JP5544320B2 - Stereoscopic robot picking device - Google Patents

Description

The present invention relates to a stereoscopic robot picking apparatus that detects a three-dimensional position of a workpiece (article) from a stereo image and sorts the workpiece using a robot.

In a work (article) sorting site, a robot picking apparatus is used that sucks and holds workpieces arranged in a container from above and moves them to another container.
The robot picking device arranges the suction part of the robot at a height at which the workpiece can be adsorbed based on the height position of the workpiece. When the height position of the workpiece is constant, the height of the suction part of the robot for sucking the workpiece can be fixed.
However, if the workpiece is a bag containing food, the swelling of the bag and the size of the finished food will vary. A large gap is generated in the workpiece, and the workpiece cannot be adsorbed, or the hand portion of the robot pushes the workpiece too much, causing deformation of the food, cracking of the bag, or the like. In addition, the height position of the workpiece varies at the arrangement position due to the distortion of the bottom surface of the container in which the workpiece is arranged.

In order to avoid this problem, it is effective to determine the height at which the suction part of the robot is to be arranged by detecting the height position of the work before the work is sucked and held.
As a method for detecting the height position of a workpiece, a stereo method for calculating the three-dimensional position of a workpiece based on an image obtained by imaging the workpiece with a pair of cameras is known. A specific example is described in Patent Document 1. ing.
In Patent Document 1, a workpiece is imaged in an area where the imaging ranges of the paired cameras overlap, a reference point of the workpiece defined in advance in each captured image is detected, and the reference point image is detected. The three-dimensional position of the workpiece is calculated from the two-dimensional position.
In addition, if a pair of cameras with parallel imaging directions is used, the design of a program or the like for calculating a three-dimensional position can be simplified. In this case, depending on the size of the workpiece, the distance between the workpiece and the camera may be increased to widen the area where the imaging range of the camera overlaps, and each camera can image the workpiece in the area where the imaging range overlaps. It is done.

JP 2004-90183 A

However, if the distance between the camera and the workpiece becomes long, the size of the workpiece in the captured image becomes small, and the image resolution of the workpiece becomes low.
The present invention is made in view of such circumstances, suppresses an increase in the distance between the camera and the workpiece, detects the workpiece by pattern matching based on an image having a high resolution, and works in a stereo system. It is an object of the present invention to provide a stereoscopic robot picking apparatus that calculates the three-dimensional position of the robot and determines the position of the robot suction unit.

The stereoscopic robot picking apparatus according to the present invention that meets the above-mentioned object is provided with a suction unit that sucks and holds the workpiece in the stereoscopic robot picking apparatus that sequentially moves the workpieces contained in the container to different positions by the robot. The robot, the moving means for moving the container by a predetermined pitch, and the suction unit sending the container to a work picking position where the work housed in the container can be sucked and held, and the work picking position One camera A that images the entire container, one or two cameras B that partially image the container at the workpiece removal position, and the workpiece in each image captured by the cameras A and B Image processing means for calculating the three-dimensional position of the workpiece from the two-dimensional position of the workpiece, and 3 of the workpiece calculated by the image processing means Control means for determining an arrangement target position of the suction unit based on the original position and moving the robot to suck and hold the work, and the cameras A and B are arranged along the moving direction of the container. The imaging directions of the cameras A and B are parallel, and the image processing means detects the workpiece in each image captured by the cameras A and B by pattern matching, and the cameras A and B The two-dimensional position in each image of the workpiece imaged by is calculated.

In the stereoscopic robot picking device according to the present invention, the camera B is a single unit, and at least downstream of the container located upstream of the moving pitch of the container from the workpiece removal position along the moving direction of the container. The container is located at a position where at least the upstream half of the container at which the side half can be imaged and at the workpiece removal position can be imaged, and the image processing means moves along the moving direction of the container. Based on the image captured by the camera B of the container that is upstream by the moving pitch of the container and the image captured by the camera A of the container at the workpiece removal position, the container is disposed at the workpiece removal position. The three-dimensional position of the workpiece in the downstream half of the container is calculated, and the workpiece removal The three-dimensional position of the workpiece in the upstream half in the container arranged at the workpiece take-out position is calculated based on the images obtained by capturing the container at the first position with the cameras A and B. preferable.

