Article conveying device using at least one sensor

An article conveying device comprising:

• a supplying section configured to convey a plurality of articles;
• at least one position/orientation detecting section configured to detect a three-dimensional position/orientation of the article on the supplying section;
• a movement amount detecting section configured to detect an amount of movement of the supplying section;
• at least one working section configured to take out the article while following a conveying motion of the supplying section, and based on the three-dimensional position/orientation of the article detected by the position/orientation detecting section and based on the amount of movement of the supplying section detected by the movement amount detecting section;
• and
• an article selecting section configured to, when the articles are conveyed while being overlapped with each other, select an article among the articles as an object to be taken out, on which another article is not overlapped on the object in a take-out direction determined for each of the articles, based on the three-dimensional position/orientation of the article detected by the position/orientation detecting section, and output a command to the working section for taking out the object to be taken out in the take-out direction, wherein each take-out direction varies depending on a shape of each article and the orientation of each article on the supplying section.