Workpiece retrieval count calculation device, hand system, and display device
This workpiece retrieval count calculation device comprises: a three-dimensional information acquisition unit for acquiring three-dimensional information pertaining to a subject space in which a plurality of workpieces are loaded; a workpiece shape information acquisition unit for acquiring shape information pertaining to the workpieces; and a workpiece retrieval count calculation unit for calculating a range of workpiece retrieval counts, in consideration of cavities within a workpiece loading region, on the basis of the three-dimensional information pertaining to the subject space and the shape information pertaining to the workpieces from before and after retrieval of the workpieces.
1 . A picking-up workpiece number calculation device, comprising:
a processor configured to:
acquire three-dimensional information of a target space in which a plurality of workpieces are loaded;
acquire shape information of the workpiece; and
calculate a range of a picking-up workpiece number, based on the three-dimensional information of the target space before and after picking-up a workpiece and the shape information of the workpiece, in consideration of a cavity in a loading region of the workpiece.
2 . The picking-up workpiece number calculation device of claim 1 , wherein
the processor is configured to calculate the range of the picking-up workpiece number, based on a range of a disappeared workpiece number that can be accommodated in a disappearance region disappeared from the loading region after picking-up workpiece.
3 . The picking-up workpiece number calculation device of claim 2 , wherein
the processor is configured to calculate the range of the picking-up workpiece number, in consideration of a range of a collapsed workpiece number that can be accommodated in a collapse region newly appeared in the loading region of the workpiece after picking-up workpiece.
4 . The picking-up workpiece number calculation device of claim 3 , wherein
the processor is configured to:
subtract a minimum number of the collapsed workpiece number from a maximum number of the disappeared workpiece number to obtain a maximum value of the picking-up workpiece number; and
subtract a maximum number of the collapsed workpiece number from a minimum number of the disappeared workpiece number to obtain a minimum value of the picking-up workpiece number, to calculate the range of the picking-up workpiece number.
5 . The picking-up workpiece number calculation device of claim 1 , further comprising:
a display configured to display at least one of:
a range of a disappeared workpiece number that can be accommodated in a disappearance region disappeared from the loading region of the workpiece after picking-up workpiece;
a range of a collapsed workpiece number that can be accommodated in a collapse region newly appeared in the loading region of the workpiece after picking-up workpiece, depending on a case;
a range of the picking-up workpiece number calculated based on the range of the disappeared workpiece number and the range of the collapsed workpiece number depending on a case; and
the picking-up workpiece number when a maximum value and a minimum value of the range of the picking-up workpiece number match.
6 . The picking-up workpiece number calculation device of claim 5 , wherein
the display is configured to display a superimposed image in which a shape model of the workpiece is superimposed on a place that is a calculation basis of at least one of a range of the disappeared workpiece number, a range of the collapsed workpiece number depending on a case, and a range of the picking-up workpiece number.
7 . The picking-up workpiece number calculation device of claim 1 , wherein
the processor is configured to specify a change region changed in the loading region after picking-up workpiece by obtaining a difference of the three-dimensional information of the target space before and after picking-up workpiece.
8 . The picking-up workpiece number calculation device of claim 7 , wherein
the change region includes at least one of:
a disappearance region disappeared from the three-dimensional information of the target space after picking-up workpiece; and
a collapse region newly appeared in the three-dimensional information of the target space after picking-up workpiece.
9 . The picking-up workpiece number calculation device of claim 1 , wherein
the processor is configured to:
acquire registration information indicating whether or not one or more of the workpieces have been picked up; and
determine whether or not to execute calculation processing of the range of the picking-up workpiece number, based on the registration information.
10 . The picking-up workpiece number calculation device of claim 1 , wherein
the processor is configured to control operation of at least one of a hand configured to pick up and deliver the workpiece and a convey device configured to convey the workpiece using the hand, based on the range of the picking-up workpiece number.
11 . The picking-up workpiece number calculation device of claim 10 , wherein
the processor is configured to give the hand a command for operation of repeating picking-up and delivery of the workpiece until the range of the picking-up workpiece number becomes one value and becomes a desired picking-up number.
12 . A hand system, comprising:
a hand configured to pick up and deliver a workpiece;
a convey device configured to convey a workpiece using the hand;
a controller configured to control operation of at least one of the hand and the convey device; and
a vision sensor configured to output three-dimensional information of a target space in which a plurality of the workpieces are loaded, wherein
the controller includes a processor configured to:
acquire the three-dimensional information of the target space from the vision sensor;
acquire shape information of the workpiece;
calculate a range of a picking-up workpiece number, based on the three-dimensional information of the target space before and after picking-up a workpiece and the shape information of the workpiece, in consideration of a cavity in a loading region of the workpiece; and
control operation of at least one of the hand and the convey device, based on the range of the picking-up workpiece number.
13 . The hand system of claim 12 , further comprising:
a registration sensor configured to output registration information indicating whether or not one or more workpieces have been picked up, wherein
the processor is configured to determine whether or not to execute calculation processing of the range of the picking-up workpiece number, based on the registration information.
14 . A display device configured to visually display a calculating process of a picking-up number of the workpieces picked up from a plurality of loaded workpieces, the display device comprising:
a display configured to display a superimposed image in which a change region changed in a loading region of the workpieces after picking-up workpiece is displayed such that the change region is superimposed on at least one of pieces of three-dimensional information of a target space before and after picking-up workpiece so as to be identifiable.
15 . The display device of claim 14 , wherein
the change region includes at least one of:
a disappearance region disappeared from the loading region after the picking-up workpiece; and
a collapse region newly appeared in the loading region after the picking-up workpiece, depending on a case, and
the display is configured to identify and display at least one of the change region, the disappearance region, and the collapse region depending on a case.