| 摘要 |
PROBLEM TO BE SOLVED: To provide a picking device for workpieces loaded in bulk, in which time for measuring a plurality of the workpieces randomly piled up is drastically shortened to shorten time for picking, and a method for controlling the same. SOLUTION: (A) Distance data and image data are respectively acquired by a laser scanner and a camera, and from the data a three-dimensional position and attitude of the plurality of the workpieces are recognized and stored S1, S2. (B) Among the plurality of the workpieces, the workpiece which can be picked is determined and the determined workpiece is picked S4, S5. (C) After the picking, only the image data are acquired again S2, and the reacquired image data are compared with the immediately preceding image data to determine the existence of the workpiece whose position and attitude change within an allowable range S6, S4. (D) When the workpiece changing within the allowable range exists, the workpiece is picked S5, and a procedure is returned to (C). (E) When the workpiece changing within the allowable range does not exist, the procedure is returned to (A) to acquire the distance data again. A number of times for acquiring the data from the laser scanner, which requires the time for measuring, is reduced to shorten the time for picking. COPYRIGHT: (C)2010,JPO&INPIT
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