Patent
1992-10-29
1995-08-29
Nguyen, Phu K.
G06K 900
Patent
active
054468353
ABSTRACT:
A stacked-part high-speed picking system for extracting a plurality of constitutive line segments from a two-dimensional image corresponding to stacked parts so as to recognize the parts on the basis of the constitutive line segments, thereby allowing parts to be picked up by a robot. The picking system has a first storage unit that stores a plurality of collative models. Each collative model is based upon data that specifies a configuration when a plurality of specific portions of the parts are disposed in one of a plurality of basic positions. The picking system also has a second storage unit that stores information relating to the robot so as to allow the robot to pick up specific portions of the parts. The picking system detects as one of the plurality of specific portions a portion of the two-dimensional image, which is recognized through a collation with the plurality of collative models, and determines a position of the detected specific portion. A command signal is supplied to the robot, when the robot has a plurality of hands, so as to select one of the plurality of hands in accordance with the detected specific portion and position the hand at the determined position.
REFERENCES:
patent: 5260009 (1993-11-01), Penn
"Image Preprocessor of Model-Based Vision System for Assembly Robots" by H. Moribe et al; pp., 1-6.
Harada Hiroshi
Hibi Yasuo
Iida Yasuhiro
Kato Toshio
Nguyen Phu K.
Nippondenso Co. Ltd.
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