IT1258006B - Sistema e metodo per il prelievo automatico di oggetti - Google Patents

Sistema e metodo per il prelievo automatico di oggetti

Info

Publication number
IT1258006B
IT1258006B ITBO920008A ITBO920008A IT1258006B IT 1258006 B IT1258006 B IT 1258006B IT BO920008 A ITBO920008 A IT BO920008A IT BO920008 A ITBO920008 A IT BO920008A IT 1258006 B IT1258006 B IT 1258006B
Authority
IT
Italy
Prior art keywords
objects
image
automatic collection
translated images
picked
Prior art date
Application number
ITBO920008A
Other languages
English (en)
Inventor
Armando Neri
Original Assignee
Gd Spa
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=11337912&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=IT1258006(B) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Gd Spa filed Critical Gd Spa
Priority to ITBO920008A priority Critical patent/IT1258006B/it
Publication of ITBO920008A0 publication Critical patent/ITBO920008A0/it
Priority to EP93100292A priority patent/EP0551854B1/en
Priority to DE69312516T priority patent/DE69312516T2/de
Priority to JP5004263A priority patent/JPH0825639B2/ja
Priority to US08/003,782 priority patent/US5608818A/en
Publication of ITBO920008A1 publication Critical patent/ITBO920008A1/it
Application granted granted Critical
Publication of IT1258006B publication Critical patent/IT1258006B/it

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
    • B65H19/123—Lifting, transporting, or inserting the web roll; Removing empty core with cantilever supporting arrangements
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/413—Supporting web roll
    • B65H2301/4132—Cantilever arrangement
    • B65H2301/41322—Cantilever arrangement pivoting movement of roll support
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/42—Cameras

Abstract

Il sistema di prelievo di oggetti (1) comprende un robot (6) dotato di un organo di presa (8) portante una telecamera (11) per acquisire un'immagine dell'oggetto da prelevare; l'immagine viene fornita ad una sezione di controllo (3) che la elabora per determinare un punto prefissato dell'oggetto, tipicamente il contro, generando immagini traslate dello stesso oggetto e facendo l'intersezione delle immagini traslate e dell'immagine originale.(Figura 1).
ITBO920008A 1992-01-13 1992-01-13 Sistema e metodo per il prelievo automatico di oggetti IT1258006B (it)

Priority Applications (5)

Application Number Priority Date Filing Date Title
ITBO920008A IT1258006B (it) 1992-01-13 1992-01-13 Sistema e metodo per il prelievo automatico di oggetti
EP93100292A EP0551854B1 (en) 1992-01-13 1993-01-11 Automatic pickup system and method
DE69312516T DE69312516T2 (de) 1992-01-13 1993-01-11 Automatische Abtast-Anordnung und -Verfahren
JP5004263A JPH0825639B2 (ja) 1992-01-13 1993-01-13 自動吊り上げ方法
US08/003,782 US5608818A (en) 1992-01-13 1993-01-13 System and method for enabling a robotic arm to grip an object

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITBO920008A IT1258006B (it) 1992-01-13 1992-01-13 Sistema e metodo per il prelievo automatico di oggetti

Publications (3)

Publication Number Publication Date
ITBO920008A0 ITBO920008A0 (it) 1992-01-13
ITBO920008A1 ITBO920008A1 (it) 1993-07-13
IT1258006B true IT1258006B (it) 1996-02-20

Family

ID=11337912

Family Applications (1)

Application Number Title Priority Date Filing Date
ITBO920008A IT1258006B (it) 1992-01-13 1992-01-13 Sistema e metodo per il prelievo automatico di oggetti

Country Status (5)

Country Link
US (1) US5608818A (it)
EP (1) EP0551854B1 (it)
JP (1) JPH0825639B2 (it)
DE (1) DE69312516T2 (it)
IT (1) IT1258006B (it)

