发明名称 |
Position detecting device and takeout apparatus with position detecting device |
摘要 |
A position detecting device and a takeout apparatus capable of obtaining information on height or stage number of an object in a stack of objects by a two-dimensional image capturing device for an operation of taking out the object by a robot. A CCD camera is arranged at a position above a place where workpieces stacked in multiple stages are provided. An image processing device determines a size of the image of the uppermost workpiece in a two-dimensional image captured by the camera. The height or stage number of the workpiece is determined from the size of the workpiece image using a stored relation table or arithmetic expression representing relationship between the height or stage number of the workpiece and the size of the workpiece. For a plurality of kinds of workpieces, the relation table/arithmetic expression is stored for each kind of workpiece and selectively used in accordance of a mark on the workpiece which indicate the kind of workpiece. The obtained positional information on height or stage number is sent to a robot controller so that a robot is operated to a takeout position which is corrected based on the positional information for taking out the workpiece from a stack of workpieces.
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申请公布号 |
US2003088337(A1) |
申请公布日期 |
2003.05.08 |
申请号 |
US20020290535 |
申请日期 |
2002.11.08 |
申请人 |
FANUC LTD. |
发明人 |
WATANABE ATSUSHI;TAKIZAWA KATSUTOSHI |
分类号 |
G01B11/00;B25J9/22;B25J13/08;B65G57/03;B65G59/02;G01B11/02;G01B11/24;G01B11/26;G05B15/00;G05B19/00;G06T1/00;G06T7/00;G06T7/60;(IPC1-7):G06F19/00 |
主分类号 |
G01B11/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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