Image processing device
AssigneeKeyence Corporation
InventorKyosuke TAWARA
Life of this patent
Estimating the term…
Abstract
The present invention allows a user to make trigger settings without editing a robot program and to automatically issue a trigger at optimum timing among the settings. A processor determines, based on timing at which a hand HND moves out of a capture range of a sensor on a path, timing of issuing a trigger that causes the sensor to capture the next image to dynamically change capture timing of the sensor for each cycle of a picking motion.
Claims12
An image processing device used for controlling a robot that performs, in cycles, a picking motion of holding and taking out a predetermined workpiece one by one from among a plurality of workpieces stowed in a work space, the image processing device comprising:
- an imaging sensor that captures an image of the work space where the plurality of workpieces are stowed in accordance with a trigger command and outputs image data;
- and
- a processor that determines, based on the image data output from the imaging sensor, a workpiece to be held from among the workpieces stowed in the work space and sets a path of a hand extending from where the hand holds the workpiece to where the hand places the workpiece at a predetermined placing position, wherein
- the processor determines, based on timing at which the hand moves out of a capture range of the imaging sensor on the path, timing of issuing a trigger that causes the imaging sensor to capture a next image to dynamically change capture timing of the imaging sensor for each cycle of the picking motion.
Dependencies are inferred from the claim text.