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FR3116224B1 - Saisie d’objets entre des robots mobiles - Google Patents

Saisie d’objets entre des robots mobiles Download PDF

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Publication number
FR3116224B1
FR3116224B1 FR2011871A FR2011871A FR3116224B1 FR 3116224 B1 FR3116224 B1 FR 3116224B1 FR 2011871 A FR2011871 A FR 2011871A FR 2011871 A FR2011871 A FR 2011871A FR 3116224 B1 FR3116224 B1 FR 3116224B1
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FR
France
Prior art keywords
robot
identification module
orientation
mobile robots
grabbing objects
Prior art date
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Active
Application number
FR2011871A
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English (en)
Other versions
FR3116224A1 (fr
Inventor
Mohamed Zaoui
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.)
Individual
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Individual
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Filing date
Publication date
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Priority to FR2011871A priority Critical patent/FR3116224B1/fr
Publication of FR3116224A1 publication Critical patent/FR3116224A1/fr
Application granted granted Critical
Publication of FR3116224B1 publication Critical patent/FR3116224B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif comprenant un premier robot (A), préhenseur d’objets, et un second robot (B), transporteur d’au moins un objet (10), chacun des premier et second robots (A, B) comprenant un système de locomotion (3, 7, 8), un système de navigation et une unité de traitement (5, 13) ; le premier robot comprenant en outre un système de capture d’images (6) et un système de préhension d’objets (1, 4), au moins le second robot (B) comportant un module d’identification (11) constitué d’un objet en trois dimensions, le système de capture d’images (6) du premier robot étant configuré pour acquérir au moins une image dudit module d’identification (11) afin d’extraire la position et l’orientation du module d’identification (11), l’unité de traitement (5) du premier robot étant configurée pour calculer, à partir de la position et de l’orientation du module d’identification (11) extraites, la position et l’orientation dudit au moins un objet (10) à saisir sur le second robot. Figure 1
FR2011871A 2020-11-19 2020-11-19 Saisie d’objets entre des robots mobiles Active FR3116224B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2011871A FR3116224B1 (fr) 2020-11-19 2020-11-19 Saisie d’objets entre des robots mobiles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2011871A FR3116224B1 (fr) 2020-11-19 2020-11-19 Saisie d’objets entre des robots mobiles
FR2011871 2020-11-19

Publications (2)

Publication Number Publication Date
FR3116224A1 FR3116224A1 (fr) 2022-05-20
FR3116224B1 true FR3116224B1 (fr) 2023-11-24

Family

ID=78770652

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2011871A Active FR3116224B1 (fr) 2020-11-19 2020-11-19 Saisie d’objets entre des robots mobiles

Country Status (1)

Country Link
FR (1) FR3116224B1 (fr)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3412465B2 (ja) * 1997-08-12 2003-06-03 株式会社デンソー 移動ロボット装置
US9465390B2 (en) * 2014-11-11 2016-10-11 Google Inc. Position-controlled robotic fleet with visual handshakes
KR20170073798A (ko) * 2015-12-18 2017-06-29 삼성전자주식회사 반송 로봇 및 그 제어 방법
JP6963748B2 (ja) * 2017-11-24 2021-11-10 株式会社安川電機 ロボットシステム及びロボットシステムの制御方法
US10817688B1 (en) * 2018-05-29 2020-10-27 Chi Fai Ho Apparatus and method to render services based on a label

Also Published As

Publication number Publication date
FR3116224A1 (fr) 2022-05-20

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