Robotic picking of parts from a parts holding bin
AssigneeABB Research Ltd.
InventorsThomas A. Fuhlbrigge, Carlos Martinez Martinez, Gregory F. Rossano, Steve W. West
Life of this patent
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Abstract
A robot system (10) for picking parts (41) from a bin (40) use the image from one or more cameras (38) to determine if the robot gripper (24) has picked one part or more than one part and uses one or more images from one or more cameras (38) to determine the position/orientation of a picked part. If the robot (12) has picked more than one part from the bin (40) then attempt is made to return the excess picked parts to the bin (40). The position/orientation of a picked part that does not meet a predetermined criteria is changed.
Claims5
A method for using a robot to pick parts from a bin comprising:
- using an image from one or more cameras to determine if said robot is holding one or more parts after said robot is commanded to pick one part from said bin.
A method for using a robot to pick parts from a bin comprising:
- using an image from one or more cameras to determine the position/orientation of a part held by said robot after said robot is commanded to pick one part from said bin.
A robotic system for picking parts from a bin comprising:
- a robot having a gripper for picking a part from said bin when said robot is so commanded;
- one or more cameras mounted to provide one or more images that show what is held by said gripper after said robot is commanded to pick a part from said bin;
- a computing device programmed to use said one or more images to determine if said robot is holding one or more parts after said robot is commanded to pick a part from said bin;
- and
- said computing device further programmed to command said robot when said it is determined that said gripper is holding more than part to move said gripper and attempt to return to said bin all but one of said parts held by said gripper.
A robotic system for picking parts from a bin comprising:
- a robot having a gripper for picking a part from said bin when said robot is so commanded;
- One or more cameras mounted to provide one or more images that show what is held by said gripper after said robot is commanded to pick a part from said bin;
- a computing device programmed to use said one or more image to determine if the position/orientation of said part held by said gripper meets a predetermined criteria for said position/orientation of said part held by said gripper;
- and
- said computing device further programmed to command said robot to move said gripper and return said picked part to said bin when it is determined that said part held by said gripper does not meet said predetermined criteria for said position/orientation of said part held by said gripper.
A robotic system for picking parts from a bin comprising:
- a robot having a gripper for picking a part from said bin when said robot is so commanded;
- one or more cameras mounted to provide one or more images that show what is held by said gripper after said robot is commanded to pick a part from said bin;
- a computing device programmed to use said one or more images to determine if the position/orientation of said part held by said gripper meets a predetermined criteria for said position/orientation of said part held by said gripper;
- and
- said computing device further programmed to command said robot either by itself or together with said gripper or only said gripper to adjust said part's position/orientation to be within said predetermined criteria when it is determined that said part held by said gripper does not meet said predetermined criteria for said position/orientation of said part held by said gripper.
Dependencies are inferred from the claim text.