Robot system having image processing function
US7177459B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 10, 2000 |
| Grant date | Feb 13, 2007 |
| Priority date | — |
| Expiry date | Apr 10, 2020 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45029
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot system having an image processing function capable of detecting position and/or posture of individual workpieces randomly arranged in a stack to determine posture, or posture and position of a robot operation suitable for the detected position and/or posture of the workpiece. Reference models are created from two-dimensional images of a reference workpiece captured in a plurality of directions by a first visual sensor and stored. Also, the relative positions/postures of the first visual sensor with respect to the workpiece at the respective image capturing, and relative position/posture of a second visual sensor to be situated with respect to the workpiece are stored. Matching processing between an image of a stack of workpieces captured by the camera and the reference models are performed and an image of a workpiece matched with one reference model is selected. A three-dimensional position/posture of the workpiece is determined from the image of the selected workpiece, the selected reference model and position/posture information associated with the reference model. The position/posture of the second visual sensor to be situated for measurement is determined based on the d…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.