In the stereoscopic robot picking apparatus according to the present invention, there are two cameras B, and one of the cameras B can image at least the upstream half of the container in the moving direction of the container at the workpiece removal position. The other camera B is arranged at a position where at least the downstream half of the container at the workpiece take-out position can be imaged, and the image processing means moves the container at the work take-out position. Based on the images captured by the camera A and the one camera B, the three-dimensional position of the work in the upstream half in the container arranged at the work picking position is calculated, and the work picking position is Before the container is placed at the workpiece removal position based on the images taken by the camera A and the other camera B. It can be calculated three-dimensional position of the workpiece in the downstream half of the container.

In the stereoscopic robot picking apparatus according to the present invention, the control means determines a position having a predetermined interval up to the three-dimensional position of the workpiece calculated by the image processing means as a placement target position of the suction unit. Is preferred.

The stereoscopic robot picking apparatus according to the present invention includes one camera A that captures an image of the entire container at the workpiece removal position and one or two cameras B that partially image the container at the workpiece removal position. Since the workpieces in the images captured by the cameras A and B are detected by pattern matching and the two-dimensional position of the workpiece in the images captured by the cameras A and B is calculated. Compared to imaging the entire container at the workpiece removal position, it can be placed closer to the container at the workpiece removal position, so that the workpiece can be seen in the image and the detection accuracy of the workpiece by the image processing means is improved. be able to.

In the stereoscopic robot picking apparatus according to the present invention, when there is one camera B, an image for calculating the three-dimensional position of the work in the container can be obtained by a total of two cameras. It is possible to minimize the number.
Further, the container arranged at the workpiece removal position based on the image taken by the camera B of the container that is upstream from the workpiece removal position by the moving pitch of the container and the image taken by the camera A of the container at the workpiece removal position. The three-dimensional position of the workpiece in the downstream half of the container is calculated, and the upstream side in the container arranged at the workpiece removal position based on the images taken by the cameras A and B of the container at the workpiece removal position When calculating the three-dimensional position of the workpiece in the half, it is possible to reliably calculate the three-dimensional position of the workpiece in the container divided into the upstream half and the downstream half of the container.

In the stereoscopic robot picking apparatus according to the present invention, there are two cameras B, and the image processing means uses the camera A and one camera B to pick up the container at the workpiece extraction position and picks up the workpiece. The three-dimensional position of the work in the upstream half of the container placed in the container is calculated, and the container at the work take-out position is arranged at the work take-out position on the basis of the images taken by the camera A and the other camera B. When calculating the three-dimensional position of the workpiece in the downstream half of the container, the stereo camera formed by the camera A and one camera B and the stereo camera formed by the camera A and the other camera B The three-dimensional positions of all the workpieces can be reliably calculated.

In the stereoscopic robot picking apparatus according to the present invention, when the control unit determines a position having a predetermined interval up to the three-dimensional position of the workpiece calculated by the image processing unit as the arrangement target position of the suction unit, When the suction part of the robot is placed at the placement target position, it can be prevented from being placed at a position where the work cannot be sucked or being damaged by pushing the work.

Stereoscopic robotic picking device according to the present invention, the camera A, because the imaging direction of B are parallel, camera A, the B can form parallel stereo camera, the arithmetic expression for calculating the three-dimensional position of the workpiece Simplification can be achieved.

1 is a side view of a stereoscopic robot picking apparatus according to an embodiment of the present invention. It is explanatory drawing which shows arrangement | positioning of the container applied to the same stereoscopic robot picking apparatus. It is a block diagram of the same stereoscopic robot picking apparatus. (A), (B) is explanatory drawing which shows the imaging of the container by the camera of the stereoscopic robot picking apparatus. (A), (B) is explanatory drawing which shows the imaging of the container by the camera of the stereoscopic robot picking apparatus. It is explanatory drawing which shows the calculation method of the Z coordinate of a workpiece | work. It is a side view of the modification of the same stereoscopic robot picking apparatus.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIGS. 1 and 2, a stereoscopic robot picking device 10 according to an embodiment of the present invention is installed at a sorting site of workpieces (articles) 12 and is stored in a container 11. 12 is a device that sequentially moves 12 to another position by the robot 13. Details will be described below.

