DE602008002909D1 - Verfahren und vorrichtung zum erkennen, sammeln und neupositionieren von objekten - Google Patents

Verfahren und vorrichtung zum erkennen, sammeln und neupositionieren von objekten

Info

Publication number
DE602008002909D1
DE602008002909D1 DE602008002909T DE602008002909T DE602008002909D1 DE 602008002909 D1 DE602008002909 D1 DE 602008002909D1 DE 602008002909 T DE602008002909 T DE 602008002909T DE 602008002909 T DE602008002909 T DE 602008002909T DE 602008002909 D1 DE602008002909 D1 DE 602008002909D1
Authority
DE
Germany
Prior art keywords
gripper group
stage
collecting
detecting
gripper
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
DE602008002909T
Other languages
English (en)
Inventor
Patrizio Cardoni
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SMV Srl
Original Assignee
SMV Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from ITBO20070153 external-priority patent/ITBO20070153A1/it
Priority claimed from ITBO20070155 external-priority patent/ITBO20070155A1/it
Application filed by SMV Srl filed Critical SMV Srl
Publication of DE602008002909D1 publication Critical patent/DE602008002909D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37054—Digitize every grid point of a raster
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37286—Photoelectric sensor with reflection, emits and receives modulated light
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37319—Derive acceleration, force, torque from current
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39487—Parallel jaws, two fingered hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39497—Each finger can be controlled independently
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39507—Control of slip motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39513—Tip prehension grasp, grasp with tip of fingers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39531—Several different sensors integrated into hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39532—Gripping force sensor build into finger
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39534—By positioning fingers, dimension of object can be measured
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40252—Robot on track, rail moves only back and forth
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40567—Purpose, workpiece slip sensing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45045—Maintenance, automatic storage and retrieval system

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Testing Relating To Insulation (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
DE602008002909T 2007-03-08 2008-03-04 Verfahren und vorrichtung zum erkennen, sammeln und neupositionieren von objekten Active DE602008002909D1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ITBO20070153 ITBO20070153A1 (it) 2007-03-08 2007-03-08 Metodo e dispositivo per il riconoscimento, la presa ed il riposizionamento di oggetti
ITBO20070155 ITBO20070155A1 (it) 2007-03-08 2007-03-08 Dispositivo per il controllo della stabilita' di oggetti in una unita' per la manipolazione degli stessi
PCT/IB2008/000476 WO2008107769A2 (en) 2007-03-08 2008-03-04 A method and a device for recognising, collecting and repositioning objects

Publications (1)

Publication Number Publication Date
DE602008002909D1 true DE602008002909D1 (de) 2010-11-18

Family

ID=39684353

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602008002909T Active DE602008002909D1 (de) 2007-03-08 2008-03-04 Verfahren und vorrichtung zum erkennen, sammeln und neupositionieren von objekten

Country Status (6)

Country Link
US (1) US8467898B2 (de)
EP (1) EP2132008B1 (de)
JP (1) JP5343290B2 (de)
AT (1) ATE483558T1 (de)
DE (1) DE602008002909D1 (de)
WO (1) WO2008107769A2 (de)

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GB0909949D0 (en) * 2009-06-10 2009-07-22 Continental Polymers Ltd Lifting apparatus
US9085413B2 (en) * 2010-08-06 2015-07-21 Siemens Healthcare Diagnostics Inc. Methods and systems adapted to handle sticky sample containers
US9475649B2 (en) 2010-12-15 2016-10-25 Symbolic, LLC Pickface builder for storage and retrieval systems
JP5895620B2 (ja) * 2012-03-12 2016-03-30 村田機械株式会社 移載装置
TWI594933B (zh) 2013-03-15 2017-08-11 辛波提克有限責任公司 自動化貯藏及取放系統
FR3007394B1 (fr) * 2013-06-19 2016-09-02 Remi Guerin Systeme de manipulation automatique d'objets dans un entrepot
US11348066B2 (en) 2013-07-25 2022-05-31 IAM Robotics, LLC System and method for piece picking or put-away with a mobile manipulation robot
US9785911B2 (en) 2013-07-25 2017-10-10 I AM Robotics, LLC System and method for piece-picking or put-away with a mobile manipulation robot
US20150318765A1 (en) * 2014-04-30 2015-11-05 Rossie Owen Terry Electrical motors and methods thereof having reduced electromagnetic emissions
KR101667654B1 (ko) * 2014-10-31 2016-10-28 장대환 파지력 제어가 가능한 그리퍼를 포함하는 조립용 로봇 핸드
EP3192616A1 (de) 2016-01-14 2017-07-19 Magazino GmbH Roboter zum aufnehmen und transportieren von objekten und verfahren zur verwendung solch eines roboters
EP3220413B1 (de) * 2016-03-15 2022-01-26 Integrated Dynamics Engineering GmbH Serviceeinrichtung
GB2573907B (en) * 2017-01-30 2021-12-15 Walmart Apollo Llc Systems and methods for resolving issues in a distributed autonomous robot system
GB2572931B (en) 2017-01-30 2022-04-13 Walmart Apollo Llc Distributed autonomous robot interfacing systems and methods
CA3051473A1 (en) 2017-01-30 2018-08-02 Walmart Apollo, Llc Distributed autonomous robot systems and methods
CA3050727A1 (en) 2017-01-30 2018-08-02 Walmart Apollo, Llc Distributed autonomous robot systems and methods with rfid tracking
CA3050716A1 (en) 2017-01-30 2018-08-02 Walmart Apollo, Llc Systems and methods for distributed autonomous robot interfacing using live image feeds
CN111421520A (zh) * 2018-04-27 2020-07-17 阜阳盛东智能制造技术研发有限公司 一种专用于盒体式物品的取放方法
CN209160601U (zh) * 2018-09-07 2019-07-26 深圳市海柔创新科技有限公司 一种搬运机器人
KR102252628B1 (ko) * 2018-12-26 2021-05-17 주식회사 에스에프에이 무인 점포 시스템
KR102099622B1 (ko) * 2018-12-26 2020-04-10 주식회사 에스에프에이 무인 점포 시스템
KR102184336B1 (ko) * 2018-12-26 2020-11-30 주식회사 에스에프에이 무인 점포 시스템
US11602857B2 (en) 2019-04-05 2023-03-14 IAM Robotics, LLC Autonomous mobile robotic systems and methods for picking and put-away
CN110902227B (zh) * 2019-11-22 2021-06-25 福建永强力加动力设备有限公司 一种仓库运输用夹持装置
CN114152865B (zh) * 2021-12-02 2023-06-23 业成科技（成都）有限公司 一种检测治具
CN116812552B (zh) * 2023-08-31 2023-11-03 法特迪精密科技（苏州）有限公司 一种芯片检测用抓取机构及方法
CN117656074A (zh) * 2023-12-29 2024-03-08 苏州华明智能科技有限公司 一种机器人的智能定位抓取系统

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Also Published As

Publication number Publication date
ATE483558T1 (de) 2010-10-15
US20100114363A1 (en) 2010-05-06
WO2008107769A2 (en) 2008-09-12
US8467898B2 (en) 2013-06-18
WO2008107769A3 (en) 2008-11-06
EP2132008B1 (de) 2010-10-06
JP5343290B2 (ja) 2013-11-13
JP2010520076A (ja) 2010-06-10
EP2132008A2 (de) 2009-12-16

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