EP3774206A1 - Picking up payloads by means of a robot-guided tool - Google Patents
Picking up payloads by means of a robot-guided toolInfo
- Publication number
- EP3774206A1 EP3774206A1 EP19720783.0A EP19720783A EP3774206A1 EP 3774206 A1 EP3774206 A1 EP 3774206A1 EP 19720783 A EP19720783 A EP 19720783A EP 3774206 A1 EP3774206 A1 EP 3774206A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- payload
- tool
- environment
- reference point
- robot
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000011161 development Methods 0.000 description 6
- 230000018109 developmental process Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000739 chaotic effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
- B25J9/1697—Vision controlled systems
-
- 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
- G05B2219/39057—Hand eye calibration, eye, camera on hand, end effector
-
- 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
- G05B2219/39484—Locate, reach and grasp, visual guided grasping
-
- 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
Definitions
- the present invention relates to a method for receiving at least one payload in an environment by means of a tool arranged on a flange of a robot and to a system and computer program product for carrying out the method.
- the object of the present invention is to improve the acceptance of payloads by means of robot-guided tools.
- Claims 9, 10 provide a system or computer program product
- a method for receiving a first payload in an environment having (a) a first tool (s) arranged on a flange, in particular a distal or tool flange, of a robot comprises the steps of:
- the same sensor (s) of the sensor system the sensor is integrated into a single sensor
- the environment can be taken into account, in particular precisely (r) and / or up-to-date (er), when determining the receiving pose.
- the probability of a collision of the tool (currently fastened to the flange) with the environment and thus particularly significantly the probability of a collision of the robot with the environment can be reduced.
- the robot has at least three, in particular at least six, in one embodiment at least seven, axes or joints, in particular rotation axes or joints, and, in one embodiment, electric drives for adjusting or moving these axes or joints , in particular a (kink) arm with these axes or drives.
- the present invention can be used with particular advantage.
- a pose within the meaning of the present invention may in particular have a one-, two- or three-dimensional position and / or a one-, two- or three-dimensional orientation, in particular be.
- the method comprises the steps, which are repeated one or more times in one embodiment:
- Reference geometry, the predetermined first or a second reference point, the detected environment and the (respective) detected second payload is or will be determined.
- the first and / or at least one second tool has in one embodiment
- each one, in particular electrically, hydraulically and / or pneumatically actuated gripper, which receives the payload (s) in one embodiment pneumatically, magnetically and / or mechanically, in particular positive and / or frictional, or is set up for this purpose. Additionally or alternatively, this tool is attached to the flange in a non-destructive detachable manner, in particular optionally or alternatively, the first or at least a second tool. In such (robotic) tools, the present invention can be used with particular advantage.
- the first reference point for the first tool is specified when the first tool for recording
- Payloads is used, in particular attached to the flange, and the second reference point for the second tool specified or used when the second tool is used for receiving payloads, in particular is attached to the flange.
- the (first) first reference point for the first and the second tool is specified or used when the first or second tool is used for receiving payloads, in particular attached to the flange.
- the default effort can advantageously be reduced.
- the first or second reference point can be implicitly specified, in particular by a given area on which it lies, in particular by a sphere or a cuboid.
- the first and / or second is / are / will / will
- a discrete point can in one embodiment (in each case) by three discrete, in particular constant, coordinate values and / or in a robot, in particular flange-resistant
- Coordinate system can be specified or be.
- a computational effort can be reduced and thus a process speed can be increased.
- the first and / or at least one second reference point, in particular one or more of the discrete ones, is / are or will / will be
- the first and / or at least one second reference point, in particular one or more of the discrete ones, is / are or will / will be
- the (current) tool can be automatically taken into account simply, quickly and / or reliably.
- the first and / or at least one second reference point, in particular one or more of the discrete ones, is / are or will / will be
- Reference points predetermined such that, in particular always, (in each case) outside a surface and / or a maximum range of motion of the corresponding tool and / or another flange-resistant, in particular flexible, component, in particular a flange-side portion of a line for electrical, pneumatic and / or hydraulic supply of the tool is arranged.
- a safety distance can be maintained and / or tolerances in the specification of the reference point (s) can be compensated and / or movements of the tool or flexible component can be taken into account.
- the environment may include, in particular, a container with the first and / or the second payload (s).
- the first and / or second payload (s) are present in a disordered or chaotic manner in the container.
- the present invention is used in one embodiment in a so-called "pick-in-the-box" robot application, which is a particularly advantageous application of the present invention, in particular due to the variability prevailing therewith.
