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Patent Searching and Data


Title:
DISPENSING SYSTEM, CONTROLLER, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2016/181466
Kind Code:
A1
Abstract:
This dispensing system (1) is provided with: a robot (10) that moves a dispenser (30) for suctioning in a liquid (C1) to be dispensed; a camera (40) for capturing an image that includes at least the tip (30a) of the dispenser (30), the liquid surface (SF1) of the liquid (C1), and an object (C2) not to be dispensed that is located below the liquid surface (SF1); an image processing unit (120) that, on the basis of said image, acquires location information for the liquid surface (SF1), location information for a boundary (BD1) between the liquid (C1) and the object (C2) not to be dispensed, and location information for the tip (30a) of the dispenser (30); and a lowering control unit (133) that, when suctioning the liquid (C1) into the dispenser (30), controls the robot (10) so as to lower the dispenser (30) on the basis of the location information for the tip (30a), the location information for the liquid surface (SF1), and the location information for the boundary (BD1).

Inventors:
ABE NORIKO (JP)
KUMAGAI HIROSHI (JP)
SAWADA YUKIKO (JP)
KAMEI MOTOHISA (JP)
Application Number:
PCT/JP2015/063515
Publication Date:
November 17, 2016
Filing Date:
May 11, 2015
Export Citation:
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Assignee:
YASKAWA ELECTRIC CORP (JP)
International Classes:
B25J13/08; C12M1/00; G01N35/10
Foreign References:
JP2005304303A2005-11-04
JP2013072806A2013-04-22
Attorney, Agent or Firm:
HASEGAWA Yoshiki et al. (JP)
Yoshiki Hasegawa (JP)
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