Patent ID: 9079310
Filing Date: 2015-07-14
Classification: B25J,G05B

Abstract:
1. An article take-out apparatus comprising: a robot having a hand capable of holding an article; a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space to acquire a 3D point set composed of a plurality of 3D points; a local maximum point selecting unit selecting from the 3D point set a 3D point, where a coordinate value with respect to a predetermined coordinate axis is maximum, as a local maximum point; a processing unit determining a hand position and posture including a target position and target posture of the hand enabling an article near the local maximum point to be taken out, based on the local maximum point selected by the local maximum point selecting unit; and a robot control unit controlling the robot so as to move the hand to the hand position and posture determined by the processing unit and take out the article from the hand position and posture, wherein the processing unit comprises,