[go: up one dir, main page]

WO2010034044A3 - Method and system for receiving and/or processing objects - Google Patents

Method and system for receiving and/or processing objects Download PDF

Info

Publication number
WO2010034044A3
WO2010034044A3 PCT/AT2009/000360 AT2009000360W WO2010034044A3 WO 2010034044 A3 WO2010034044 A3 WO 2010034044A3 AT 2009000360 W AT2009000360 W AT 2009000360W WO 2010034044 A3 WO2010034044 A3 WO 2010034044A3
Authority
WO
WIPO (PCT)
Prior art keywords
handling apparatus
processing
receiving
imaging method
processed
Prior art date
Application number
PCT/AT2009/000360
Other languages
German (de)
French (fr)
Other versions
WO2010034044A2 (en
Inventor
Roland Heiml
Original Assignee
Stiwa Holding Gmbh
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=41449940&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2010034044(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Stiwa Holding Gmbh filed Critical Stiwa Holding Gmbh
Publication of WO2010034044A2 publication Critical patent/WO2010034044A2/en
Publication of WO2010034044A3 publication Critical patent/WO2010034044A3/en

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
    • B25J9/1694—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
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
    • B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
    • B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
    • B65G47/1442—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of movement of the bottom or a part of the wall of the container
    • B65G47/1471—Movement in one direction, substantially outwards
    • 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
    • G05B2219/39106—Conveyor, pick up article, object from conveyor, bring to test unit, place it
    • 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
    • G05B2219/40554—Object recognition to track object on conveyor
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a method for sequentially receiving and/or processing individual objects (2) from an object quantity (12) moved, in particular continuously, by a conveyor apparatus (3) using a handling apparatus (5), particularly an industrial robot (6), comprising an imaging method carried out on the moved object quantity (12) and an object detection method for localizing, identifying and selecting at least one object (2) which can be received and/or processed by the handling apparatus (5) using the image information of the object detection system (15) processing the imaging method, and receiving and/or processing a selected object (2) with the handling apparatus (5). An image information flow (36) continuously generated by the imaging method is divided into detection sections (28) of the object quantity (12) containing object quantity information, particularly object point coordinates and movement information, and the objects (2) which can be received and/or processed by the handling apparatus (5) are identified and selected by the object detection system (15) for individual detection sections (28).
PCT/AT2009/000360 2008-09-26 2009-09-18 Method and system for receiving and/or processing objects WO2010034044A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0150108A AT507339B1 (en) 2008-09-26 2008-09-26 METHOD AND APPARATUS FOR RECORDING AND / OR PROCESSING OBJECTS
ATA1501/2008 2008-09-26

Publications (2)

Publication Number Publication Date
WO2010034044A2 WO2010034044A2 (en) 2010-04-01
WO2010034044A3 true WO2010034044A3 (en) 2010-05-27

Family

ID=41449940

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2009/000360 WO2010034044A2 (en) 2008-09-26 2009-09-18 Method and system for receiving and/or processing objects

Country Status (2)

Country Link
AT (1) AT507339B1 (en)
WO (1) WO2010034044A2 (en)

