Workpiece picking device and method

• US 7,996,114 B2
• Filed: 05/25/2007
• Issued: 08/09/2011
• Est. Priority Date: 05/29/2006
• Status: Expired due to Fees

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Ban, Kazunori, Watanabe, Keisuke
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): BEHNCKE, CHRISTINE M
• Application Number:
  US11/802,823
• Publication Number:
  US 20070274812A1
• Time in Patent Office: 1,537 Days
• Field of Search: 700/245, 700/259, 700/255, 700/253, 382/153, 382/152, 414/729, 414/730, 414/796.9, 414/796.5, 414/797.4, 414/785.4, 414/788.8, 414/922, 901/46, 901/47, 901/50, 318/568.13, 318/568.16, 318/568.21
• US Class Current: 700/259
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/40053 Pick 3-D object from pile of objects

Abstract

A workpiece picking device and method for reducing the cycle time of a picking operation of workpieces, by omitting or reducing the movement of a robot manipulator when an image of the workpieces is captured. An image processor of the picking device includes a camera controlling part for reading image data from a camera, a memory for storing the image data, a workpiece detecting part for extracting one or more images from the memory and detecting one or more workpieces in the image, and a workpiece selecting part for selecting a workpiece to be picked among the workpieces detected by the workpiece detecting part. The image processor further includes a stacked condition judging part for determining whether the condition of the stacked workpieces in a container is changed.

Claims

1. A workpiece picking device, comprising:

a camera adapted to capture an image of a plurality of the same kind of disorderly piled workpieces so that the workpieces are within a field view of the camera;

a memory adapted to store the image captured by the camera;

a workpiece detecting part adapted to detect one or more workpieces in the image stored in the memory;

a workpiece selecting part adapted to select a workpiece to be picked among one or more workpieces detected by the workpiece detecting part;

a robot manipulator adapted to pick the workpiece selected by the workpiece selecting part; and

a stacked condition judging part adapted to judge whether the stacked condition of the plurality of piled workpieces is changed by the picking operation of the robot manipulator,

wherein the camera does not capture an image of the piled workpieces in the next picking operation when the stacked condition judging part determines that the stacked condition of the workpieces is unchanged, at least around a workpiece to be picked in the next operation, in which case the workpiece detecting part detects a workpiece from the image captured by the camera in the previous operation.

2. The workpiece picking device as set forth in claim 1, wherein the workpiece picking device further comprises an overlap detecting part adapted to detect whether a part of the workpiece to be picked is covered by another workpiece, and the stacked condition judging part judges that the condition of the workpieces is changed by the picking operation of the workpiece to be picked, when the overlap detecting part detects that a part of the workpiece to be picked is covered by another workpiece.

3. The workpiece picking device as set forth in claim 2, wherein the workpiece selecting part selects a first workpiece to be picked in the present picking operation and a second workpiece to be picked in the next operation, the stacked condition judging part judges that the condition is not changed by the present picking operation, regardless of the detection result of the overlap detecting part, when the distance between the first and second workpieces is greater than or equal to a predetermined distance.

4. The workpiece picking device as set forth in claim 1, wherein the workpiece picking device further comprises a grip-miss detecting part adapted to detect whether the robot manipulator has suitably gripped a workpiece to be picked, and the stacked condition judging part judges that the condition of the workpieces is changed when the grip-miss detecting part detects that the workpiece to be picked has not been suitably gripped.

5. The workpiece picking device as set forth in claim 4, wherein the workpiece selecting part selects a first workpiece to be picked in the present picking operation and a second workpiece to be picked in the next operation, the stacked condition judging part judges that the condition is not changed by the present picking operation, regardless of the detection result of the grip-miss detecting part, when the distance between the first and second workpieces is greater than or equal to a predetermined distance.

6. The workpiece picking device as set forth in claim 1, wherein the workpiece picking device further comprises an impact detecting part adapted to detect the impact applied to the robot manipulator during the picking operation, and the stacked condition judging part judges that the condition of the workpieces is changed when one or more workpiece other than the workpiece to be picked is affected by the impact detected by the impact detecting part.

7. The workpiece picking device as set forth in claim 6, wherein the workpiece selecting part selects a first workpiece to be picked in the present picking operation and a second workpiece to be picked in the next operation, the stacked condition judging part judges that the condition is not changed by the present picking operation, regardless of the detection result of the impact detecting part, when the distance between the first and second workpieces is greater than or equal to a predetermined distance.

8. The workpiece picking device as set forth in claim 1, wherein the camera captures an image of the workpieces, regardless of the judging result of the stacked condition judging part, when the picking operation is performed for a predetermined number of times in a row without capturing a new image of the workpieces.

9. A method for picking a workpiece, comprising the steps of:

capturing an image of a plurality of the same kind of disorderly piled workpieces by using a camera so that the workpieces are within a field view of the camera;

storing the image captured by the camera;

detecting one or more workpieces in the stored image;

selecting one workpiece to be picked among the one or more detected workpieces;

picking the selected workpiece by using a robot manipulator;

judging whether the stacked condition of the plurality of piled workpieces is changed by the picking operation of the robot manipulator; and

detecting a workpiece from the stored image in the previous operation, without capturing a new image of the piled workpieces in the next picking operation, when the stacked condition of the workpieces is judged to be unchanged, at least around the workpiece to be picked in the next operation.