurality of transmitters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A picking method, comprising:
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transferring a workpiece by a workpiece transfer unit as a first transfer step; transmitting an ultrasonic wave signal from each of a plurality of transmitters disposed on the workpiece and detecting a posture of the workpiece using a receiver as a first detection step; and grabbing and transferring the workpiece by a robot as a second transfer step, wherein a posture of the workpiece is detected based on a time of arrival of the ultrasonic wave signal to each of the plurality of receivers, the signal being transmitted from each transmitter in the first detecting step. - View Dependent Claims (16)
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17. A transfer system, comprising:
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a first transport unit; a second transport unit; a robot; a workpiece that is placed on the first transport unit and includes a plurality of transmitters transmitting signals; and three or more receivers, wherein;
the receivers receive the signals transmitted by the transmitters, and detect locations of the transmitters using times of arrival of the signals received by the receivers;
a posture of the workpiece is detected from information on the locations of the transmitters; and
the robot grabs the workpiece and places the workpiece on the second transport unit.
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Specification