Article pickup device comprising a robot and a visual sensor

摘要

The presence range (12) for workpieces (13a, 13b) (the internal edge of a container's opening) is defined with a visual sensor attached to a robot and the range (12) is divided by lines (A1-A1, B1-B1) into a specified number of sectional regions. A robot position suitable for sensing each of the sectional regions is determined, and sensing is performed at the position so that workpieces (13a, 13b) in the container are picked up.