- the method comprises the steps:
- the first potential uptake is not approached if in it the first reference point is outside the boundary.
- the first potential acquisition pose is not approached, if in it at least one of these plurality of predetermined discrete reference points is outside the limit, or only approached if all of this plurality of predetermined discrete
- At least one second payload is received by the first tool in a second receptacle is determined based on the predetermined first reference point, a second potentialrappose for receiving the second payload on the basis of this detected payload determined, this second potential lunarpose is not approached, if in her the first reference point is outside the limit.
- a second potential receptacle for acquiring the second payload is determined based on this detected payload , wherein this second potential lunarpose is not approached, if in her the first reference point is outside the boundary.
- a second potential receptacle for acquiring the second payload is determined based on this detected payload , wherein this second potential lunarpose is not approached, if in her the second reference point is outside the limit.
- the second potential acquisition pose is not approached if at least one of these plurality is in it given predetermined discrete reference points outside the limit, or only approached, if in it all of this plurality
- predetermined discrete reference points lie within the boundary.
- the determination of the (first or second) potential receiving pose is carried out in an embodiment by means of identification of payloads or contact surfaces to be recorded, in particular by matching data acquired with the aid of the sensor
- Determination for receiving these identified payloads or at these identified contact surfaces suitable tool, in particular gripper poses comprises in one embodiment the displacement and / or rotation of the basis of the predetermined
- Reference geometry specific virtual boundary corresponding to the detected environment in particular a fitting of the virtual boundary in the detected environment.
- at least one significant point of the detected environment in particular a spatial or area center, is determined and a corresponding point of the virtual boundary is brought into agreement with it.
- a potential receiving pose can be checked for collision with the environment.
- the virtual boundary has one or more flat surfaces, in particular it may consist of these. Additionally or alternatively, in one embodiment, the virtual boundary has a side wall closed or open on one or both sides.
- the reference geometry may in one embodiment have one or more dimensions of the environment, in particular consist thereof.
- a potential receiving pose can be checked for collision with the environment.
- Recording pose the first or second reference point or at least one of the discrete reference points outside the limit are, in particular, until a termination criterion is met, in particular a predetermined maximum number of attempts has been reached or no further potentialrapposen can be determined, or a potential Recording pose has been determined in which the first or second reference point or all of the plurality of predetermined discrete reference points lie within the boundary, and then to
- potential uptake poses are determined and tested virtually until one has been found or determined in which none of the reference points to be checked is outside the virtual boundary, and then identified as the first or second acquisition puss or is approached.
- the senor detects the environment and / or first and / or at least one second payload contactless, three-dimensional and / or simultaneously or is provided for this purpose, in particular set up, or is used for this purpose.
- the sensor system for this purpose one or more cameras,
- the senor is in one embodiment, in particular non-destructively releasably attached to the robot, in particular its flange, attached.
- a system in particular hardware and / or software, in particular program technology, is set up to carry out a method described here and / or has:
- a sensor for detecting the environment and the first payload
- the system or its agent has:
- system or its agent has:
- Reference point in particular at least one of the discrete reference points, based on a user input or a mathematical model of the first and / or at least one other tool, in particular such that it outside of a surface and / or a maximum range of motion of this tool and / or another flange fixed, in particular flexible, component is arranged; and or
- An agent in the sense of the present invention may be designed in terms of hardware and / or software, in particular one, preferably with a memory and / or Bus system data or signal connected, in particular digital, processing, in particular microprocessor unit (CPU) and / or one or more programs or program modules.
- the CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or
- a storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media.
- the program may be such that it is capable of embodying or executing the methods described herein, so that the CPU may perform the steps of such methods, and thus, in particular, control the robot.
- a computer program product may comprise, in particular, a nonvolatile storage medium for storing a program or a program stored thereon, wherein execution of this program is prompted by a system or a controller, in particular a computer, here described method or perform one or more of its steps.
- one or more, in particular all, steps of the method are completely or partially automated, in particular by the system or its (e) means.
- the system includes the robot.
- Fig. 1 a system according to an embodiment of the present invention.
- FIG. 2 shows a method according to an embodiment of the present invention.
- FIG. 1 shows a system according to an embodiment of the present invention with a robot 10 and a robot controller 2.
- a gripper 1 1 At a distal flange of the robot 10, a gripper 1 1, a sensor 12 and a support 13 of a flexible supply 14 of the gripper 1 1 are attached.
- the robot is to lift 1 1 components 100, 101 of a cuboid container 200 with its gripper.
- a reference geometry of the container 200 in the embodiment of its length, width and height, given.
