ES2666793T3 - Procedimiento e instalación de prensión automática de un objeto - Google Patents

Procedimiento e instalación de prensión automática de un objeto Download PDF

Info

Publication number
ES2666793T3
ES2666793T3 ES15725792.4T ES15725792T ES2666793T3 ES 2666793 T3 ES2666793 T3 ES 2666793T3 ES 15725792 T ES15725792 T ES 15725792T ES 2666793 T3 ES2666793 T3 ES 2666793T3
Authority
ES
Spain
Prior art keywords
specific
gripping
compatible
area
procedure
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
ES15725792.4T
Other languages
English (en)
Inventor
Hervé Henry
Florian SELLA
Romain BREGIER
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.)
Sileane SAS
Original Assignee
Sileane SAS
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
Application filed by Sileane SAS filed Critical Sileane SAS
Application granted granted Critical
Publication of ES2666793T3 publication Critical patent/ES2666793T3/es
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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B2219/39473—Autonomous grasping, find, approach, grasp object, sensory motor coordination
    • 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
    • G05B2219/39536—Planning of hand motion, 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39553—Dual gripper, two heads to pick up different 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
    • G05B2219/40053—Pick 3-D object from pile of objects

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)
  • Image Processing (AREA)

Abstract

Procedimiento de prensión automática, por un sistema poli articulado (3) sometido a un sistema de visión (9), de un objeto (2) situado en una zona (4) capaz de recibir por lo menos un objeto (2), dicho sistema poli articulado (3) comprendiendo por lo menos dos órganos de prensión (5) de tipos diferentes, cada uno capaz de coger un objeto (2) mediante por lo menos una zona de toma específica de dicho objeto (2) caracterizado por que comprende por lo menos las etapas que consisten en: - capturar una imagen de la zona de recepción (4) por medio del sistema de visión (9); - tratar la información resultante de la imagen e identificar todas las zonas específicas que pueden comprender los objetos (2) que se van a coger y compatibles con los órganos de prensión (5); - localizar, en posición y en orientación, las zonas específicas compatibles identificadas; - elegir una de las zonas específicas compatibles localizadas y definir automáticamente, para el órgano de prensión correspondiente (5), una trayectoria de toma del objeto (2) correspondiente, por la zona específica compatible elegida; - coger el objeto (2) correspondiente según la trayectoria definida.

Description

imagen1
imagen2
imagen3
imagen4
imagen5

Claims (1)

  1. imagen1
    imagen2
ES15725792.4T 2014-04-25 2015-04-23 Procedimiento e instalación de prensión automática de un objeto Active ES2666793T3 (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1453725 2014-04-25
FR1453725A FR3020303B1 (fr) 2014-04-25 2014-04-25 Procede et installation de prehension automatique d'un objet.
PCT/FR2015/051113 WO2015162390A1 (fr) 2014-04-25 2015-04-23 Procédé et installation de préhension automatique d'un objet

Publications (1)

Publication Number Publication Date
ES2666793T3 true ES2666793T3 (es) 2018-05-07

Family

ID=51688139

Family Applications (1)

Application Number Title Priority Date Filing Date
ES15725792.4T Active ES2666793T3 (es) 2014-04-25 2015-04-23 Procedimiento e instalación de prensión automática de un objeto

Country Status (9)

Country Link
US (1) US20170050315A1 (es)
EP (1) EP3134234B1 (es)
JP (1) JP2017513727A (es)
DK (1) DK3134234T3 (es)
ES (1) ES2666793T3 (es)
FR (1) FR3020303B1 (es)
PL (1) PL3134234T3 (es)
PT (1) PT3134234T (es)
WO (1) WO2015162390A1 (es)

