Method for picking up an article using a robot arm and associated system
AssigneeRecognition Robotics, Inc.
InventorSimon Melikian
Life of this patent
Estimating the term…
Abstract
A method for picking up an article using a robot arm includes capturing images with a camera and processing the captured images to locate a machine-readable symbol affixed to the article. The machine-readable symbol includes an orientation pattern and encoded information pertaining to the article. The orientation pattern provides information to determine x, y, and z coordinates and Rx, Ry and Rz of a gripping tool attached to the robot arm. The encoded information provides information to determine the appropriate gripping tool, gripping location and gripping motion path.
Claims17
A method for picking up an article using a robot arm, the method comprising:
- moving the robot arm having a camera mounted thereto in a space around the article;
- capturing images with the camera;
- processing the captured images with computer software to locate a machine-readable symbol affixed to the article, wherein the machine-readable symbol includes an orientation pattern for determining an orientation of the machine-readable symbol and encoded information pertaining to the article;
- decoding the machine-readable symbol to determine information pertaining to the article;
- determining an appropriate gripping tool from a plurality of available gripping tools based on the determined information pertaining to the article;
- determining with computer software whether the appropriate gripping tool is attached to the robot arm;
- if it is determined that the appropriate gripping tool is not attached to the robot arm, then removing any gripping tool attached to the robot arm, and attaching the appropriate gripping tool;
- processing the at least one captured image that includes the machine-readable symbol to determine x, y, and z coordinates and Rx, Ry, and Rz of the appropriate gripping tool attached to the robot arm with respect to the machine-readable symbol;
- determining a gripping location on the article based on the determined information pertaining to the article;
- determining a gripping motion path in which the robot arm moves to grip the article with the gripping tool based on the determined information pertaining to the article;
- moving the robot arm along the gripping motion path toward the gripping location;
- and
- actuating the gripping tool to grip the article at the gripping location.
Dependencies are inferred from the claim text.