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Method for taking out work

A workpiece and process technology, applied in the field of workpiece removal, can solve problems such as difficulty in matching holding postures, achieve smooth grip, smooth workpiece, and prevent hanging effects

Active Publication Date: 2011-08-24
HONDA MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, actual bulk workpieces are often stacked and loaded, and there is a problem that it is difficult to match the image of the workpiece in such a state with the gripping posture calculated in advance.
In addition, elongated workpieces or complex-shaped workpieces are likely to be caught by other workpieces during removal, and other workpieces are also likely to be removed together.

Method used

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  • Method for taking out work

Examples

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Embodiment Construction

[0028] Embodiments of the present invention will be described below with reference to the drawings. figure 1 The workpiece take-out device 1 according to the embodiment of the present invention is shown. The workpiece take-out device 1 takes out the loose workpieces W in the hopper 2 one by one by the manipulator 3A of the robot 3 , and puts them into, for example, an automobile assembly line. Reference numeral 4 denotes a stereo camera. The stereo camera 4 is attached to the manipulator 3A of the robot 3 . In addition, the stereo camera 4 observes and acquires three-dimensional image information from the upper side of a plurality of works W of the same shape loaded on the hopper 2 .

[0029] The image information acquired by the stereo camera 4 is stored in the image information storage unit 5 . Here, the image information refers to the RGB value of each pixel as luminance information and the distance (mm, cm) of each pixel as distance information. In addition, instead of...

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Abstract

A method for taking out a work is provided with: a step of storing a typical partial shape, one or a plurality of holding positions in the typical partial shape, and priority of each holding position; a step of acquiring image information by sensing a plurality of stacked works; a step of detecting edges of the image information and recognizing exposed sections of each work; a step of selecting, as a selected section, the exposed section provided with the typical partial shape from among the exposed sections; a step of detecting one or a plurality of matching sections which match with the typical partial shape in the selected section; a step of determining as a determined holding position based on the priority, the holding position most suitable for holding out of one or a plurality of holding positions included in the matching sections; and a step of outputting a holding instruction for holding the work at the determined holding positions.

Description

technical field [0001] The invention relates to a method for taking out workpieces. In particular, the present invention relates to a method for taking out workpieces one by one from among a plurality of workpieces that are in a bulk and not aligned state. [0002] this application claims priority based on Japanese Patent Application No. 2008-264030 for which it applied in Japan on October 10, 2008, and uses the content here. Background technique [0003] A technique is known in which when a robot takes out a workpiece, a camera photographs the workpiece in a bulk state, compares the obtained two-dimensional image with a master model, and grasps it when the degree of agreement is equal to or higher than a threshold value. Hold the workpiece (refer to Patent Document 1). As the stored master model, there are a first master model including the entire workpiece and a second master model corresponding to the holding position. [0004] Patent Document 1: Japanese Patent Laid-O...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08
CPCG06T2207/30164G05B2219/45063B25J9/1687G05B2219/40053B25J9/1697G06T7/0046G06T7/75
Inventor 古川诚
Owner HONDA MOTOR CO LTD
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