Work system, method for executing work on object, and robot

A method for executing work on an object comprising:

• disposing a moving platform to which a work portion and a visual sensor are secured;
• successively acquiring, by the visual sensor secured to the moving platform, visual information about the object being conveyed by the conveying apparatus or a mark formed on the conveying apparatus;
• successively detecting at least positions of the object or the mark by processing the visual information acquired by the visual sensor;
• calculating a conveying velocity of the conveying apparatus on a basis of the successively detected positions of the object or the mark;
• and
• performing, by using the conveying velocity, the work on the object being conveyed by the conveying apparatus by the work portion secured to the moving platform,
• wherein an image-capturing area of the visual sensor is located at an upstream side of the conveying apparatus relative to a work area where the work is conducted by the work portion, and the work area is not captured by the visual sensor,
• wherein, in the case in which the object or the mark is not detected in a plurality of the visual information acquired by the visual sensor in a predetermined period, the drive control unit drives the work portion by using the conveying velocity calculated by the calculating portion before the predetermined period.

A robot comprising:

• a conveying apparatus that conveys an object;
• a visual sensor that is secured to a moving platform and that successively acquires visual information about the object being conveyed by the conveying apparatus or a mark formed on the conveying apparatus;
• a detecting portion that successively detects at least positions of the object or the mark by processing the visual information acquired by the visual sensor;
• a calculating portion that calculates a conveying velocity of the conveying apparatus on a basis of the positions of the object or the mark that are successively detected by the detecting portion;
• and
• a drive control unit that drives a work portion by using the conveying velocity,
• wherein an image-capturing area of the visual sensor is located at an upstream side of the conveying apparatus relative to a work area where work is conducted by the work portion, and the work area is not captured by the visual sensor,
• wherein, in the case in which the object or the mark is not detected in a plurality of the visual information acquired by the visual sensor in a predetermined period, the drive control unit drives the work portion by using the conveying velocity calculated by the calculating portion before the predetermined period.