Workpiece retrieval count calculation device, hand system, and display device
AssigneeFanuc Corporation
InventorJun Wada
Life of this patent
Estimating the term…
Abstract
This workpiece retrieval count calculation device comprises: a three-dimensional information acquisition unit for acquiring three-dimensional information pertaining to a subject space in which a plurality of workpieces are loaded; a workpiece shape information acquisition unit for acquiring shape information pertaining to the workpieces; and a workpiece retrieval count calculation unit for calculating a range of workpiece retrieval counts, in consideration of cavities within a workpiece loading region, on the basis of the three-dimensional information pertaining to the subject space and the shape information pertaining to the workpieces from before and after retrieval of the workpieces.
Claims15
A picking-up workpiece number calculation device, comprising:
- a processor configured to:
- acquire three-dimensional information of a target space in which a plurality of workpieces are loaded;
- acquire shape information of the workpiece;
- and
- calculate a range of a picking-up workpiece number, based on the three-dimensional information of the target space before and after picking-up a workpiece and the shape information of the workpiece, in consideration of a cavity in a loading region of the workpiece.
A hand system, comprising:
- a hand configured to pick up and deliver a workpiece;
- a convey device configured to convey a workpiece using the hand;
- a controller configured to control operation of at least one of the hand and the convey device;
- and
- a vision sensor configured to output three-dimensional information of a target space in which a plurality of the workpieces are loaded, wherein
- the controller includes a processor configured to:
- acquire the three-dimensional information of the target space from the vision sensor;
- acquire shape information of the workpiece;
- calculate a range of a picking-up workpiece number, based on the three-dimensional information of the target space before and after picking-up a workpiece and the shape information of the workpiece, in consideration of a cavity in a loading region of the workpiece;
- and
- control operation of at least one of the hand and the convey device, based on the range of the picking-up workpiece number.
A display device configured to visually display a calculating process of a picking-up number of the workpieces picked up from a plurality of loaded workpieces, the display device comprising:
- a display configured to display a superimposed image in which a change region changed in a loading region of the workpieces after picking-up workpiece is displayed such that the change region is superimposed on at least one of pieces of three-dimensional information of a target space before and after picking-up workpiece so as to be identifiable.
Dependencies are inferred from the claim text.