WO2010034044A3 - Verfahren und anlage zum aufnehmen und/oder bearbeiten von objekten - Google Patents
Verfahren und anlage zum aufnehmen und/oder bearbeiten von objekten Download PDFInfo
- Publication number
- WO2010034044A3 WO2010034044A3 PCT/AT2009/000360 AT2009000360W WO2010034044A3 WO 2010034044 A3 WO2010034044 A3 WO 2010034044A3 AT 2009000360 W AT2009000360 W AT 2009000360W WO 2010034044 A3 WO2010034044 A3 WO 2010034044A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- handling apparatus
- processing
- receiving
- imaging method
- processed
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 2
- 238000001514 detection method Methods 0.000 abstract 5
- 238000003384 imaging method Methods 0.000 abstract 3
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
- G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
- B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
- B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
- B65G47/1442—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of movement of the bottom or a part of the wall of the container
- B65G47/1471—Movement in one direction, substantially outwards
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39106—Conveyor, pick up article, object from conveyor, bring to test unit, place it
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40554—Object recognition to track object on conveyor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40564—Recognize shape, contour of object, extract position and orientation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zum sequentiellen Aufnehmen und/oder Bearbeiten von einzelnen Objekten (2) aus einer durch eine Fördervorrichtung (3), insbesondere kontinuierlich, bewegten Objektmenge (12) mittels einer Handhabungsvorrichtung (5), insbesondere eines Industrieroboters (6), umfassend ein an der bewegten Objektmenge (12) ausgeführtes Bilderfassungsverfahren und ein Objekterkennungsverfahren zur Lokalisierung, Identifizierung und Auswahl zumindest eines mit der Handhabungsvorrichtung (5) aufnehmbaren und/oder bearbeitbaren Objekts (2) mittels des Bildinformation des Bilderfassungsverfahrens verarbeitenden Objekterkennungssystems (15), und Aufnehmen und/oder Bearbeiten eines ausgewählten Objekts (2) mit der Handhabungsvorrichtung (5). Dabei wird ein vom Bilderfassungsverfahren fortlaufend generierter Bildinformationsstrom (36) in Objektmengeninformationen, insbesondere Objektpunktkoordinaten und Bewegungsinformationen, enthaltende Erkennungsabschnitte (28) der Objektmenge (12) unterteilt und die Identifizierung und Auswähl der mit der Handhabungsvorrichtung (5) aufnehmbaren und/oder bearbeitbaren Objekte (2) erfolgt vom Objekterkennungssystem (15) für einzelne Erkennungsabschnitte (28).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA1501/2008 | 2008-09-26 | ||
AT0150108A AT507339B1 (de) | 2008-09-26 | 2008-09-26 | Verfahren und anlage zum aufnehmen und/oder bearbeiten von objekten |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2010034044A2 WO2010034044A2 (de) | 2010-04-01 |
WO2010034044A3 true WO2010034044A3 (de) | 2010-05-27 |
Family
ID=41449940
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/AT2009/000360 WO2010034044A2 (de) | 2008-09-26 | 2009-09-18 | Verfahren und anlage zum aufnehmen und/oder bearbeiten von objekten |
Country Status (2)
Country | Link |
---|---|
AT (1) | AT507339B1 (de) |
WO (1) | WO2010034044A2 (de) |
Families Citing this family (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010014105A1 (de) * | 2010-04-07 | 2011-10-13 | Siemens Aktiengesellschaft | Verfahren und Vorrichtung zum Vermessen von Gegenständen während des Transports |
AT509951A1 (de) * | 2010-06-11 | 2011-12-15 | Stiwa Holding Gmbh | Verfahren zur ermittlung und festlegung eines lagemerkmals eines stückguts in einer fördervorrichtung |
