Article conveying device using at least one sensor
An article conveying device, capable of selecting and taking out an appropriate article, even when plural articles are conveyed while overlapping each other. The device has: a supplying section for conveying articles; a position/orientation detecting section for detecting 3-D position/orientation of the article on the supplying section; a movement amount detecting section for detecting an amount of movement of the supplying section; a working section for taking out the article while following a conveying motion of the supplying section, based on the detected 3-D position/orientation and based on the detected amount of movement; and an article selecting section for, when the articles are conveyed while being overlapped with each other, selecting an article to be taken out, on which another article is not overlapped on the object in a determined take-out direction, and outputting a command to the working section for taking out the selected article.
1. An article conveying device comprising:
a supplying section configured to convey a plurality of articles;
at least one position/orientation detecting section configured to detect a three-dimensional position/orientation of the article on the supplying section;
a movement amount detecting section configured to detect an amount of movement of the supplying section;
at least one working section configured to take out the article while following a conveying motion of the supplying section, and based on the three-dimensional position/orientation of the article detected by the position/orientation detecting section and based on the amount of movement of the supplying section detected by the movement amount detecting section; and
an article selecting section configured to, when the articles are conveyed while being overlapped with each other, select an article among the articles as an object to be taken out, on which another article is not overlapped on the object in a take-out direction determined for each of the articles, based on the three-dimensional position/orientation of the article detected by the position/orientation detecting section, and output a command to the working section for taking out the object to be taken out in the take-out direction, wherein each take-out direction varies depending on a shape of each article and the orientation of each article on the supplying section.
2. The article conveying device as set forth in claim 1 , wherein the article conveying device comprises a plurality of the position/orientation detecting sections and a plurality of the working sections,
wherein the three-dimensional position/orientation of the article, which is not detected by a first position/orientation detecting section among the position/orientation detecting sections positioned at an uppermost stream side with respect to a conveying direction of the supplying section, is detected by a second position/orientation detecting section among the position/orientation detecting sections positioned at a downstream side of the first position/orientation detection section, and
wherein the article selecting section is configured to output a command to a second working section among the working sections for taking out the article detected by the second position/orientation detecting section, the second working section being positioned at a downstream side of a first working section positioned at an upstream side with respect to the conveying direction of the supplying section.
3. The article conveying device as set forth in claim 2 , wherein at least a third position/orientation detecting section among the position/orientation detecting sections is configured to detect a two-dimensional position/orientation of the article.
4. The article conveying device as set forth in claim 1 , wherein the position/orientation detecting section is configured to execute matching for predicting a shape of each article, and the article selecting section is configured to exclude the article, an evaluation value of which obtained by the matching is lower than a predetermined threshold, from the object to be taken out.
5. The article conveying device as set forth in claim 1 , wherein the article selecting section is configures to sequentially judge as to whether each of the articles overlapped with each other can be selected as the object to be taken out, in order from the article at the lowermost stream side to the article at the uppermost stream side with respect to the conveying direction of the supplying section.
6. The article conveying device as set forth in claim 1 , wherein the article conveying device comprises a plurality of the working sections, and comprises a cell controller configured to control the at least one position/orientation detecting section and the plurality of working sections.
7. The article conveying device as set forth in claim 1 ,
wherein the article selecting section configured to, when the articles are conveyed while being overlapped with each other:
analyze the articles starting from the furthest downstream on the supplying section,
during the analysis, select an article:
1) that is not overlapped by another article in a take-out direction determined for each of the articles, and
2) where the three-dimensional position/orientation of the article detected by the position/orientation detecting section is a predetermined position/orientation, and
output a command to the working section for taking out the object to be taken out.