Boots – shoes – and leggings
Patent
1989-05-11
1991-01-15
MacDonald, Allen
Boots, shoes, and leggings
364468, 358101, 382 8, G06F 1546
Patent
active
049858467
ABSTRACT:
A bin picking system for a robot manipulator arm using a combination of a video camera and an acoustical transducer array to locate and drive the manipulator arm to grasp randomly oriented, overlapping parts. The system comprises memory for storing an image of the part showing a predetermined feature in a predetermined orientation; acoustic transducer mounted on the manipulator arm for emitting and receiving acoustic signals and converting the acoustic signals to electrical signals; and first control for sluing the manipulator arm over a predetermined area of the bin to locate the closest part and generate a bearing signal representative of the bearing and distance to the part. The system includes a video device for capturing a current image of the part at this bearing and comparing the image with the stored image to identify and locate the feature; means for calculating a drive bearing to the centroid of the part from the location of the feature and the bearing signal and moving the manipulator along the drive bearing to a predetermined distance from the part; acoustic transducer array mounted on the manipulator for emitting and receiving acoustic signals and converting the received signals to electrical signals proportional to the aspect of the object when the manipulator is positioned the predetermined distance from the object along the drive bearing; and second control means for interpreting the electrical signals from the array means and comparing these signals to a stored image to produce an error drive signal to the manipulator.
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