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US5657394A (en) * 1993-06-04 1997-08-12 Integrated Technology Corporation Integrated circuit probe card inspection system
US5452368A (en) * 1993-08-02 1995-09-19 Motorola, Inc. Method of detecting defects in semiconductor package leads
DE4416707A1 (de) * 1994-05-11 1995-11-16 Tax Ingenieurgesellschaft Mbh Verfahren zur Zielwegkorrektur eines Lastträgers und Lastentransportanlage
US5802201A (en) * 1996-02-09 1998-09-01 The Trustees Of Columbia University In The City Of New York Robot system with vision apparatus and transparent grippers
US6249591B1 (en) * 1997-08-25 2001-06-19 Hewlett-Packard Company Method and apparatus for control of robotic grip or for activating contrast-based navigation
US5934049A (en) * 1998-01-27 1999-08-10 Cerf; Alain Automated film wrapping apparatus
DE19839144B4 (de) * 1998-08-28 2004-07-08 Lemo Maschinenbau Gmbh Vorrichtung zum Herstellen und Abtransportieren von Stapeln aus Kunststoffbeuteln, insbesondere Automatenbeuteln
DE50210152D1 (de) * 2001-02-27 2007-06-28 Focke & Co Einrichtung zur Versorgung von Verpackungsmaschinen mit Verpackungsmaterial
ITBO20010289A1 (it) * 2001-05-11 2002-11-11 Gd Spa Metodo e dispositivo di alimentazione di bobine ad una macchina operatrice
EP1472052A2 (en) * 2002-01-31 2004-11-03 Braintech Canada, Inc. Method and apparatus for single camera 3d vision guided robotics
US7585389B2 (en) * 2005-06-24 2009-09-08 Georgia-Pacific Consumer Products Lp Method of making fabric-creped sheet for dispensers
US7662257B2 (en) * 2005-04-21 2010-02-16 Georgia-Pacific Consumer Products Llc Multi-ply paper towel with absorbent core
EP1495999A1 (de) * 2003-07-10 2005-01-12 Hauni Maschinenbau AG Vorrichtung zum Entpalettieren eines Bobinenstapels mit einem Laserdistanzmesssystem und Verwendung eines Laserdistanzmesssystem zur Erfassung von topografischen Daten eines Bobinenstapels
US7961934B2 (en) * 2003-12-11 2011-06-14 Strider Labs, Inc. Probable reconstruction of surfaces in occluded regions by computed symmetry
US20050201638A1 (en) * 2004-03-12 2005-09-15 Hanbyn Cha Method and system for measuring an object in digital image
WO2007149183A2 (en) * 2006-05-25 2007-12-27 Braintech Canada, Inc. System and method of robotically engaging an object
DE102006043810A1 (de) * 2006-09-13 2008-03-27 Hauni Maschinenbau Ag Bestimmung einer Bobinenkernmitte bei einer Bobinenhandhabungsvorrichtung
WO2008036354A1 (en) * 2006-09-19 2008-03-27 Braintech Canada, Inc. System and method of determining object pose
WO2008076942A1 (en) * 2006-12-15 2008-06-26 Braintech Canada, Inc. System and method of identifying objects
US7957583B2 (en) * 2007-08-02 2011-06-07 Roboticvisiontech Llc System and method of three-dimensional pose estimation
US8559699B2 (en) * 2008-10-10 2013-10-15 Roboticvisiontech Llc Methods and apparatus to facilitate operations in image based systems
US8941726B2 (en) * 2009-12-10 2015-01-27 Mitsubishi Electric Research Laboratories, Inc. Method and system for segmenting moving objects from images using foreground extraction
US9919887B2 (en) * 2014-08-28 2018-03-20 The Procter & Gamble Company Web material unwind stand
US9969587B2 (en) 2014-08-28 2018-05-15 The Procter & Gamble Company Web material unwind apparatus
FR3032366B1 (fr) * 2015-02-10 2017-02-03 Veolia Environnement-VE Procede de tri selectif
DE102015208118A1 (de) 2015-04-30 2016-11-03 Krones Aktiengesellschaft Verfahren und Vorrichtung zur Zuförderung, Bereitstellung und zum Austausch von Rollen mit Verpackungsmaterial in einer Verpackungsmaschine
DE102015208136A1 (de) * 2015-04-30 2016-11-03 Krones Aktiengesellschaft Verfahren und Vorrichtung zur Zuförderung, Bereitstellung und zum Austausch von Rollen mit Verpackungsmaterial in einer Verpackungsmaschine
DE102015211620A1 (de) 2015-06-23 2016-12-29 Krones Aktiengesellschaft Verpackungsmaschine und Verfahren zur Zuförderung, Bereitstellung und zum Austausch von Rollen mit Verpackungsmaterial in einer solchen Verpackungsmaschine
DE102016206183A1 (de) 2016-04-13 2017-10-19 Krones Aktiengesellschaft Verfahren und Vorrichtung zur Bereitstellung von auf Rollen aufgewickeltem Verpackungsmaterial für Artikel wie Getränkebehältnisse oder dergleichen
DE102016206172A1 (de) * 2016-04-13 2017-10-19 Krones Aktiengesellschaft Vorrichtung und Verfahren zur Bereitstellung von auf Rollen aufgewickeltem Verpackungsmaterial für Artikel wie Getränkebehältnisse oder dergleichen
CN106829469A (zh) * 2017-03-30 2017-06-13 武汉库柏特科技有限公司 一种基于双相机的机器人无序抓取装置及方法
DE102017206549A1 (de) * 2017-04-19 2018-10-25 Robert Bosch Gmbh Verbrauchsmaterialhandhabungsvorrichtung zu einem Transport und/oder zu einer Handhabung von zumindest einem Verbrauchsmaterial, insbesondere eines Verpackungsmaterials
EP3418228B1 (en) * 2017-06-20 2020-03-04 Fameccanica.Data S.p.A. A method for automatically replacing reels in an unwinding assembly and relative unwinding assembly
DE102018217470A1 (de) * 2018-10-12 2020-04-16 Krones Ag Verfahren zum Einsatz eines Robotersystems und Robotersystem für eine Behälterverarbeitungsanlage

