Bin-picking system for randomly positioned objects
US7313464B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 5, 2006 |
| Grant date | Dec 25, 2007 |
| Priority date | — |
| Expiry date | Sep 5, 2026 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40564
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for picking up objects randomly arranged in a bin using a robot having a gripper for grasping the objects using prehension feature(s) on the object. The method includes a shaking scheme for rearranging the objects in the bin when no objects are recognized, when no objects are prehensible by the gripper or when the object to be picked up is not reachable by the gripper because, for example, its prehension feature is substantially facing a wall of the bin. The method also includes a criterion for determining that a bin is free of objects to be picked up and a criterion for selecting the object to be picked up first in the bin. The method also provides for a protection mechanism against damage of the objects and the robot when a recognition technique has failed in properly recognizing the object or the prehension feature on the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.