Device and method of transferring articles by using robot

Patent metadata

Field	Value
Publication number	US-9604365-B2
Application number	US-201514955608-A
Country	US
Kind code	B2
Filing date	Dec 1, 2015
Priority date	Dec 2, 2014
Publication date	Mar 28, 2017
Grant date	Mar 28, 2017

Abstract

An article transferring device with a robot. An image processing section includes an article detecting section for executing image capturing and detection of articles that move according to a conveying motion of a conveyor, with a first period allowing all of the articles to be captured and detected, and obtain initial position information of each of all articles; and an article tracking section for executing image capturing and detection of the articles that move according to the conveying motion of the conveyor, with a second period shorter than the first period, and obtain shifted position information of each article iteratively with the second period, the shifted position information being based on the initial position information. A robot controlling section is configured to control the robot by using the shifted position information, so as to make the robot hold and transfer each article while following the conveying motion of the conveyor.

First claim

The invention claimed is:

1. An article transferring device, comprising:
a conveyor configured to convey an article;
a robot configured to hold and transfer the article;
an image capturing section configured to capture an image of the article;
an image processing section configured to control the image capturing section and detect the article based on data of the image captured by the image capturing section; and
a robot controlling section configured to control the robot with use of information of the article detected by the image processing section;
wherein the image processing section comprises:
an article detecting section configured to execute image capturing and detection of a plurality of articles that move according to a conveying motion of the conveyor, with a first period allowing all of the plurality of articles to be captured and detected, and obtain initial position information of each of the all of the articles; and
an article tracking section configured to execute image capturing and detection of the plurality of articles that move according to the conveying motion of the conveyor, with a second period shorter than the first period, and obtain shifted position information of each of the plurality of articles iteratively with the second period, the shifted position information being based on the initial position information; and
wherein the robot controlling section is configured to control the robot with use of the shifted position information, so as to make the robot hold and transfer each of the plurality of articles while following the conveying motion of the conveyor.

2. The article transferring device of claim 1 , wherein the article tracking section is configured to obtain first-resolution image data captured by imaging an inside of a working space of the robot and second-resolution image data captured by imaging an outside of the working space, a second resolution of the second-resolution image data being lower than a first resolution of the first-resolution image data; and
wherein the article tracking section is configured to detect an article located inside the working space with use of the first-resolution image data and an article located outside the working space with use of the second-resolution image data.

3. The article transferring device of claim 2 , wherein the image capturing section includes a switching mechanism configured to switch a resolution between the first resolution and the second resolution.

4. The article transferring device of claim 1 , wherein the article tracking section is configured to select either a first detection algorithm that ensures a first processing speed and a first accuracy or a second detection algorithm that ensures a second processing speed or a second accuracy, the second processing speed being higher than the first processing speed, the second accuracy being lower than the first accuracy, and to use a selected detection algorithm; and
wherein the article tracking section is configured to detect an article located inside a working space of the robot with use of the first detection algorithm and an article located outside the working space with use of the second detection algorithm.

5. The article transferring device of claim 1 , wherein the article tracking section is configured to continue to iteratively obtain the shifted position information, until a predetermined time lapses after the robot has held the article.

6. The article transferring device of claim 1 , wherein the image capturing section includes a single camera; and
wherein the article detecting section and the article tracking section are configured to make the camera capture the image of the article and detect the article based on the data of the image captured by the camera.

7. The article transferring device of claim 1 , wherein the image capturing section includes a first camera and a second camera, configured to operate independently of each other;
wherein the article detecting section is configured to make the first camera capture the image of the article and detect the article based on the data of the image captured by the first camera; and
wherein the article tracking section is configured to make the second camera capture the image of the article and detect the article based on the data of the image captured by the second camera.

8. The article transferring device of claim 7 , wherein the image capturing section includes a third camera configured to operate independently of the first and second cameras;
wherein the image processing section further comprises an auxiliary tracking section configured to control the third camera and execute image capturing and detection of a plurality of articles that move according to the conveying motion of the conveyor, with a third period shorter than the first period;
wherein the auxiliary tracking section is configured to obtain additional shifted position information of each of the plurality of articles iteratively with the third period, the additional shifted position information being based on the shifted position information obtained by the article tracking section; and
wherein the robot controlling section is configured to control the robot with use of the additional shifted position information, so as to make the robot hold and transfer each of the plurality of articles while following the conveying motion of the conveyor.

9. The article transferring device of claim 1 , wherein the robot includes a first mechanical section and a second mechanical section, configured to operate independently of each other; and
wherein the robot controlling section includes a first controlling section configured to control the first mechanical section and a second controlling section configured to control the second mechanical section, the first and second controlling section being configured to make the first and second mechanical sections hold articles, respective numbers of which are defined in accordance with a predetermined ratio of operation.

10. An article transferring method, configured to make a robot hold and transfer a plurality of articles conveyed by a conveyor, the method comprising:
executing image capturing and detection of the plurality of articles that move according to a conveying motion of the conveyor, with a first period allowing all of the plurality of articles to be captured and detected, and obtaining initial position information of each of said all of the articles;
executing image capturing and detection of the plurality of articles that move according to the conveying motion of the conveyor, with a second period shorter than the first period, and obtaining shifted position information of each of the plurality of articles iteratively with the second period, the shifted position information being based on the initial position information; and
controlling the robot with use of the shifted position information, so as to make the robot hold and transfer each of the plurality of articles while following the conveying motion of the conveyor.

11. The article transferring method of claim 10 , wherein obtaining the shifted position information includes continuing to iteratively obtain the shifted position information, until a predetermined time lapses after the robot has held the article.

12. The article transferring method of claim 10 , further comprising executing image capturing and detection of the plurality of articles that move according to the conveying motion of the conveyor, with a third period shorter than the first period, and obtaining additional shifted position information of each of the plurality of articles iteratively with the third period, the additional shifted pos

Assignees

• Fanuc Corp

Inventors

• Kanno Ichiro
• Koga Kentarou

Classifications

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• B65G2203/0233

  Position of the article · CPC title

• G05B2219/40554

  Object recognition to track object on conveyor · CPC title

• G05B2219/37555

  Camera detects orientation, position workpiece, points of workpiece · CPC title

• B65G2203/0225

  Orientation of the article · CPC title