CH705016A1 (de) * | 2011-05-30 | 2012-11-30 | Feller Ag | Zuführeinrichtung zum Zuführen von Teilen und Verfahren zum Betreiben einer Zuführeinrichtung. |
US8755925B2 (en) | 2011-11-18 | 2014-06-17 | Nike, Inc. | Automated identification and assembly of shoe parts |
US10552551B2 (en) | 2011-11-18 | 2020-02-04 | Nike, Inc. | Generation of tool paths for shore assembly |
US8958901B2 (en) | 2011-11-18 | 2015-02-17 | Nike, Inc. | Automated manufacturing of shoe parts |
US9451810B2 (en) * | 2011-11-18 | 2016-09-27 | Nike, Inc. | Automated identification of shoe parts |
US8849620B2 (en) | 2011-11-18 | 2014-09-30 | Nike, Inc. | Automated 3-D modeling of shoe parts |
DE102012203134A1 (de) * | 2012-02-29 | 2013-08-29 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren und Vorrichtung zum Aufnehmen eines Konturteils |
US9233469B2 (en) | 2014-02-13 | 2016-01-12 | GM Global Technology Operations LLC | Robotic system with 3D box location functionality |
JP5824173B1 (ja) * | 2014-02-28 | 2015-11-25 | ファナック株式会社 | ロボットを用いて物品を整列させる物品整列装置及び物品整列方法、並びに物品整列装置を備えた物品移送システム |
US10343284B2 (en) | 2015-08-26 | 2019-07-09 | Berkshire Grey, Inc. | Systems and methods for providing contact detection in an articulated arm |
ES2845683T3 (es) | 2015-09-01 | 2021-07-27 | Berkshire Grey Inc | Sistemas y métodos para proporcionar sistemas de control robótico dinámico |
US11370128B2 (en) | 2015-09-01 | 2022-06-28 | Berkshire Grey Operating Company, Inc. | Systems and methods for providing dynamic robotic control systems |
ES2976182T3 (es) | 2015-09-09 | 2024-07-26 | Berkshire Grey Operating Company Inc | Sistema y método para proporcionar una iluminación comunicativa dinámica en un entorno robótico |
CN113635319A (zh) | 2015-09-11 | 2021-11-12 | 伯克希尔格雷股份有限公司 | 用于识别和处理各种物体的机器人***和方法 |
CN113731862B (zh) | 2015-11-13 | 2024-04-12 | 伯克希尔格雷营业股份有限公司 | 用于提供各种物体的分拣的分拣***和方法 |
US9937532B2 (en) | 2015-12-18 | 2018-04-10 | Berkshire Grey Inc. | Perception systems and methods for identifying and processing a variety of objects |
EP3414060B1 (de) | 2016-02-08 | 2022-05-25 | Berkshire Grey Operating Company, Inc. | Systeme und verfahren zur bereitstellung der verarbeitung von verschiedenen objekten mit bewegungsplanung |
EP3538961B1 (de) | 2016-11-08 | 2023-01-25 | Berkshire Grey Operating Company, Inc. | Systeme und verfahren zur verarbeitung von objekten |
ES2964823T3 (es) | 2016-11-28 | 2024-04-09 | Berkshire Grey Operating Company Inc | Sistema de singulación de objetos para su procesamiento |
US10875057B2 (en) | 2016-12-06 | 2020-12-29 | Berkshire Grey, Inc. | Systems and methods for providing for the processing of objects in vehicles |
CN110049934B (zh) | 2016-12-09 | 2022-02-25 | 伯克希尔格雷股份有限公司 | 用于处理在车辆中设置的物品的***和方法 |
WO2018165017A1 (en) | 2017-03-06 | 2018-09-13 | Berkshire Grey, Inc. | Systems and methods for efficiently moving a variety of objects |
EP3601113A1 (de) | 2017-03-24 | 2020-02-05 | Berkshire Grey, Inc. | Systeme und verfahren zur verarbeitung von objekten mit automatisierter verarbeitung |
WO2018200503A1 (en) | 2017-04-24 | 2018-11-01 | Berkshire Grey, Inc. | Systems and methods for providing singulation of objects for processing using object movement redistribution |
JP6506356B2 (ja) * | 2017-07-26 | 2019-04-24 | ファナック株式会社 | 物品搬送システム及び搬送システム制御装置 |
JP6646026B2 (ja) | 2017-10-16 | 2020-02-14 | ファナック株式会社 | 作業システム、物品に対する作業実施方法、およびロボット |
JP6687591B2 (ja) | 2017-12-26 | 2020-04-22 | ファナック株式会社 | 物品搬送装置、ロボットシステムおよび物品搬送方法 |
US20200095001A1 (en) * | 2018-09-26 | 2020-03-26 | Dexterity, Inc. | Robotic kitting system |
US11731792B2 (en) * | 2018-09-26 | 2023-08-22 | Dexterity, Inc. | Kitting machine |
EP4185444A1 (de) | 2020-07-22 | 2023-05-31 | Berkshire Grey Operating Company, Inc. | Systeme und verfahren zur objektverarbeitung unter verwendung eines vakuumgreifers zur objektrückhaltung durch evakuierung |
CN116194259A (zh) | 2020-07-22 | 2023-05-30 | 伯克希尔格雷营业股份有限公司 | 用于使用被动塌缩真空夹持器进行物体处理的***和方法 |