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2948462T3 (es) 2015-08-26 2023-09-12 Berkshire Grey Operating Company Inc Sistemas y métodos para proporcionar detección de contacto en un brazo articulado
CA3104707C (en) 2015-08-26 2022-10-18 Berkshire Grey, Inc. Systems and methods for providing vacuum valve assemblies for end effectors
ES2935283T3 (es) 2015-09-01 2023-03-03 Berkshire Grey Operating Company Inc Sistemas y métodos para proporcionar sistemas de control robótico dinámico
US11370128B2 (en) 2015-09-01 2022-06-28 Berkshire Grey Operating Company, Inc. Systems and methods for providing dynamic robotic control systems
CN108290297B (zh) 2015-09-08 2021-12-03 伯克希尔格雷股份有限公司 用于在自动系统中提供高流量真空采集的系统和方法
WO2017044630A1 (en) 2015-09-09 2017-03-16 Berskshire Grey Inc. Systems and methods for providing dynamic communicative lighting in a robotic environment
CA3192499A1 (en) 2015-09-11 2017-03-16 Berkshire Grey Operating Company, Inc. Robotic systems and methods for identifying and processing a variety of objects
CA3192023A1 (en) * 2015-11-13 2017-05-18 Berkshire Grey Operating Company, Inc. Sortation systems and methods for providing sortation of a variety of objects
FR3044573B1 (fr) * 2015-12-03 2017-12-22 Sileane Procede et installation permettant de constituer un lot de pieces a partir de pieces situees dans des zones de stockage differentes
US9937532B2 (en) 2015-12-18 2018-04-10 Berkshire Grey Inc. Perception systems and methods for identifying and processing a variety of objects
CA3169689C (en) 2016-01-08 2024-04-02 Berkshire Grey Operating Company, Inc. Systems and methods for acquiring and moving objects
CA3014049C (en) 2016-02-08 2021-06-22 Thomas Wagner Systems and methods for providing processing of a variety of objects employing motion planning
EP3263292A1 (en) * 2016-06-28 2018-01-03 Tata Consultancy Services Limited Adaptive gripper device
JP7145843B2 (ja) 2016-07-18 2022-10-03 ラエル オドナー， ロボットマニピュレータの訓練
CN106421946A (zh) * 2016-10-11 2017-02-22 广西大学 多自由度自动化拔罐装置
CN110199231B (zh) 2016-11-08 2023-12-15 伯克希尔格雷运营股份有限公司 用于处理物体的系统和方法
US10538394B2 (en) 2016-11-28 2020-01-21 Berkshire Grey, Inc. Systems and methods for providing singulation of objects for processing
CN110049933A (zh) 2016-12-06 2019-07-23 伯克希尔格雷股份有限公司 用于提供车辆中的物体处理的系统和方法
WO2018107000A1 (en) 2016-12-09 2018-06-14 Berkshire Grey, Inc. Systems and methods for processing objects provided in vehicles
US10639787B2 (en) 2017-03-06 2020-05-05 Berkshire Grey, Inc. Systems and methods for efficiently moving a variety of objects
CN110770149B (zh) 2017-04-24 2022-04-05 伯克希尔格雷营业股份有限公司 使用物体移动重新分配来提供物体的分离以供处理的系统和方法
KR102219543B1 (ko) * 2017-04-26 2021-02-24 니혼 덴산 가부시키가이샤 다관절 로봇 및 다관절 로봇 시스템
CA3071407C (en) 2017-08-02 2023-10-03 Berkshire Grey, Inc. Systems and methods for acquiring and moving objects having complex outer surfaces
EP3706966A2 (en) 2017-11-07 2020-09-16 Berkshire Grey, Inc. Systems and methods for providing dynamic vacuum pressure at an end effector using a single vacuum source
WO2019143710A1 (en) 2018-01-17 2019-07-25 Berkshire Grey, Inc. Systems and methods for efficiently moving a variety of objects
JP7073742B2 (ja) * 2018-01-25 2022-05-24 株式会社リコー 情報処理システム、ピッキング箇所特定方法及びプログラム
AT521112A1 (de) 2018-03-09 2019-10-15 Tgw Logistics Group Gmbh Robotersystem zum Greifen einer Ware in einem Lager- und Kommissioniersystem und Betriebsverfahren hierfür
AT520958A1 (de) 2018-03-09 2019-09-15 Tgw Logistics Group Gmbh Robotersystem mit an Warentypen angepassten Bewegungsabläufen und Betriebsverfahren hierfür
CN112752634B (zh) 2018-07-27 2024-05-24 伯克希尔格雷营业股份有限公司 用于高效地交换端部执行器工具的系统和方法
CN112384342B (zh) * 2018-08-06 2024-05-24 株式会社岛津制作所 色谱仪用的输送装置
CN109483534B (zh) * 2018-11-08 2022-08-02 腾讯科技（深圳）有限公司 一种物体抓取方法、装置和系统
EP3959050B1 (en) 2019-04-25 2024-04-17 Berkshire Grey Operating Company, Inc. System and method for maintaining vacuum hose life in hose routing systems in programmable motion systems
CN114174017A (zh) 2019-08-08 2022-03-11 伯克希尔格雷股份有限公司 用于在可编程运动装置中提供具有噪声减低的顺应性末端执行器的系统和方法
JP2021146452A (ja) * 2020-03-19 2021-09-27 株式会社東芝 ハンドリング装置、制御装置、および制御プログラム
KR102218246B1 (ko) * 2020-06-30 2021-02-22 파워오토메이션 주식회사 하이브리드 이형부품 삽입로봇용 그리핑 시스템
EP4185445A1 (en) 2020-07-22 2023-05-31 Berkshire Grey Operating Company, Inc. Systems and methods for object processing using a passively folding vacuum gripper
WO2022020178A1 (en) 2020-07-22 2022-01-27 Berkshire Grey, Inc. Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion
CN112775967A (zh) * 2020-12-30 2021-05-11 中南民族大学 基于机器视觉的机械臂抓取方法、装置及设备
JP7470305B2 (ja) 2021-03-26 2024-04-18 株式会社ダイフク ピッキング装置
CN118055897A (zh) 2021-10-06 2024-05-17 伯克希尔格雷营业股份有限公司 利用转移系统对提供在升高车辆中的物体的动态处理和用于接收物体的方法
CN114405867A (zh) * 2022-01-20 2022-04-29 深圳市星迅电子科技有限公司 物品分拣设备
CN115301573A (zh) * 2022-07-12 2022-11-08 成都合创视达科技有限公司 汽车冲压件表面质量自动检测装置系统