Families Citing this family (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010014105A1 (en) * 2010-04-07 2011-10-13 Siemens Aktiengesellschaft Method and device for measuring objects during transport
AT509951A1 (en) * 2010-06-11 2011-12-15 Stiwa Holding Gmbh METHOD FOR DETERMINING AND DETERMINING A STORAGE FEATURE OF A PIECE GOOD IN A CONVEYING DEVICE
CH705016A1 (en) * 2011-05-30 2012-11-30 Feller Ag Supplying device for supplying parts in e.g. assembly automation cell, has control unit operating container so long as buffer and another container so long as supply container and reversing conveying direction of conveying belt
US8958901B2 (en) 2011-11-18 2015-02-17 Nike, Inc. Automated manufacturing of shoe parts
US8755925B2 (en) 2011-11-18 2014-06-17 Nike, Inc. Automated identification and assembly of shoe parts
US9451810B2 (en) * 2011-11-18 2016-09-27 Nike, Inc. Automated identification of shoe parts
US10552551B2 (en) 2011-11-18 2020-02-04 Nike, Inc. Generation of tool paths for shore assembly
US8849620B2 (en) 2011-11-18 2014-09-30 Nike, Inc. Automated 3-D modeling of shoe parts
DE102012203134A1 (en) * 2012-02-29 2013-08-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Method for receiving contour portion by manipulator, involves determining orientation of the contour portions based on CAD data of the contour portions to receive the contour portions
US9233469B2 (en) 2014-02-13 2016-01-12 GM Global Technology Operations LLC Robotic system with 3D box location functionality
JP5824173B1 (en) * 2014-02-28 2015-11-25 ファナック株式会社 Article alignment apparatus and article alignment method for aligning articles using robot, and article transfer system provided with article alignment apparatus
US10343284B2 (en) 2015-08-26 2019-07-09 Berkshire Grey, Inc. Systems and methods for providing contact detection in an articulated arm
WO2017040803A1 (en) 2015-09-01 2017-03-09 Berkshire Grey Inc. Systems and methods for providing dynamic robotic control systems
US11370128B2 (en) 2015-09-01 2022-06-28 Berkshire Grey Operating Company, Inc. Systems and methods for providing dynamic robotic control systems
CN108349096B (en) 2015-09-09 2021-12-28 伯克希尔格雷股份有限公司 System and method for providing dynamic communication lighting in a robotic environment
EP3347780B1 (en) * 2015-09-11 2023-06-07 Berkshire Grey Operating Company, Inc. Robotic systems and methods for identifying and processing a variety of objects
CA3107257C (en) 2015-11-13 2023-05-02 Berkshire Grey, Inc. Sortation systems and methods for providing sortation of a variety of objects
US9937532B2 (en) 2015-12-18 2018-04-10 Berkshire Grey Inc. Perception systems and methods for identifying and processing a variety of objects
US12350713B2 (en) 2015-12-18 2025-07-08 Berkshire Grey Operating Company, Inc. Perception systems and methods for identifying and processing a variety of objects
EP4046761B1 (en) 2016-01-08 2025-03-26 Berkshire Grey Operating Company, Inc. Systems and methods for acquiring and moving objects
CA3117170C (en) 2016-02-08 2023-08-29 Berkshire Grey, Inc. Systems and methods for providing processing of a variety of objects employing motion planning
WO2018089486A1 (en) 2016-11-08 2018-05-17 Berkshire Grey Inc. Systems and methods for processing objects
CN110198900A (en) 2016-11-28 2019-09-03 伯克希尔格雷股份有限公司 System and method of the article separation for processing are provided
CA3155737C (en) 2016-12-06 2023-11-14 Berkshire Grey Operating Company, Inc. Systems and methods for providing for the processing of objects in vehicles
WO2018107000A1 (en) 2016-12-09 2018-06-14 Berkshire Grey, Inc. Systems and methods for processing objects provided in vehicles
WO2018165017A1 (en) 2017-03-06 2018-09-13 Berkshire Grey, Inc. Systems and methods for efficiently moving a variety of objects
CA3057334C (en) 2017-03-24 2023-10-31 Berkshire Grey, Inc. Systems and methods for processing objects, including automated processing
CA3178221A1 (en) 2017-04-24 2018-11-01 Berkshire Grey Operating Company, Inc. Systems and methods for providing singulation of objects for processing using object movement redistribution
DE102018116413B4 (en) * 2017-07-12 2025-07-10 Fanuc Corporation Robot system
JP6506356B2 (en) * 2017-07-26 2019-04-24 ファナック株式会社 Article conveyance system and conveyance system control device
JP6646026B2 (en) * 2017-10-16 2020-02-14 ファナック株式会社 Work system, work execution method for article, and robot
JP6687591B2 (en) 2017-12-26 2020-04-22 ファナック株式会社 Article transport device, robot system, and article transport method
US20200095001A1 (en) * 2018-09-26 2020-03-26 Dexterity, Inc. Robotic kitting system
US11731792B2 (en) 2018-09-26 2023-08-22 Dexterity, Inc. Kitting machine
WO2022020159A1 (en) 2020-07-22 2022-01-27 Berkshire Grey, Inc. Systems and methods for object processing using a passively collapsing vacuum gripper
US11964386B2 (en) 2020-07-22 2024-04-23 Berkshire Grey Operating Company, Inc. Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion
BE1028905B1 (en) * 2020-12-15 2022-07-19 Montech Bvba METHOD AND DEVICE FOR THE AUTOMATED PACKAGING OF OBJECTS
CN112756936A (en) * 2020-12-29 2021-05-07 曙光信息产业股份有限公司 Feeding system of server assembly work station, server assembly system and feeding method
DE102021104900A1 (en) * 2021-03-01 2022-09-01 Rsg Verwaltungs Gmbh Process for the separation and sorting of primary products and device
AT524802B1 (en) * 2021-03-05 2023-04-15 Engel Austria Gmbh Procedure for filing semi-finished products
EP4313498A1 (en) 2021-03-26 2024-02-07 Boston Dynamics, Inc. An integrated mobile manipulator robot
WO2022204030A1 (en) 2021-03-26 2022-09-29 Boston Dynamics, Inc. Perception mast for an integrated mobile manipulator robot
KR20230162961A (en) 2021-03-26 2023-11-29 보스턴 다이나믹스, 인크. Dynamic mass estimation methods for integrated mobile manipulator robots
WO2023059485A1 (en) 2021-10-06 2023-04-13 Berkshire Grey Operating Company, Inc. Dynamic processing of objects provided in elevated vehicles with evacuation systems and methods for receiving objects
DE102023127008A1 (en) * 2023-10-04 2025-04-10 Leverage Robotics GmbH Method, device and computer program for separating randomly provided objects

