Workpiece Picking Control for Large Supply Stages
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Solution Overview
Problem
Existing workpiece picking systems face inefficiencies when the supply stage is larger than the imaging range of the imaging section, leading to increased costs and decreased processing efficiency due to the need for image processing in multiple regions and potential imaging of empty areas.
Innovation Solution
A method involving dividing the supply stage into regions, performing picking processing based on imaging, calculating remaining workpieces, and selectively performing loosening operations to optimize workpiece retrieval, focusing on regions with the highest remaining numbers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of moving object
If an imaging section with a wide imaging range is used to cover the entire supply stage, then the imaging range is sufficient, but the cost increases and versatility decreases
Solution Approach 1:
The supply stage is divided into multiple regions, and the imaging section captures images of each region separately. This segmentation allows the use of a standard-cost imaging section with a limited imaging range while still covering the entire supply stage through multiple targeted captures, avoiding the need for an expensive wide-angle imaging section.
2Area of moving object
If images are captured in multiple regions and combined to create an entire image, then the imaging range is sufficient, but the image processing burden increases
Solution Approach 1:
The patent extracts only the necessary information (workpiece positions and counts) from each regional image without performing complex full-image stitching or comprehensive image processing. The control section directly acquires workpiece information from the captured images and uses this data to determine loosening operations, thereby reducing image processing complexity.
3Productivity
If picking processing is performed in each region, then workpieces can be selected, but inefficient processing occurs when imaging regions with few or no workpieces
Solution Approach 1:
The control section performs preliminary analysis of captured images to acquire workpiece information (positions and counts) before executing picking operations. Based on this preliminary information, it determines which regions require loosening operations and prioritizes regions with higher workpiece densities, thereby avoiding wasteful processing in empty or low-density regions and improving overall picking efficiency.
Data Source
AI summary
A workpiece picking method for picking up workpieces supplied in a randomly placed state onto a supply stage larger than an imaging range corresponding to an angle of view of an imaging section, the workpiece picking method includes: (a) a step of performing picking processing of selecting a workpiece, and causing the picking section to pick up the workpiece; (b) a step of acquiring a remaining number of the workpieces remaining after the picking processing for each region; (c) a step of supplying a new workpiece onto the supply stage and loosening a lump of the workpieces, or performing loosening without supplying the new workpiece, based on the remaining number of the workpieces for each region; and (d) a step of performing the picking processing after the loosening operation in a largest-number region having a largest remaining number of the workpieces for each region acquired after the picking processing.