Invention Grant
US09283680B2 Workpiece detector, robot system, method for producing to-be-processed material, method for detecting workpiece
有权
工件检测器,机器人系统,待处理材料的制造方法,检测工件的方法
- Patent Title: Workpiece detector, robot system, method for producing to-be-processed material, method for detecting workpiece
- Patent Title (中): 工件检测器,机器人系统,待处理材料的制造方法,检测工件的方法
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Application No.: US14295261Application Date: 2014-06-03
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Publication No.: US09283680B2Publication Date: 2016-03-15
- Inventor: Yuya Yasuda , Issei Aoyama , Toshimitsu Irie
- Applicant: KABUSHIKI KAISHA YASKAWA DENKI
- Applicant Address: JP Kitakyushu-Shi
- Assignee: KABUSHIKI KAISHA YASKAWA DENKI
- Current Assignee: KABUSHIKI KAISHA YASKAWA DENKI
- Current Assignee Address: JP Kitakyushu-Shi
- Agency: Mori & Ward, LLP
- Priority: JP2013-120741 20130607
- Main IPC: G05B15/00
- IPC: G05B15/00 ; G05B19/00 ; B25J9/16 ; G06K9/00 ; H04N7/18

Abstract:
A workpiece detector includes a camera to acquire a two-dimensional image of a search range within which workpieces are disposed. A three-dimensional sensor detects a three-dimensional shape of a three-dimensional detection area. A workpiece extraction section processes the two-dimensional image to extract candidate workpieces. An area setting section sets a three-dimensional detection areas respectively corresponding to the candidate workpieces. A prioritizing section sets an order of priority to the three-dimensional detection areas to give higher priority to one three-dimensional detection area containing more of the candidate workpieces. A sensor control section controls the three-dimensional sensor to detect the three-dimensional shape of each three-dimensional detection area in the order of priority. Every time the three-dimensional shape is detected, a workpiece detection section searches the workpieces based on the detected three-dimensional shape to detect a pickable workpiece.
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