Patent · US Active

Method for the localization of gripping points of objects

US9977948B2 · kind B2 · utility

0Cited by

7References

19Claims

0Family size

Assignee

SICK AG · DE

Inventors

Klemens Wehrle · Nassau (Lahn), DE
Heinrich Hippenmeyer · Freiamt, DE
Hubert Uhl · Waldkirch, DE
Björn Denz · Waldkirch, DE
Martin Grafmüller · Freiamt, DE

Key dates

Filing date	Jan 19, 2016
Grant date	May 22, 2018
Priority date	—
Expiry date	Mar 23, 2036

Classification

Technology area (CPC Y)Emerging Cross-Sectional Technologies
CPC primaryY10S901/47
WIPO fieldAudio-visual technology
WIPO sectorElectrical engineering

Abstract

The invention relates to a method for the localization of gripping points of objects, wherein the objects are scanned by means of a 3D sensor and the objects are illuminated by means of at least one first illumination unit while the objects are detected by means of a camera, wherein the relative positions of the 3D sensor, of the first illumination unit and of the camera with respect to one another are known and the 3D sensor, the first illumination unit and the camera are arranged in a fixed position with respect to one another. In this respect, the boundary of the objects is determined from a two-dimensional image generated by the camera, a spatial position is determined from detected distance information of the 3D sensor and of the two-dimensional image and the gripping points for the objects are determined from the boundaries and from the spatial position of the objects.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.