BE1028905B1 (nl) * | 2020-12-15 | 2022-07-19 | Montech Bvba | Werkwijze en inrichting voor het geautomatiseerd verpakken van objecten |
CN112756936A (zh) * | 2020-12-29 | 2021-05-07 | 曙光信息产业股份有限公司 | 服务器装配工站的上料***、服务器装配***及上料方法 |
DE102021104900A1 (de) * | 2021-03-01 | 2022-09-01 | Rsg Verwaltungs Gmbh | Verfahren zur Vereinzelung und Sortierung von Vorprodukten und Vorrichtung |
AT524802B1 (de) * | 2021-03-05 | 2023-04-15 | Engel Austria Gmbh | Verfahren zum Ablegen von Halbzeugen |
US11866269B2 (en) | 2021-10-06 | 2024-01-09 | Berkshire Grey Operating Company, Inc. | Dynamic processing of objects provided in elevated vehicles with evacuation systems and methods for receiving objects |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
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EP0204516A2 (de) * | 1985-06-04 | 1986-12-10 | Adept Technology, Inc. | Sichtanlage zum Unterscheiden sich berührender Teile |
US5040056A (en) * | 1990-01-29 | 1991-08-13 | Technistar Corporation | Automated system for locating and transferring objects on a conveyor belt |
US5148591A (en) * | 1981-05-11 | 1992-09-22 | Sensor Adaptive Machines, Inc. | Vision target based assembly |
JPH0748018A (ja) * | 1993-08-03 | 1995-02-21 | Omori Mach Co Ltd | 物品移載装置用物品検出装置 |
JPH08323669A (ja) * | 1995-03-28 | 1996-12-10 | Matsushita Electric Works Ltd | 部品供給方法およびその装置 |
US6032343A (en) * | 1997-02-24 | 2000-03-07 | Ethicon, Inc. | Automated swage wind and packaging machine |
WO2001033204A1 (en) * | 1999-10-29 | 2001-05-10 | Cognex Corporation | System and method for counting parts in multiple fields of view using machine vision |
JP2002113679A (ja) * | 2000-10-06 | 2002-04-16 | Seiko Instruments Inc | トラッキング方法、トラッキングシステム、及びトラッキング装置 |
EP1584944A1 (de) * | 2004-04-08 | 2005-10-12 | FESTO AG & Co | Bilderfassungsvorrichtung und Verfahren zur Erfassung bewegter Objekte |
DE102006031178A1 (de) * | 2005-07-07 | 2007-01-11 | Toshiba Kikai K.K. | Greiferführungssystem, Bearbeitungssystem und Programm |
-
2008
- 2008-09-26 AT AT0150108A patent/AT507339B1/de not_active IP Right Cessation
-
2009
- 2009-09-18 WO PCT/AT2009/000360 patent/WO2010034044A2/de active Application Filing
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5148591A (en) * | 1981-05-11 | 1992-09-22 | Sensor Adaptive Machines, Inc. | Vision target based assembly |
EP0204516A2 (de) * | 1985-06-04 | 1986-12-10 | Adept Technology, Inc. | Sichtanlage zum Unterscheiden sich berührender Teile |
US5040056A (en) * | 1990-01-29 | 1991-08-13 | Technistar Corporation | Automated system for locating and transferring objects on a conveyor belt |
JPH0748018A (ja) * | 1993-08-03 | 1995-02-21 | Omori Mach Co Ltd | 物品移載装置用物品検出装置 |
JPH08323669A (ja) * | 1995-03-28 | 1996-12-10 | Matsushita Electric Works Ltd | 部品供給方法およびその装置 |
US6032343A (en) * | 1997-02-24 | 2000-03-07 | Ethicon, Inc. | Automated swage wind and packaging machine |
WO2001033204A1 (en) * | 1999-10-29 | 2001-05-10 | Cognex Corporation | System and method for counting parts in multiple fields of view using machine vision |
JP2002113679A (ja) * | 2000-10-06 | 2002-04-16 | Seiko Instruments Inc | トラッキング方法、トラッキングシステム、及びトラッキング装置 |
EP1584944A1 (de) * | 2004-04-08 | 2005-10-12 | FESTO AG & Co | Bilderfassungsvorrichtung und Verfahren zur Erfassung bewegter Objekte |
DE102006031178A1 (de) * | 2005-07-07 | 2007-01-11 | Toshiba Kikai K.K. | Greiferführungssystem, Bearbeitungssystem und Programm |
Non-Patent Citations (1)
Title |
---|
RYGOL M ET AL: "Multiprocessor 3D vision system for pick and place", IMAGE AND VISION COMPUTING, ELSEVIER, GUILDFORD, GB, vol. 9, no. 1, 1 February 1991 (1991-02-01), pages 33 - 38, XP026655981, ISSN: 0262-8856, [retrieved on 19910201] * |
Also Published As
Publication number | Publication date |
---|---|
AT507339B1 (de) | 2011-06-15 |
AT507339A1 (de) | 2010-04-15 |
WO2010034044A2 (de) | 2010-04-01 |
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