Method for positioning a limp, flat workpiece and positioning apparatus
AssigneeSewts GmbH
InventorsAlexander Bley, Tim Doerks, Till Rickert
Life of this patent
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Abstract
Disclosed is a method of positioning a limp flat workpiece is described, wherein the flat workpiece is provided in a random state on a manipulation surface. Subsequently, a camera image showing the flat workpiece is generated, and a grippable edge of the flat workpiece is identified by extracting characteristic image features of the camera image. Thereafter, a first gripping point for a first gripper and a second gripping point for a second gripper are determined, the second gripping point being spaced apart from the first gripping point. Also disclosed is positioning device for positioning a limp flat workpiece is presented.
Claims20
A method of positioning a limp flat workpiece using a positioning device which includes at least one control unit, a camera, at least one first gripper and at least one second gripper, the method comprising the steps of:
- a) providing the flat workpiece in a random state on a manipulation surface;
- b) generating, by the camera, a camera image showing the flat workpiece;
- c) identifying, by a first machine learning module of the control unit, a grippable edge of the flat workpiece by extracting characteristic image features of the camera image;
- d) determining, by a second machine learning module of the control unit, a first gripping point for the first gripper at the grippable edge;
- and
- e) determining, by the second machine learning module of the control unit, a second gripping point for the second gripper at the grippable edge, the second gripping point being spaced apart from the first gripping point,
- wherein the flat workpiece is held by the second gripper and the first gripper is moved along the gripped edge until the first gripper grips a first corner of the flat workpiece, and/or
- the flat workpiece is held by the first gripper and the second gripper is moved along the gripped edge until the second gripper grips a second corner of the flat workpiece, and
- wherein prior to generating the camera image, an area of contact of the flat workpiece with the manipulation surface is enlarged starting from a random state.
A method of positioning a limp flat workpiece using a positioning device which includes at least one control unit, a camera, at least one first gripper and at least one second gripper, the method comprising the steps of:
- a) providing the flat workpiece in a random state on a manipulation surface;
- b) generating, by the camera, a camera image showing the flat workpiece;
- c) identifying, by a first machine learning module of the control unit, a grippable edge of the flat workpiece by extracting characteristic image features of the camera image;
- d) determining, by a second machine learning module of the control unit, a first gripping point for the first gripper at the grippable edge;
- and
- e) determining, by the second machine learning module of the control unit, a second gripping point for the second gripper at the grippable edge, the second gripping point being spaced apart from the first gripping point,
- wherein prior to generating the camera image, an area of contact of the flat workpiece with the manipulation surface is enlarged starting from the random state.
A method of positioning a limp flat workpiece using a positioning device which includes at least one control unit, a camera, at least one first gripper and at least one second gripper, the method comprising the steps of:
- a) providing the flat workpiece in a random state on a manipulation surface;
- b) generating, by the camera, a camera image showing the flat workpiece;
- c) identifying, by a first machine learning module of the control unit, a grippable edge of the flat workpiece by extracting characteristic image features of the camera image;
- d) determining, by a second machine learning module of the control unit, a first gripping point for the first gripper at the grippable edge;
- and
- e) determining, by the second machine learning module of the control unit, a second gripping point for the second gripper at the grippable edge, the second gripping point being spaced apart from the first gripping point,
- wherein the first gripper and the second gripper grip the first and second gripping points respectively of the flat workpiece lying on the manipulation surface, and
- wherein prior to generating the camera image, an area of contact of the flat workpiece with the manipulation surface is enlarged starting from the random state.
Dependencies are inferred from the claim text.