Workpiece recognition device, and method for recognizing workpiece

A technology for identifying devices and workpieces, applied to manufacturing tools, manipulators, etc., can solve problems such as slow processing speed, complex processing, and large quantities

Active Publication Date: 2020-02-14
KAWASAKI HEAVY IND LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

That is, the existing workpiece recognition device needs to acquire a large amount of data and perform complicated processing
Therefore, there is a problem that the processing speed becomes slow

Method used

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  • Workpiece recognition device, and method for recognizing workpiece
  • Workpiece recognition device, and method for recognizing workpiece
  • Workpiece recognition device, and method for recognizing workpiece

Examples

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Embodiment Construction

[0041] Hereinafter, a workpiece recognition device according to an embodiment of the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, in the following, in all the drawings, the same reference numerals are assigned to the same or corresponding elements, and repeated description thereof will be omitted.

[0042] figure 1 It is a figure which shows the state where the robot controlled by the workpiece|work recognition apparatus which concerns on one Embodiment of this invention is applied to the manufacturing site of a food, and a food storage operation is performed. The workpiece recognition device according to this embodiment includes: an imaging device 90 for imaging figure 1 Tray T set on the front left side 1 Image information is obtained within a prescribed range (installation space); and the control unit 100 analyzes the image information obtained from the imaging device 90 to...

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Abstract

The invention provides a workpiece recognition device, and a method for recognizing a workpiece. A control unit executes: a first step S1 of analyzing image information to detect a point at which a height position in a prescribed region of an installation space T1 is highest; a second step S2 of detecting the surface area of a part of which a difference in height position compared with the highestpoint, at most equal to a prescribed distance from the highest point, is smaller than a pre-determined first threshold; and a third step S3 of recognizing that a workpiece W1 is present at the highest point if the surface area satisfies a prescribed condition, wherein the prescribed condition includes determining that the surface area is larger than a pre-determined second threshold.

Description

technical field [0001] The invention relates to a recognition device for workpieces and a method for recognizing workpieces. Background technique [0002] Conventionally, workpiece recognition is performed in an installation space where a plurality of workpieces are installed. For example, such processing is performed in the object take-out device described in Patent Document 1. [0003] The object take-out device of Patent Document 1 includes a grasping order determining device. The grasping order determination device sequentially selects a plurality of objects whose positions have been recognized starting from an upper object, and determines the degree of interference of the plurality of objects in the selected order. In the determination of the degree of interference, when the selected object is taken out, the degree of interference between the selected object and other objects adjacent to the object in the horizontal direction is set as the first degree, and when the o...

Claims

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Application Information

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IPC IPC(8): B25J13/08
CPCB25J13/08
Inventor宫崎利彦大野诚太徐天奋
OwnerKAWASAKI HEAVY IND LTD