As shown in FIG. 2, the container 11 is a plastic container for accommodating the workpiece 12, and an upper portion is opened. In the container 11, a plurality of workpieces 12 arranged in the vertical and horizontal directions are accommodated.
In the present embodiment, the work 12 is a bag of food (for example, bread), and each work 12 is accommodated in a horizontally disposed container 11 depending on the size of the food or the variation in the amount of air in the bag. The height is uneven in the applied state.

As shown in FIG. 1, the stereoscopic robot picking apparatus 10 includes a belt conveyor (an example of a moving unit) 14 that sends a container 11, a camera 15 (camera A) that images the container 11 on the belt conveyor 14, and One camera 16 (camera B) and a robot 13 that holds the workpiece 12 are provided.
The robot 13 is provided with a suction unit 17 (in this embodiment, a vacuum pad) that sucks and holds the workpiece 12. The robot 13 sucks the workpiece 12 contained in the container 11 with the suction unit 17. Hold it and store it in another container.

The number of the workpieces 12 to be accommodated in the container that is the accommodation destination of the workpieces 12 is determined in advance. The robot 13 accommodates the determined number of workpieces 12 in a container.
The robot 13 is a parallel link robot fixed to the support frame 21 above the belt conveyor 14, and the suction unit 17 can be disposed at a desired position within a predetermined range.

The belt conveyor 14 can move a plurality of containers 11 placed on the belt conveyor 14 by a predetermined operation, and the movement pitch P (see FIG. 2) can be changed by setting.
The belt conveyor 14 intermittently moves the containers 11 by a movement pitch P (predetermined pitch), and each container 11 reaches the workpiece take-out position 18 where the suction portion 17 of the robot 13 can hold the workpiece 12 accommodated in the container 11 by suction. Are sent sequentially.

The belt conveyor 14 includes a servo motor 19 (see FIG. 3), and the container 11 on the belt conveyor 14 can be accurately moved by the movement pitch P by rotating the servo motor 19 a predetermined number of times.
As shown in FIG. 2, the plurality of containers 11 on the belt conveyor 14 are arranged at the same pitch as the movement pitch P, and the adjacent containers 11 are each provided with an interval of length D. Each container 11 is sequentially stopped at the workpiece removal position 18 by repeatedly driving and stopping the servo motor 19, and after the necessary number of workpieces 12 are removed by the robot 13, each container 11 moves from the workpiece removal position 18.

The cameras 15 and 16 are attached to the support frame 21 via a fixing member 22 and are arranged above the belt conveyor 14 along the moving direction of the container 11. The imaging directions of the cameras 15 and 16 are kept substantially parallel, and the cameras 15 and 16 image the container 11 and the workpiece 12 in the container 11 from above.
The cameras 15 and 16 are provided at substantially the same height, the camera 15 is disposed at a position where the entire container 11 at the workpiece removal position 18 can be imaged, and the camera 16 partially moves the container 11 at the workpiece removal position 18. It is arranged at a position where it can be imaged. The cameras 15 and 16 have the same specifications, and have the same number of pixels, viewing angle, focal length, and the like.

As shown in FIG. 3, image processing means 23 for calculating the three-dimensional position of the workpiece 12 from the two-dimensional position of the workpiece 12 in each image captured by the cameras 15 and 16 is signal-connected to the cameras 15 and 16. Yes.
The image processing means 23 acquires each image captured by the cameras 15 and 16 from the cameras 15 and 16, detects the workpiece 12 existing in each image by pattern matching, and detects the workpiece 12 in each image. Is calculated (detected). The image processing means 23 stores characters, designs, and the like printed on each workpiece for each type of workpiece as matching samples. Based on the matching samples for each image captured by the cameras 15 and 16. Performs the detection process of the selected workpiece.
The image processing unit 23 includes a microcomputer, a memory, a ROM, and the like, and a program for calculating the three-dimensional position of the work 12 is stored in the ROM.

