WO2010034044A3 - Verfahren und anlage zum aufnehmen und/oder bearbeiten von objekten - Google Patents

Verfahren und anlage zum aufnehmen und/oder bearbeiten von objekten Download PDF

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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
Application number
PCT/AT2009/000360
Other languages
English (en)
French (fr)
Other versions
WO2010034044A2 (de
Inventor
Roland Heiml
Original Assignee
Stiwa Holding Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=41449940&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2010034044(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Stiwa Holding Gmbh filed Critical Stiwa Holding Gmbh
Publication of WO2010034044A2 publication Critical patent/WO2010034044A2/de
Publication of WO2010034044A3 publication Critical patent/WO2010034044A3/de

Links

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).
PCT/AT2009/000360 2008-09-26 2009-09-18 Verfahren und anlage zum aufnehmen und/oder bearbeiten von objekten WO2010034044A2 (de)

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)

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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
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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
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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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