Article alignment apparatus and article alignment method for aligning articles using robot, and article transfer system provided with article alignment apparatus

摘要

In a technique in which a robot aligns a plurality of articles placed in an irregular arrangement in a regular arrangement, the arrangement efficiency can be improved by allowing one of the articles to be arranged without moving. An article alignment apparatus includes a visual sensor for acquiring position information Dp of a plurality of articles placed in an irregular arrangement, and a plurality of pattern elements each representing the position of the article in a regular arrangement. The alignment pattern generator 16 generates the alignment pattern P so that any one of the first pattern elements is aligned with the position of any one of the reference articles Ma, the article Mb that can be arranged on the second pattern element, and the other The interference determination unit 18 that determines the interference with the article M, the pickup operation generation unit 20 that generates the article pickup operation by the robot 12 in consideration of the determination of the interference determination unit 18, and the article alignment operation by the robot 12 And an alignment operation generation unit 22 that generates in consideration of the determination of the interference determination unit 18. [Selection] Figure 1