The image processing means 23 is signal-connected to a control means 24 that transmits a command signal to the servo motor 19 and the robot 13 to perform operation control.
The control unit 24 transmits a stop command signal to the servo motor 19 to stop the belt conveyor 14, and transmits a command signal to the image processing unit 23 to cause the cameras 15 and 16 to image the stopped container 11.
The control unit 24 causes the image processing unit 23 to calculate the three-dimensional position of the workpiece 12 in the container 11 based on the images captured by the cameras 15 and 16, and the robot 13 is accommodated in the container 11 at the workpiece extraction position 18. The workpieces 12 are sequentially moved into the container of the accommodation destination. Then, after taking out the necessary number of works 12 from the container 11 at the work take-out position 18, the control means 24 sends an operation command signal to the servo motor 19 to move the containers 11 on the belt conveyor 14 to the moving pitch. Move only P.

As shown in FIG. 1, the camera 16 is provided on the upstream side of the camera 15 along the moving direction of the container 11, and at least the downstream side of the container 11 that is upstream of the workpiece removal position 18 by the moving pitch P of the container 11. It is arranged at a position where half can be imaged.
Hereinafter, the position of the container 11 that is upstream of the workpiece removal position 18 by the container movement pitch P is also referred to as a front position 25.

In addition, the arrangement position of the camera 16 is also a position where the camera 16 can image at least the upstream half of the container 11 at the workpiece removal position 18.
Therefore, the camera 16 can image at least the downstream half of the container 11 at the unloading position 25 and at least the upstream half of the container 11 at the workpiece unloading position 18 in one screen.

The image processing means 23 captures the image of the container 11 that has been in the position 25 before the take-out by the camera 16 and the same container 11 that is subsequently moved by the moving pitch P and is located at the work take-out position 18 (that is, the camera at the position 25 before the take-out). The three-dimensional position of the work 12 in the downstream half of the container 11 placed at the work pick-up position 18 is calculated based on the image picked up by the camera 15 with the container 11) picked up by the camera 16.
Then, the image processing means 23 selects the workpiece 12 in the upstream half of the container 11 disposed at the workpiece removal position 18 based on the images obtained by capturing the container 11 at the workpiece removal position 18 with the cameras 15 and 16. A three-dimensional position is calculated.

Hereinafter, the Y axis is taken in the moving direction of the container 11 by the belt conveyor 14, the Z axis is taken in the vertical (vertical) direction, and the X axis is taken in the direction perpendicular to the Y axis and the Z axis. A method for calculating the dimension position will be described.
In the cameras 15 and 16, the imaging center direction is along the Z axis, and the horizontal and vertical directions of the images captured by the cameras 15 and 16 are along the X axis and the Y axis, respectively (see FIGS. 4 and 5). ) The orientation is adjusted as follows.
The container 11 on the belt conveyor 14 moves in the negative direction of the Y axis (see FIGS. 1 and 2).

The image processing means 23 calculates the XY coordinates of each workpiece 12 in the container 11 at the workpiece removal position 18 from the plane position (that is, the two-dimensional position) of the workpiece 12 in the image captured by the camera 15, The Z coordinate of each workpiece 12 in the container 11 at the workpiece pick-up position 18 is calculated from the two images picked up by 16.
Conventionally, it has been known that the Z coordinate of a workpiece can be calculated based on an image obtained by imaging the workpiece with a pair of cameras.
Z = (S × R) / ΔY (Formula 1)

S is the distance between the optical centers of the paired cameras, R is the focal length of the paired cameras, and ΔY is the parallax.
In the present embodiment, as shown in FIG. 6, the distance between the optical centers of the paired cameras 15 and 16 is s1.
The focal length is the distance between the optical center and the image captured by the camera in the camera model, and the cameras 15 and 16 have the same focal length and are both r1.
The parallax is the difference between the position of the work in the image of one camera and the position of the work in the image of the other camera when the same work is imaged by a pair of cameras. In this embodiment, a parallel stereo camera is configured by the cameras 15 and 16, and the same workpiece 12 imaged by the cameras 15 and 16 has the same X coordinate in each image. Therefore, the difference in the Y coordinate in each image of the cameras 15 and 16 becomes the parallax.

The cameras 15 and 16 take an image while the belt conveyor 14 is stopped, the camera 15 takes an image of the entire container 11 as shown in FIG. 4 (A), and the camera 16 works as shown in FIG. 4 (B). The upstream half of the container 11 at the take-out position 18 and the downstream half of the container 11 at the take-out front position 25 are imaged.
The image processing means 23 calculates XY coordinates for all the workpieces 12 in the container 11 at the workpiece removal position 18 from the planar position of each workpiece 12 in the image of the camera 15.

