Workpiece detector, robot system, method for producing to-be-processed material, method for detecting workpiece

A workpiece detector comprising:

• a camera configured to acquire a two-dimensional image of a search range within which workpieces are disposed;
• a three-dimensional sensor configured to detect a three-dimensional shape of a three-dimensional detection area;
• a workpiece extraction section configured to process the two-dimensional image to extract a plurality of candidate workpieces among the workpieces;
• an area setting section configured to set a plurality of three-dimensional detection areas respectively corresponding to the plurality of candidate workpieces;
• a prioritizing section configured to set an order of priority to the plurality of three-dimensional detection areas so as to give higher priority to one three-dimensional detection area among the plurality of three-dimensional detection areas when the one three-dimensional detection area contains more of the plurality of candidate workpieces;
• a sensor control section configured to control the three-dimensional sensor to detect the three-dimensional shape of each of the plurality of three-dimensional detection areas in the order of priority;
• and
• a workpiece detection section configured to, every time the three-dimensional shape is detected, search the workpieces based on the detected three-dimensional shape so as to detect a pickable workpiece among the workpieces,
• wherein the prioritizing section is configured to give higher priority to the one three-dimensional detection area when the one three-dimensional detection area has a smaller area overlapping a placement area in which the workpieces are placeable.

A workpiece detector comprising:

• a camera configured to acquire a two-dimensional image of a search range within which workpieces are disposed;
• a three-dimensional sensor configured to detect a three-dimensional shape of a three-dimensional detection area;
• a workpiece extraction section configured to process the two-dimensional image to extract a plurality of candidate workpieces among the workpieces;
• an area setting section configured to set a plurality of three-dimensional detection areas respectively corresponding to the plurality of candidate workpieces;
• a prioritizing section configured to set an order of priority to the plurality of three-dimensional detection areas so as to give higher priority to one three-dimensional detection area among the plurality of three-dimensional detection areas when the one three-dimensional detection area contains more of the plurality of candidate workpieces;
• a sensor control section configured to control the three-dimensional sensor to detect the three-dimensional shape of each of the plurality of three-dimensional detection areas in the order of priority;
• and
• a workpiece detection section configured to, every time the three-dimensional shape is detected, search the workpieces based on the detected three-dimensional shape so as to detect a pickable workpiece among the workpieces,
• wherein the prioritizing section is configured to give higher priority to the one three-dimensional detection area when the one three-dimensional detection area contains a candidate workpiece with a higher photography magnification in the two-dimensional image.

A method for producing a to-be-processed material comprising:

• acquiring, using a camera, a two-dimensional image of a search range within which workpieces are disposed;
• processing the two-dimensional image to extract a plurality of candidate workpieces among the workpieces;
• setting a plurality of three-dimensional detection areas respectively corresponding to the plurality of candidate workpieces;
• setting an order of priority to the plurality of three-dimensional detection areas based at least in part on a quantity of candidate workpieces present in each of the plurality of three-dimensional detection areas so as to give higher priority to one three-dimensional detection area among the plurality of three-dimensional detection areas such that the one three-dimensional detection area that contains more of the plurality of candidate workpieces is given higher priority;
• detecting, using a three-dimensional sensor, a three-dimensional shape of each of the plurality of three-dimensional detection areas in the order of priority;
• every time the three-dimensional shape is detected, searching the workpieces based on the detected three-dimensional shape so as to detect a pickable workpiece among the workpieces;
• holding the detected workpiece using a holding mechanism of a robot;
• and
• transferring, using the robot, the workpiece held by the holding mechanism to a next process.

A method for detecting a workpiece comprising:

• acquiring, using a camera, a two-dimensional image of a search range within which workpieces are disposed;
• processing the two-dimensional image to extract a plurality of candidate workpieces among the workpieces;
• setting a plurality of three-dimensional detection areas respectively corresponding to the plurality of candidate workpieces;
• setting an order of priority to the plurality of three-dimensional detection areas based at least in part on a quantity of candidate workpieces present in each of the plurality of three-dimensional detection areas so as to give higher priority to one three-dimensional detection area among the plurality of three-dimensional detection areas such that the one three-dimensional detection area that contains more of the plurality of candidate workpieces is given higher priority;
• detecting, using a three-dimensional sensor, a three-dimensional shape of each of the plurality of three-dimensional detection areas in the order of priority;
• and
• every time the three-dimensional shape is detected, searching the workpieces based on the detected three-dimensional shape so as to detect a pickable workpiece among the workpieces.