| 摘要 |
PROBLEM TO BE SOLVED: To enable a robot to grip an article while tracking the article even when positional deviation of the article occurs on a conveyor after detection by a visual sensor.SOLUTION: An image processing part 18 of an article transfer device 10 is equipped with: an article detection part 32 which executes imaging and detection of plural articles M moving by a conveyance action of a conveyor 12, in a first period T1 during which all of the plural articles M are imaged and detected, and acquires initial positional information D1 on each of all the plural articles M; and an article tracking part 34 which executes imaging and detection of the plural articles M moving by the conveyance action of the conveyor 12, in a second period T2 shorter than the first period T1, and repeatedly acquires movement positional information D2 based on the initial positional information D1 on each of the plural articles M in the second period T2. A robot control part 20 controls a robot 14 using the movement positional information D2 so that the robot 14 grips and transfers each of the plural articles M while tracking the conveyance action of the conveyor 12.SELECTED DRAWING: Figure 1 |