The image processing means 23 is divided into a work 12 accommodated in the upstream half of the container 11 at the work removal position 18 and a work 12 accommodated in the downstream half of the container 11 at the work removal position 18. The Z coordinate of the workpiece 12 is calculated.
As shown in FIGS. 4 (A) and 4 (B), each of the images of the cameras 15 and 16 taken at the same timing (that is, the timing from when the belt conveyor 14 is stopped until it is activated) All the workpieces 12 accommodated in the upstream half of the container 11 at position 18 are shown. The image processing unit 23 obtains the parallax for all the workpieces 12 accommodated in the upstream half of the container 11 based on the plane position in the image of the camera 15 and the plane position in the image of the camera 16. Then, the image processing means 23 substitutes the obtained parallax, S = s1, and R = r1 into Equation 1 to obtain the Z coordinate for all the workpieces 12 accommodated in the upstream half of the container 11 at the workpiece removal position 18. calculate.

The workpiece 12 accommodated in the downstream half of the container 11 at the workpiece removal position 18 includes the latest image captured by the camera 15 shown in FIG. 5A and the container 11 at the workpiece removal position 18 at the position 25 before the removal. The image shown in FIG. 5B captured by the camera 16 when stopped (hereinafter also referred to as “previous timing”).
Therefore, the image processing means 23 is in the downstream half of the container 11 from the planar position of the workpiece 12 in each image using the latest image of the camera 15 and the image captured by the camera 16 at the previous timing. The parallax is obtained for each workpiece 12. Then, the image processing unit 23 calculates the Z coordinate of the workpiece 12 accommodated in the downstream half of the container 11 at the workpiece removal position 18 according to Equation 1 based on the obtained parallax.

At this time, r1 is substituted for R in Equation 1, and P-s1 is substituted for S (P is the movement pitch of the container 11). The reason why P-s1 is substituted for S instead of s1 is that the container 11 picked up by the camera 16 at the position 25 before the pick-up moves to the work pick-up position 18 and is picked up by the camera 15. In the present embodiment, the cameras 15 and 16 are arranged at a position where the distance s1 between the optical centers of the cameras 15 and 16 is half the movement pitch P of the container 11 (that is, P = 2 × s1). However, s1 is substituted for S.

When obtaining the parallax of the workpiece 12, the image processing means 23 associates the plurality of workpieces 12 captured by the camera 15 and the plurality of workpieces 12 captured by the camera 16 for each workpiece 12, that is, the same workpiece. 12 identifications are required.
The association of the work 12 is performed based on the planar position of the work 12 in the images of the cameras 15 and 16. For example, the workpiece 12 given “W1” in the image of the camera 16 shown in FIG. 4B shows “W1” in the screen of the camera 15 shown in FIG. 4A from the position in the image. Correspondence that the workpiece 12 is attached is possible. Further, the work 12 with “W2” shown in FIG. 5B captured by the camera 16 at the previous timing is displayed in the latest screen of the camera 15 from the plane position in the image. Correspondence can be made that the workpiece 12 is given “W2” shown in FIG.

Here, paying attention to the distance from the cameras 15 and 16 to the container 11 on the belt conveyor 14, if the distance is shortened, the size of the work 12 reflected in each image of the cameras 15 and 16 increases, and the pattern The detection accuracy of the workpiece 12 by matching is increased.
Therefore, on the premise that the cameras 15 and 16 are arranged at the same height without changing the algorithm for calculating the three-dimensional position of the workpiece 12, a condition for making the distance between the cameras 15 and 16 and the container 11 on the belt conveyor 14 closest to each other. The following conditions are satisfied.
(1) The imaging center of the camera 15 is arranged at the center of the container 11 at the workpiece take-out position 18.
(2) The imaging center of the camera 16 is arranged at an intermediate point between the container 11 at the workpiece take-out position 18 and the container 11 at the take-out front position 25.
(3) After satisfying the above conditions (1) and (2), the camera 15 can image the entire container 11 at the workpiece removal position 18 and the camera 16 is upstream of the container 11 at the workpiece removal position 18. The cameras 15 and 16 are respectively arranged at heights at which the side half and the downstream half of the container 11 located at the front position 25 can be imaged.

