Workpiece identification method
Whether or not workpieces are present in a workpiece storage area is determined based on an image acquired by image capturing. When the workpieces are determined to be present, whether or not a crossing part is present in the workpiece storage area is determined based on the image, the crossing part being a part where soft body portions of a plurality of workpieces cross each other in an overlapping manner. When the crossing part is determined to be present, an uppermost soft body portion placed at an uppermost position among the soft body portions crossing each other is determined based on the image. A workpiece including the uppermost soft body portion thus determined is determined as an uppermost workpiece placed at an uppermost position.
1. A workpiece identification method comprising:
capturing an image of a workpiece storage area in which a plurality of workpieces are to be placed, the workpieces each including a soft body portion having a free line shape,
determining whether or not the workpieces are present in the workpiece storage area based on the image acquired by the image capturing,
when the workpieces are determined to be present, determining, based on the image, whether or not a crossing part is present in the workpiece storage area, the crossing part being a part where the soft body portions of a plurality of workpieces cross each other in an overlapping manner,
when the crossing part is determined to be present, determining, based on the image, an uppermost soft body portion placed at an uppermost position among the soft body portions crossing each other, and
determining that a workpiece including the uppermost soft body portion thus determined is an uppermost workpiece placed at an uppermost position,
the workpiece identification method further comprising:
when the uppermost soft body portion is not determinable based on the image, considering a procedure for creating the uppermost soft body portion by moving one or more workpieces; and
moving the one or more workpieces in accordance with the procedure found by the consideration so that the uppermost soft body portion is created.
2. The workpiece identification method according to claim 1 , comprising:
capturing again an image of the workpiece storage area after the one or more workpieces are moved in accordance with the procedure;
determining again whether or not the crossing part is present in the workpiece storage area based on the image acquired again by the image capturing; and
when the crossing part is determined to be present, determining again the uppermost soft body portion based on the image thus acquired again.
3. The workpiece identification method according to claim 1 , comprising:
when the procedure for creating the uppermost soft body portion is not found by the consideration, performing an operation to change at random a positional relationship between the workpieces present in the workpiece storage area;
capturing again an image of the workpiece storage area after the operation;
determining again whether or not the crossing part is present in the workpiece storage area based on the image acquired again by the image capturing; and
when the crossing part is determined to be present, determining again the uppermost soft body portion based on the image thus acquired again.
4. The workpiece identification method according to claim 1 , wherein:
the workpieces are workpieces each constituted by the soft body portion and a rigid body portion;
after the uppermost soft body portion is determined but before the uppermost workpiece is determined, whether or not the soft body portion and the rigid body portion are recognizable is determined based on the image in terms of the workpiece including the uppermost soft body portion thus determined; and
when the soft body portion and the rigid body portion are determined to be recognizable, the workpiece including the uppermost soft body portion is determined as the uppermost workpiece.
5. The workpiece identification method according to claim 4 , comprising:
when the soft body portion and the rigid body portion are determined to be not recognizable, capturing again an image of the workpiece storage area by changing an angle to capture the image of the workpiece storage area;
determining again whether or not the crossing part is present in the workpiece storage area based on the image acquired again by the image capturing;
when the crossing part is determined to be present, determining again the uppermost soft body portion based on the image thus acquired again; and
determining again whether or not the soft body portion and the rigid body portion are recognizable based on the image thus acquired again in terms of the workpiece including the uppermost soft body portion thus determined again.