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Picking system

  • US 8,880,217 B2
  • Filed: 12/27/2011
  • Issued: 11/04/2014
  • Est. Priority Date: 06/20/2011
  • Status: Active Grant
First Claim
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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 abnormality detecting unit that detects abnormality of the workpieces on the basis of the image captured by the image capturing device and area information of the workpieces;

    an overlapping detecting unit that performs an edge detection process to detect overlapping of the workpieces when abnormality of the workpieces is detected by the abnormality detecting unit; 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, and that determines that the workpiece that has abnormality detected by the abnormality detecting unit is defective when the overlapping of the workpieces is not detected by the overlapping detecting unit.

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