Robotic picking of parts from a parts holding bin
AssigneeABB Research Ltd.
InventorsThomas A. Fuhlbrigge, Carlos Martinez, Gregory F. Rossano, Steven W. West
Life of this patent
Estimating the term…
Abstract
A robot system (10) for picking parts (41) from a bin (40) uses 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.
Claims11
A robotic system for picking parts from a bin comprising:
- a robot having a gripper for picking one of said parts from said bin when said robot is so commanded;
- one or more cameras mounted to provide one or more images that show how many of said parts in said bin are held by said gripper after said robot is commanded to pick one of said parts from said bin and said gripper is retracted from said bin;
- a computing device programmed to use said one or more images to, when said one or more images shows that said retracted gripper is holding only one of said parts, determine if the position and/or orientation of said only one held part meets a predetermined criteria for said position and/or orientation of said only one held part;
- and
- said computing device further programmed to, after it is determined that said only one part held by said retracted gripper does not meet said predetermined criteria for said position and/or orientation of said only one part held by said retracted gripper, command said robot to move said retracted gripper holding said only one part to return said picked only one part held by said gripper to said bin.
A robotic system for picking parts from a bin comprising:
- a robot having a gripper for picking one of said parts from said bin when said robot is so commanded;
- one or more cameras mounted to provide one or more images that show how many of said parts in said bin are held by said gripper after said robot is commanded to pick a part from said bin and said gripper is retracted from said bin;
- a computing device programmed to use said one or more images, after said one or more images shows that said retracted gripper is holding only one of said parts, to determine if the position and/or orientation of said only one part held by said retracted gripper meets a predetermined criteria for said position and/or orientation of said only one part held by said retracted gripper;
- and
- said computing device further programmed to, after it is determined that said only one part held by said retracted gripper does not meet said predetermined criteria for said position and/or orientation of said only one part held by said retracted gripper, command said robot either by itself or together with said gripper or only said gripper to adjust said position and/or orientation of said only one part held by said retracted gripper to be within said predetermined criteria.
Dependencies are inferred from the claim text.