PICKING SYSTEM
First Claim
Patent Images
1. A picking system comprising:
- a conveying device that conveys workpieces;
a robot that performs a holding operation for holding the workpieces conveyed by the conveying device and a moving operation for moving the held workpieces to a predetermined place;
an image capturing device that is provided at an upper stream side of the conveying device than the robot to capture a transport path of the conveying device; and
a control device that detects the workpieces on the transport path on the basis of an image captured by the image capturing device and instructs the robot to perform the holding operation on the detected workpieces, andthe control device including;
an overlapping detecting unit that detects overlapping of the workpieces; and
an operation instruction unit that instructs the robot to perform the holding operation on the overlapped workpieces when the overlapping of the workpieces is detected by the overlapping detecting unit.
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Abstract
A picking system includes a conveyer, a robot, a main camera, and a control device. The conveyer conveys workpieces. The robot performs a holding operation and a moving operation on the workpieces. The main camera captures the transport path of the conveyer. The control device detects the workpiece on the basis of the image captured by the main camera and instructs the robot to perform the holding operation on the detected workpiece. Moreover, the control device instructs the robot to perform the holding operation on the overlapped workpieces when the overlapping of the workpieces is detected.
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Citations
20 Claims
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1. A picking system comprising:
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a conveying device that conveys workpieces; a robot that performs a holding operation for holding the workpieces conveyed by the conveying device and a moving operation for moving the held workpieces to a predetermined place; an image capturing device that is provided at an upper stream side of the conveying device than the robot to capture a transport path of the conveying device; and a control device that detects the workpieces on the transport path on the basis of an image captured by the image capturing device and instructs the robot to perform the holding operation on the detected workpieces, and the control device including; an overlapping detecting unit that detects overlapping of the workpieces; and an operation instruction unit that instructs the robot to perform the holding operation on the overlapped workpieces when the overlapping of the workpieces is detected by the overlapping detecting unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A picking system comprising:
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a conveying means that conveys workpieces; a robot that performs a holding operation for holding the workpieces conveyed by the conveying means and a moving operation for moving the held workpieces to a predetermined place; a capturing means that captures the workpieces conveyed by the conveying means; a control means that detects the workpieces on the basis of an image captured by the capturing means and instructs the robot to perform the holding operation for holding the detected workpieces; an overlapping detecting means that detects overlapping of the workpieces; and an operation instruction means that instructs the robot to perform the holding operation on the overlapped workpieces when the overlapping of the workpieces is detected by the overlapping detecting means.
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Specification