Apparatus and procedure for locating three-dimensional objects p

Details Apparatus and procedure for locating three-dimensional objects p Apparatus and procedure for locating three-dimensional objects p

1982-02-09

1984-12-04

Ruggiero, Joseph F.

Boots, shoes, and leggings

364478, 358101, 358903, 414730, G06F 1546

Patent

active

044868421

ABSTRACT:
An apparatus and procedure for locating three-dimensional bulk-loaded objects for purposes of controlling a gripping terminal, including at least one optical projection system associated with drive mechanisms commanded by an interface connected to a central processing unit, and a light sensor such as a TV camera mounted plumb with the surface (horizontal, for example) receiving the bulk load and connected to the analysis and processing mechanisms of the central processing unit. The optical system emits a substantially planar light bundle which sweeps the surface of the bulk load under the control of the drive mechanisms to vary incrementally the angle .theta. made by the bundle with respect the aforementioned surface. The value of the angle, measured by a coder, is transmitted to the central processing unit which analyzes the image of the bundle trace sensed by the camera. The central processing unit selects the point whose value corresponds to a predetermined condition, such as the highest point on the surface of the bulk load. The invention finds application in automatic high-speed unloading by an industrial robot of a crate filled with three-dimensional objects loaded in bulk.

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patent: 4402053 (1983-08-01), Kelley et al.

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