Apparatus for taking out bulk stored articles by robot

摘要

An article take-out apparatus including, acquiring a reference container image including an open end face of a container by imaging operation by an camera, setting an image search region corresponding to a storage space of the container based on the reference container image, setting a reference plane including the open end face of the container, calculating a search region corresponding to the image search region based on a calibration data of the camera stored in advance, converting the search region to a converted search region, taking out 3D points included in the converted search region by projecting a plurality of 3D points measured by the 3D measuring device on the reference plane, and recognizing positions of articles inside the container using the 3D points.

主权项

1. An article take-out apparatus comprising:
a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a storage space of a container, the container having a planar shaped open end face and inside wall parts, the inside wall parts being connected to the open end face and forming the storage space; a camera taking an image of a region including the open end face of the container; a robot having a hand capable of taking out an article from inside the container; an image acquiring unit acquiring an image of the container taken by the camera; an image search region setting unit setting a region on the image corresponding to the storage space as an image search region, based on the image acquired by the image acquiring unit; a reference plane setting unit setting a plane including the open end face of the container as a reference plane; a search region calculating unit calculating a region on the reference plane corresponding to the image search region as a search region, based on calibration data of the camera stored in advance; a projecting unit projecting a plurality of 3D points measured by the 3D measuring device on the reference plane; a judging unit judging whether the plurality of 3D points projected by the projecting unit are included in the search region; a position recognizing unit recognizing a position of an article inside the container by using the 3D points judged by the judging unit to be included in the search region among the plurality of 3D points measured by the 3D measuring device; and a robot controlling unit controlling the robot so as to take out the article, based on the position of the article recognized by the position recognizing unit.