US 5,969,339 A · Conveyor tracking system for part detection using an array of photoelectric sensors

Abstract

A part tracking system comprised of an array of photoelectric sensors positioned at various angles with respect to a conveyor transporting parts such as pieces of poultry to create a field of detection. The angle arrangements of the array of photoelectric sensors circumscribes the parts with lines of varying angles to approximate the part outline or closed line integral with a polygon. As a part is conveyed through the array of photoelectric sensors each transition of the sensors provide a side of the polygon that circumscribes the part. From this the vertices of the polygon can be determined which allows the centroid and angle of the major axis of the part to be calculated thereby providing the coordinates for the part's location on the conveyor. The coordinates are then conveyed to a robotic controller which manipulates an end effector to grasp the part.

Claims19

Dependent claims

A tracking system for locating parts moving upon a conveyor and providing location coordinates for said part to a positioning apparatus, comprising:

an array of sensors arranged adjacent to said conveyor to provide a field of detection in an area along a predetermined portion of the surface of said conveyor, wherein said array of sensors are arranged at varying angles and directed across said conveyor to describe said part as a polygon;
at least one conveyor position sensor coupled to said conveyor to determine the location of said conveyor with respect to a predetermined reference;
and
a sensor interface coupled to said array of sensors, said at least one conveyor position sensor and said positioning apparatus, where said sensor interface receives data from said array of sensors and said conveyor position sensor, operates upon said data and provides said data to said positioning apparatus which in turn manipulates said part.

1 more element

An automated part manipulating system for grasping and moving parts comprising:

a pick-and-place robot;
a control system coupled to said pick-and-place robot, wherein said control system directs the functions of said pick-and-place robot;
and
a part tracking system coupled to said control system, wherein said part tracking system determines the location coordinates and an approximation of the centroid and major axis for said part by providing a field of detection in which said part is described as a polygon, and wherein said part tracking system then transfers the location coordinates, centroid and major axis of said part to said control system which in turn directs said pick-and-place robot to grasp and manipulate said part.

1 more element

Dependencies are inferred from the claim text.

Conveyor tracking system for part detection using an array of photoelectric sensors

Life of this patent

Conveyor tracking system for part detection using an array of photoelectric sensors

Life of this patent

Abstract

Claims19