PICKING APPARATUS AND PICKING METHOD
First Claim
1. A picking apparatus comprising:
- a three-dimensional imaging device configured to three-dimensionally image workpieces contained in bulk in a container;
a robot arm having a hand capable of gripping a workpiece; and
a control device configured to control an operation of the robot arm;
wherein the control device is configured;
to recognize a position and a posture of a target workpiece, based on an imaging result of the three-dimensional imaging device;
to obtain a gripping position of the workpiece and an approach vector thereof, based on the recognized position and posture information;
to calculate an intersection point between a straight line extending along the approach vector through the gripping position and a plane including an opening of the container; and
to judge whether the workpiece can be picked or not, based on a positional relationship between the intersection point and the opening.
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Accused Products
Abstract
A picking apparatus includes: a three-dimensional imaging device configured to three-dimensionally-image workpieces contained in bulk in a container; a robot arm having a hand capable of gripping a workpiece; and a control device configured to control an operation of the robot arm; the control device is configured: to recognize a position and a posture of a target workpiece, based on an imaging result of the three-dimensional imaging device; to obtain an gripping position of the workpiece and an approach vector thereof, based on the recognized position and posture information; to calculate an intersection point between a straight line extending along the approach vector through the gripping position and a plane including an opening of the container; and to judge whether the workpiece can be picked or not, based on a positional relationship between the intersection point and the opening.
61 Citations
18 Claims
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1. A picking apparatus comprising:
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a three-dimensional imaging device configured to three-dimensionally image workpieces contained in bulk in a container; a robot arm having a hand capable of gripping a workpiece; and a control device configured to control an operation of the robot arm; wherein the control device is configured;
to recognize a position and a posture of a target workpiece, based on an imaging result of the three-dimensional imaging device;
to obtain a gripping position of the workpiece and an approach vector thereof, based on the recognized position and posture information;
to calculate an intersection point between a straight line extending along the approach vector through the gripping position and a plane including an opening of the container; and
to judge whether the workpiece can be picked or not, based on a positional relationship between the intersection point and the opening. - View Dependent Claims (2, 3, 4, 5, 11, 12, 13, 14)
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6. A picking method comprising:
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three-dimensionally imaging workpieces contained in bulk in a container; and controlling an operation of a robot arm having a hand capable of gripping a workpiece; wherein the controlling of the operation of the robot arm includes; recognizing a position and a posture of a target workpiece, based on an imaging result of the three-dimensionally imaging; obtaining a gripping position of the workpiece and an approach vector thereof, based on the recognized position and posture information; calculating an intersection point between a straight line extending along the approach vector through the gripping position and a plane including an opening of the container; and judging whether the workpiece can be picked or not, based on a positional relationship between the calculated intersection point and the opening. - View Dependent Claims (7, 8, 9, 10, 15, 16, 17, 18)
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Specification