- a plurality of, in the exemplary embodiment, approximately 10, discrete, flange-fixed reference points will be specified such that they are each arranged outside a maximum range of motion of the gripper 1 1, the sensor 12 and the gripper-side end portion of the flexible supply 14.
- two such discrete reference points R1, R2 are indicated by dots.
- both the container 200 and the components 100, 101 are detected by means of the sensor system 12.
- the robot controller 2 determines based on the detected components 100, 101 potentialchirposen the gripper 1 1 for receiving these components.
- the robot controller 2 determines in step S40 based on the container 200 detected by the sensor system 12 and its predetermined one in step S10
- Reference geometry a virtual cuboid, upwards or unilaterally open boundary 201, which is indicated by dashed lines in Fig. 1. This determines the
- Robot controller 2 the center of the detected container 200 and rotates and pushes the virtual cuboid boundary 201 so that its center coincides with this center of the detected container 200.
- a step S50 the robot controller 2 then checks whether at least one of the discrete, flange-fixed reference points predetermined in step S20 lies outside the boundary 201 in an initial one of these potential recording poses. If this is not the case (S50: "N"), in a step S55 it moves on to this receiving pod, grasps the corresponding component in it and lifts it out of the container 200.
- step S50 the process for the remaining component (s) can be repeated from step S50 with the potential intake poses determined for them (not shown).
- the robot controller 2 checks in a step S60 whether a termination condition is fulfilled, for example if no further potential acquisition doses are available or determined or a predefined maximum number of attempts has already been made.
- step S50 the robot controller 2 repeats step S50 with another of the potential recording poses, i. checks whether, in this potential pickup pose, at least one of the discrete flange-fixed reference points set in step S20 is outside the boundary 201, and otherwise moves to this pick-up pose in step S55, grasps the corresponding member and lifts it out of the container 200.
- step S20 only one potential uptake pose is determined, and only if necessary in step S50 another potential uptake pose is determined.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018205669.2A DE102018205669B4 (en) | 2018-04-13 | 2018-04-13 | Picking up payloads using a robot-guided tool |
PCT/EP2019/059428 WO2019197611A1 (en) | 2018-04-13 | 2019-04-12 | Picking up payloads by means of a robot-guided tool |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3774206A1 true EP3774206A1 (en) | 2021-02-17 |
Family
ID=66349489
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19720783.0A Withdrawn EP3774206A1 (en) | 2018-04-13 | 2019-04-12 | Picking up payloads by means of a robot-guided tool |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3774206A1 (en) |
DE (1) | DE102018205669B4 (en) |
WO (1) | WO2019197611A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3915734A1 (en) * | 2020-05-29 | 2021-12-01 | SW Automation GmbH | Recording device for recording any arranged item and method for operating a receiving device |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3782679B2 (en) | 2001-05-09 | 2006-06-07 | ファナック株式会社 | Interference avoidance device |
FR2896441B1 (en) * | 2006-01-23 | 2009-07-03 | Jerome Grosbois | METHOD AND SYSTEM FOR AUTOMATED REALIZATION OF WORKPIECE (S) |
DE102007026956A1 (en) * | 2007-06-12 | 2008-12-18 | Kuka Innotec Gmbh | Method and system for robot-guided depalletizing of tires |
US9132546B2 (en) | 2011-04-14 | 2015-09-15 | Mitsubishi Electric Corporation | Robot control apparatus |
JP5144785B2 (en) | 2011-04-18 | 2013-02-13 | ファナック株式会社 | Method and apparatus for predicting interference between target region of robot and surrounding object |
WO2013027251A1 (en) | 2011-08-19 | 2013-02-28 | 株式会社安川電機 | Robot system, robot control device, robot hand and method for controlling robot |
JP5788460B2 (en) | 2013-11-05 | 2015-09-30 | ファナック株式会社 | Apparatus and method for picking up loosely stacked articles by robot |
JP5778311B1 (en) | 2014-05-08 | 2015-09-16 | 東芝機械株式会社 | Picking apparatus and picking method |
-
2018
- 2018-04-13 DE DE102018205669.2A patent/DE102018205669B4/en active Active
-
2019
- 2019-04-12 WO PCT/EP2019/059428 patent/WO2019197611A1/en active Application Filing
- 2019-04-12 EP EP19720783.0A patent/EP3774206A1/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
WO2019197611A1 (en) | 2019-10-17 |
DE102018205669B4 (en) | 2021-12-23 |
DE102018205669A1 (en) | 2019-10-17 |
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