Further, the image processing means 23 calculates the three-dimensional position of each work 12 accommodated in the container 11 at the work removal position 18, and transmits the calculation result to the control means 24.
Based on the three-dimensional position of each workpiece 12 calculated by the image processing unit 23, the control unit 24 sets the target position of the suction unit 17 (at which the robot 13 can suck and hold the workpiece 12 by the suction unit 17 for each workpiece 12 ( Hereinafter, it is also referred to as “suction part arrangement target position”.
Then, the control unit 24 moves the robot 13 to place the suction part 17 of the robot 13 at the suction part placement target position corresponding to the one work 12 and causes the suction part 17 to perform suction to hold the work 12 by suction. And move to the container of the accommodation destination. In this way, the workpieces 12 in the container 11 are sequentially moved to the accommodation destination container.

In the present embodiment, a position having a predetermined interval above (directly above) the three-dimensional position of the workpiece 12 calculated by the image processing means 23 is set as the suction portion arrangement target position. The suction unit 17 of the robot 13 is disposed at a suction unit placement target position, and performs suction to hold the workpiece 12 by suction. Thus, by setting the position having a space to the workpiece 12 as the suction portion arrangement target position, it is possible to avoid the workpiece 12 from being pressed and damaged when the suction portion 17 of the robot 13 performs the suction.
The suction unit placement target position is not limited to the upper position of the workpiece, but can be determined according to the position of the suction unit of the robot with respect to the workpiece during suction. For example, when the suction part of the robot sucks the work from diagonally above, a position having a predetermined interval in the diagonally upward direction with respect to the three-dimensional position of the work calculated by the image processing means is the suction part placement target position. Become.
The control means 24 is constituted by a microcomputer, a memory, a ROM, and the like, and the ROM stores a program for determining the suction portion arrangement target position.

The stereoscopic robot picking apparatus 10 having two cameras has been described above. However, the three-dimensional position of the workpiece 12 in the container 11 can be detected using three cameras, and the suction unit placement target position can be determined. .
As shown in FIG. 7, a stereoscopic robot picking apparatus 10a, which is a modification of the stereoscopic robot picking apparatus 10, includes three cameras 15, 16a, and 16b (that is, one camera A and two cameras B). It has. The stereoscopic robot picking apparatus 10a differs from the stereoscopic robot picking apparatus 10 mainly in that the number of cameras is large and the image used for calculating the Z coordinate of the workpiece 12 is different, but in many other respects the stereoscopic robot picking apparatus 10a. Same as device 10.
Note that the same components as those of the stereoscopic robot picking apparatus 10 are denoted by the same reference numerals, and detailed description thereof is omitted.

The camera 16a (one camera B) and the camera 16b (the other camera B) partially image the container 11 in which the imaging center direction is substantially parallel to the imaging center direction of the camera 15 and at the workpiece pick-up position 18. To do.
The cameras 16 a, 15, and 16 b are attached to the support frame 21 through the fixing member 22 a at substantially the same height position, and are sequentially arranged along the moving direction of the container 11. The cameras 16a, 15 and 16b are cameras having the same specifications.
The camera 16a is disposed at a position where at least the upstream half of the container 11 at the workpiece removal position 18 can be imaged, and the camera 16b is disposed at a position where at least the downstream half of the container 11 at the workpiece removal position 18 can be imaged. ing.

The cameras 15, 16a, and 16b are signal-connected to the image processing means. The image processing means is based on the images obtained by capturing the container 11 at the work removal position 18 with the camera 15 and the camera 16a, and the work removal position 18 is used. The three-dimensional position of the workpiece 12 in the upstream half in the container 11 arranged at is calculated.
Further, the image processing means, based on each image obtained by capturing the container 11 at the workpiece removal position 18 with the camera 15 and the camera 16b, the workpiece 12 in the downstream half of the container 11 disposed at the workpiece removal position 18. A three-dimensional position is calculated.

