Article transfer device
An article transfer device includes a robot configured to perform a workpiece picking operation; an image capturing device that captures an image of a workpiece on a conveyor; and a control unit, configured to execute, a workpiece identification process performing workpiece detection in the captured images; a workpiece information storage process storing workpiece information about a position and an angle of each detected workpiece in a storage device; and an identical workpiece determination process comparing the workpiece information of each of the detected workpieces in a newly captured image with the workpiece information of each of the detected workpieces in previously captured images, to determine whether the detected workpieces that are identical to the detected workpieces in the previously captured images exist in the newly captured image, to store in the storage device only the workpiece information of one of the images regarding the detected workpieces determined to be identical.
1. An article transfer device comprising:
at least one robot configured to perform a workpiece picking operation with respect to a conveyor for transferring a plurality of workpieces;
a camera configured to sequentially capture images of the workpieces on the conveyor; and
a computer comprising a processor, wherein the computer is configured to execute:
a workpiece identification process which performs workpiece detection in the images captured by the camera;
a workpiece information storage process which stores workpiece information about a position and an angle of each detected workpiece in a storage device, when the workpiece detection is performed in the workpiece identification process;
an identical workpiece determination process which compares the workpiece information of each of the detected workpieces in a newly captured image, to which the workpiece detection is performed, with the workpiece information of each of the detected workpieces in a previously captured image, to which the workpiece detection is performed, to determine whether one or more of the detected workpieces that are identical to the detected workpieces in the previously captured image exist in the newly captured image;
a determination process which performs, for at least one detected workpiece determined as an identical one in the identical workpiece determination process, a first determination that determines a degree of match between the workpiece information in the newly captured image and a predetermined model, and a second determination that determines a degree of match between the workpiece information in the previously captured image and the predetermined model;
a workpiece information selection process which performs selection to store in the storage device only one of the workpiece information of the newly captured image and the workpiece information of the previously captured image, wherein the degree of match of the workpiece information which is to be stored is higher than the degree of match of the workpiece information which is not to be stored;
wherein the computer is further configured to execute:
an interference area setting process which sets an interference area for each of the detected workpieces in each of the images; and
an interference determination process which determines whether or not the interference area of the each detected workpiece interferes with a contour of another detected workpiece; and
wherein the robot does not perform the workpiece picking operation for detected workpieces to which interference is determined by the interference determination process.
2. The article transfer device according to claim 1 , wherein the computer is configured to set, in the interference area setting process, the interference area according to a workpiece type.
3. The article transfer device according to claim 1 , wherein the camera is configured to capture an image of the workpiece every time the conveyor moves a predetermined distance.
4. The article transfer device according to claim 1 , further comprising:
an input device which comprises a button which is configured to receive an input from an operator who operates the article transfer device to perform the workpiece picking operation; wherein
the computer is configured to execute an interference area adjustment process which adjusts, based on the input to the input device, at least one of a shape or a size of the interference area set in the interference area setting process.
5. The article transfer device according to claim 4 , wherein:
the computer is configured to display an image of the workpiece and a model determination frame in a display device in the interference area adjustment process, and determine a part of the image of the workpiece, which is arranged in the model determination frame, as an interference area setting portion of the workpiece, wherein a position and a size of the model determination frame is adjusted based on an input to the input device; and
the computer is configured to set, in the interference area setting process, the interference area to the interference area setting portion of the each detected workpiece in each of the images.