Title:
ピッキングシステム
Document Type and Number:
Japanese Patent JP7218521
Kind Code:
B2
Abstract:
To provide a picking system capable of accurately gripping and conveying stacked articles.SOLUTION: A picking system comprises: a gripping hand; an imaging unit; a gripping unit; a sensor for determining whether the gripping unit is in a state of being able to grip and the article is in a state of being able to be gripped, or not; a first storage unit for storing marker information and relative position information; a second storage unit for storing each individual height information of the article and a maximum number of stacked layers of the article; a third storage unit for storing a target number of stacked layers; a two-dimensional coordinate calculating unit for calculating two-dimensional coordinates of the article in a captured image; a three-dimensional coordinate calculating unit for calculating three-dimensional coordinates of the articles in all the number of stacked layers based on the information stored in the second storage unit and the two-dimensional coordinates of the article in the captured image; and a control unit in which, when the gripping hand is moved to the target coordinates and the sensor determines that the gripping hand can grip the article, it performs the control for gripping and conveying the article, or when the sensor determines that the gripping hand cannot grip the article, it subtracts 1 from the target number of stacked layers, moves the gripping hand to the three-dimensional coordinates of the predetermined position of the articles of the target number of stacked layers again, and repeats this step until the sensor determines that the gripping hand can grip the article.SELECTED DRAWING: Figure 1
Inventors:
Tatsuya Doi
Application Number:
JP2018170317A
Publication Date:
February 07, 2023
Filing Date:
September 12, 2018
Export Citation:
Assignee:
Fuji Electric Co., Ltd.
International Classes:
B65G59/02; G01B11/00; G06T7/70
Domestic Patent References:
| JP2310214A | ||||
| JP2007254128A | ||||
| JP52095477A |
Attorney, Agent or Firm:
Akira Sakamoto