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US4192004A (en) * 1977-09-08 1980-03-04 Buerger Walter R Topological transformation system
EP0020832A1 (en) * 1979-06-26 1981-01-07 Excellon Industries Pattern recognition system and method for using this system
JPS5743279A (en) * 1980-08-29 1982-03-11 Fujitsu Ltd Method for detecting position of x-y symmetrical body
US4727471A (en) * 1985-08-29 1988-02-23 The Board Of Governors For Higher Education, State Of Rhode Island And Providence Miniature lightweight digital camera for robotic vision system applications
JPH0679325B2 (ja) * 1985-10-11 1994-10-05 株式会社日立製作所 位置姿勢判定方法
US4707647A (en) * 1986-05-19 1987-11-17 Gmf Robotics Corporation Gray scale vision method and system utilizing same
JPS6317735A (ja) * 1986-07-07 1988-01-25 Okura Yusoki Co Ltd ピツキング装置
JP2556484B2 (ja) * 1986-10-20 1996-11-20 キヤノン株式会社 図形輪郭抽出装置
US5073957A (en) * 1987-09-13 1991-12-17 Canon Kabushiki Kaisha Graphic editing system
JPH0672770B2 (ja) * 1988-02-01 1994-09-14 豊田工機株式会社 ロボットの物体認識装置
DE58908000D1 (de) * 1988-07-28 1994-08-11 Contraves Ag Automatische Helligkeits- und Kontrast-Steuerung einer Video-Kamera für industrielle/militärische Zwecke.

Also Published As

Publication number Publication date
ITBO920008A0 (it) 1992-01-13
EP0551854A2 (en) 1993-07-21
JPH05246545A (ja) 1993-09-24
ITBO920008A1 (it) 1993-07-13
DE69312516T2 (de) 1998-02-19
EP0551854A3 (en) 1994-08-10
JPH0825639B2 (ja) 1996-03-13
EP0551854B1 (en) 1997-07-30
DE69312516D1 (de) 1997-09-04
US5608818A (en) 1997-03-04

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Legal Events

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0001 Granted
TA Fee payment date (situation as of event date), data collected since 19931001

Effective date: 19970123