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63288684A (ja) * 1987-05-21 1988-11-25 愛知機械工業株式会社 ワ−ク搬送用ロボットにおけるクランプミスの自動補正手段
JPH0629142U (ja) * 1992-09-10 1994-04-15 コマツ電子金属株式会社 ウェーハ吸着治具
JPH09239682A (ja) * 1996-03-06 1997-09-16 Nissan Motor Co Ltd ワーク供給方法およびワーク供給装置
JP3930490B2 (ja) * 2004-04-23 2007-06-13 ファナック株式会社 物品取出し装置
US20060047421A1 (en) * 2004-08-25 2006-03-02 Microsoft Corporation Computing point-to-point shortest paths from external memory
JP5304469B2 (ja) * 2009-06-19 2013-10-02 株式会社デンソーウェーブ ビンピッキングシステム
KR101453234B1 (ko) * 2010-11-17 2014-10-22 미쓰비시덴키 가부시키가이샤 워크 취출 장치
FR2987685A1 (fr) 2012-03-02 2013-09-06 Akeo Plus Procede de commande d'un robot pour le deplacement d'au moins un objet dispose sur un support dans un espace 3d
US9092698B2 (en) * 2012-06-21 2015-07-28 Rethink Robotics, Inc. Vision-guided robots and methods of training them
JP5642738B2 (ja) * 2012-07-26 2014-12-17 ファナック株式会社 バラ積みされた物品をロボットで取出す装置及び方法
JP5670397B2 (ja) * 2012-08-29 2015-02-18 ファナック株式会社 バラ積みされた物品をロボットで取出す装置及び方法
US9102055B1 (en) * 2013-03-15 2015-08-11 Industrial Perception, Inc. Detection and reconstruction of an environment to facilitate robotic interaction with the environment
FR3032365B1 (fr) * 2015-02-10 2017-02-03 Veolia Environnement-VE Procedure de tri selectif

Also Published As

Publication number Publication date
EP3134234A1 (fr) 2017-03-01
PL3134234T3 (pl) 2018-08-31
FR3020303B1 (fr) 2016-07-15
WO2015162390A1 (fr) 2015-10-29
FR3020303A1 (fr) 2015-10-30
DK3134234T3 (en) 2018-04-30
US20170050315A1 (en) 2017-02-23
PT3134234T (pt) 2018-05-25
EP3134234B1 (fr) 2018-03-21
JP2017513727A (ja) 2017-06-01

Similar Documents

Publication Publication Date Title
ES2666793T3 (es) Procedimiento e instalación de prensión automática de un objeto
BR112017002136A2 (pt) ?sistema de dispositivo eletrônico?
MX2018010527A (es) Sistema de procesamiento de informacion, aparato de procesamiento de informacion, metodo de procesamiento de informacion y programa.
AR100323A1 (es) Método y aparato para la preparación de semillas
BR112016029392A2 (pt) equalização de histograma adaptativa local
AR101276A1 (es) Aparato para el procesamiento de imágenes, sistema de monitoreo, método de procesamiento de imágenes y programa
BR112016028051A2 (pt) aparelho, sistema e método para rastreamento do olhar com base em fotodetecção de um dispositivo montável no olho
GB2544946A (en) Systems and methods for analyzing the eye
EP3032274A3 (en) Range enhancement for lidar systems and ir camera systems
BR112015020989A2 (pt) dispositivo de identificação de objeto-alvo, método de identificação de objeto-alvo e programa de identificação de objeto-alvo
CL2017000907A1 (es) Método, aparato, y sistema para inicializar un dispositivo de lectura de medidor
EP3521920A4 (en) OPTICAL SCANNING DEVICE, LIGHT RECEIVING DEVICE, AND OPTICAL SENSING SYSTEM
EP2980669A3 (en) Determining field characterisitics using optical recognition
MA45174A (fr) Éjecteur de carte de crédit pourvu d'un couplage de rupture
WO2015155541A3 (en) Runway arrangement
FR3036195B1 (fr) Dispositif et procede d’observation d’un objet, avec prise en compte de la distance entre le dispositif et l’objet.
AR106157A1 (es) Método y sistema para rastrear artículos específicos
BR112015002845A2 (pt) método e dispositivo para identificar terminais alvo, e, servidor
EP3500885A4 (en) INCLINED LIGHTING SYSTEMS FOR FLUORESCENCE MICROSCOPES
JP2016077539A5 (es)
AR110267A1 (es) Aparato para el procesamiento de información, método de procesamiento de información, programa y sistema de observación
CL2017000599A1 (es) Sistema para la detección del estro
FR3029642B1 (fr) Procede de localisation d'au moins un objet magnetique mobile, et systeme associe
EP3409204A4 (en) DEVICE FOR DETECTING BIOLOGICAL INFORMATION
ES2547691T3 (es) Sistema y procedimiento de monitorización