Assuming that the distance between the optical centers of the cameras 15 and 16a is s1 'and the distance between the optical centers of the cameras 15 and 16b is s2', the Z coordinate of the workpiece 12 in the upstream half in the container 11 is the camera 15, 16a. Is calculated by substituting the parallax of the workpiece 12 in each image, S = s1 ′, and R = r1 into Equation 1. The focal lengths of the cameras 16a and 16b are the same r1 as that of the camera 15.
Further, the Z coordinate of the workpiece 12 in the downstream half of the container 11 can be calculated by substituting the parallax of the workpiece 12 in each image of the cameras 15 and 16b, S = s2 ′, and R = r1 into Equation 1. .
By setting the distance s1 ′ between the optical centers of the cameras 15 and 16a and the distance s2 ′ between the optical centers of the cameras 15 and 16b to the same value (s1 ′ = s2 ′), S in Expression 1 becomes one value and is calculated. Simplification of processing design and the like can be achieved.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and all changes in conditions and the like that do not depart from the gist are within the scope of the present invention.
For example, the robot is not limited to the parallel link robot, and a robot other than the parallel link robot, for example, an articulated robot can be used.
In addition, the arrangement relationship between the plurality of cameras (camera A and camera B) used for detecting the three-dimensional position of the workpiece may not be an arrangement that forms a parallel stereo camera as long as the three-dimensional position of the workpiece can be detected. .

10, 10a: Stereoscopic robot picking device, 11: Container, 12: Workpiece, 13: Robot, 14: Belt conveyor, 15, 16, 16a, 16b: Camera, 17: Suction unit, 18: Work picking position, 19: Servo motor, 21: support frame, 22, 22a: fixing member, 23: image processing means, 24: control means, 25: position before taking out

Claims (4)

In a stereoscopic robot picking apparatus that sequentially moves workpieces contained in a container to different positions by a robot,
The robot provided with a suction unit for sucking and holding the workpiece;
Moving means for moving the container by a predetermined pitch, and sending the container to a work take-out position where the suction part can suck and hold the work housed in the container;
One camera A that images the entire container at the workpiece removal position;
One or two cameras B that partially image the container at the workpiece removal position;
Image processing means for calculating the three-dimensional position of the workpiece from the two-dimensional position of the workpiece in each image captured by the cameras A and B;
Control means for determining an arrangement target position of the suction unit based on the three-dimensional position of the work calculated by the image processing means, and moving the robot to suck and hold the work;
The cameras A and B are arranged along the moving direction of the container, the imaging directions of the cameras A and B are parallel, and the image processing means is in each image captured by the cameras A and B. A stereoscopic robot picking apparatus, wherein the workpiece is detected by pattern matching and a two-dimensional position in each image of the workpiece imaged by the cameras A and B is calculated. The stereoscopic robot picking apparatus according to claim 1, wherein the camera B is a single unit, and the container B is located upstream of the work removal position by the moving pitch of the container along the moving direction of the container. It is arranged at a position where at least the downstream half can be imaged, and at least the upstream half of the container at the work removal position can be imaged,
The image processing means includes an image obtained by imaging the container located at the upstream side of the moving pitch of the container with respect to the moving position of the container along the moving direction of the container by the camera B, and the container at the moving position. Based on the image picked up by the camera A, the three-dimensional position of the work in the downstream half in the container arranged at the work take-out position is calculated, and the container at the work take-out position is determined as the camera A A stereoscopic robot picking apparatus that calculates a three-dimensional position of the workpiece in the upstream half in the container arranged at the workpiece removal position based on the images picked up by B and B. 2. The stereoscopic robot picking apparatus according to claim 1, wherein there are two cameras B, and one of the cameras B captures at least an upstream half of the container in the moving direction of the container at the workpiece removal position. The other camera B is arranged at a position where at least the downstream half of the container at the workpiece take-out position can be imaged,
The image processing means is in the upstream half of the container disposed at the work removal position based on the images obtained by capturing the container at the work removal position with the camera A and the one camera B. A three-dimensional position of the workpiece is calculated, and the downstream side of the container disposed at the workpiece removal position is based on each image obtained by capturing the container at the workpiece removal position with the camera A and the other camera B. A stereoscopic robot picking apparatus, characterized in that a three-dimensional position of the workpiece in a side half is calculated. 4. The stereoscopic robot picking apparatus according to claim 1, wherein the control unit sets a position having a predetermined interval to a three-dimensional position of the workpiece calculated by the image processing unit. A stereoscopic robot picking apparatus, characterized in that it is determined as an arrangement target position of a suction unit.

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