Robotic acquisition of objects by means including histogram tech

Details Robotic acquisition of objects by means including histogram tech Robotic acquisition of objects by means including histogram tech

1984-02-28

1986-09-23

Harkcom, Gary V.

Boots, shoes, and leggings

364478, 358101, 358903, 414730, 901 14, 901 31, 901 34, 901 47, G06F 1546

Patent

active

046132694

ABSTRACT:
A robotic apparatus and method of acquiring jumbled objects or workpieces from a bin, and transferring them to a final site, or to an intermediate site for quality inspection. A video camera system produces a video signal representing a brightness image of the jumbled objects. An intermediate amplitude range of the video signal is selected, expanded, stored, and quantized into digital pixels. A computer enhances the image using histogram techniques, performs edge suppression, performs repeated shrinking with progressively-increased pixel thresholds until an area limit is reached, performs clustering of closely-spaced pixels, and commands movement of the robot gripper to a computed grip site on a recognized object. The gripper may limit its gripping pressure as a function of the deformation of the object gripped.

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"Three Vision Algorithms for Acquiring Workpieces from Bins", by Robert B. Kelley, et al., Proceedings of the IEEE, vol. 71, No. 7, Jul. 1983, pp. 803-820.

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