Bin-picking system for randomly positioned objects

Details Bin-picking system for randomly positioned objects Bin-picking system for randomly positioned objects

2007-12-25

2007-12-25

Black, Thomas (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S245000, C700S247000, C700S248000, C700S250000, C700S251000, C700S252000, C700S253000, C700S255000, C700S257000, C700S259000, C700S261000, C700S262000, C700S264000, C318S568100, C318S568110, C318S568140, C318S568160, C318S568210, C901S004000, C901S043000, C901S047000

Reexamination Certificate

active

11514974

ABSTRACT:
A method for picking up objects randomly arranged in a bin using a robot having a gripper for grasping the objects using prehension feature(s) on the object. The method includes a shaking scheme for rearranging the objects in the bin when no objects are recognized, when no objects are prehensible by the gripper or when the object to be picked up is not reachable by the gripper because, for example, its prehension feature is substantially facing a wall of the bin. The method also includes a criterion for determining that a bin is free of objects to be picked up and a criterion for selecting the object to be picked up first in the bin. The method also provides for a protection mechanism against damage of the objects and the robot when a recognition technique has failed in properly recognizing the object or the prehension feature on the object.

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