| 摘要 |
PROBLEM TO BE SOLVED: To provide a picking device realizing determination whether or not a work-piece can be picked without interference with a container beforehand prior to operation of a robot arm by a simple method having a short arithmetic processing period of time.SOLUTION: A picking device comprises: an imaging unit three-dimensionally imaging a work-piece group piled in bulk inside a container; a robot arm capable of gripping a work-piece; and a control unit controlling operation of the robot arm. The control unit is configured so as to recognize a position and an attitude of the work-piece on the basis of imaging results of the imaging device, to calculate an intersection point between a straight line passing through a gripping position of the work-piece and extending along an approach vector and a plane including an opening portion of the container and to determine whether or not the work-piece can be picked on the basis of a positional relation between the intersection point and the opening portion. |