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0204516A2 (en) * 1985-06-04 1986-12-10 Adept Technology, Inc. Vision system for distinguishing touching parts
US5040056A (en) * 1990-01-29 1991-08-13 Technistar Corporation Automated system for locating and transferring objects on a conveyor belt
US5148591A (en) * 1981-05-11 1992-09-22 Sensor Adaptive Machines, Inc. Vision target based assembly
JPH0748018A (en) * 1993-08-03 1995-02-21 Omori Mach Co Ltd Article detector for article transfer device
JPH08323669A (en) * 1995-03-28 1996-12-10 Matsushita Electric Works Ltd Part supply method and device therefor
US6032343A (en) * 1997-02-24 2000-03-07 Ethicon, Inc. Automated swage wind and packaging machine
WO2001033204A1 (en) * 1999-10-29 2001-05-10 Cognex Corporation System and method for counting parts in multiple fields of view using machine vision
JP2002113679A (en) * 2000-10-06 2002-04-16 Seiko Instruments Inc Tracking method, system, and device
EP1584944A1 (en) * 2004-04-08 2005-10-12 FESTO AG & Co Imaging device and process for detecting moving objects
DE102006031178A1 (en) * 2005-07-07 2007-01-11 Toshiba Kikai K.K. Gripper guide system, processing system and program

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5148591A (en) * 1981-05-11 1992-09-22 Sensor Adaptive Machines, Inc. Vision target based assembly
EP0204516A2 (en) * 1985-06-04 1986-12-10 Adept Technology, Inc. Vision system for distinguishing touching parts
US5040056A (en) * 1990-01-29 1991-08-13 Technistar Corporation Automated system for locating and transferring objects on a conveyor belt
JPH0748018A (en) * 1993-08-03 1995-02-21 Omori Mach Co Ltd Article detector for article transfer device
JPH08323669A (en) * 1995-03-28 1996-12-10 Matsushita Electric Works Ltd Part supply method and device therefor
US6032343A (en) * 1997-02-24 2000-03-07 Ethicon, Inc. Automated swage wind and packaging machine
WO2001033204A1 (en) * 1999-10-29 2001-05-10 Cognex Corporation System and method for counting parts in multiple fields of view using machine vision
JP2002113679A (en) * 2000-10-06 2002-04-16 Seiko Instruments Inc Tracking method, system, and device
EP1584944A1 (en) * 2004-04-08 2005-10-12 FESTO AG & Co Imaging device and process for detecting moving objects
DE102006031178A1 (en) * 2005-07-07 2007-01-11 Toshiba Kikai K.K. Gripper guide system, processing system and program

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
RYGOL M ET AL: "Multiprocessor 3D vision system for pick and place", IMAGE AND VISION COMPUTING, ELSEVIER, GUILDFORD, GB, vol. 9, no. 1, 1 February 1991 (1991-02-01), pages 33 - 38, XP026655981, ISSN: 0262-8856, [retrieved on 19910201] *

Also Published As

Publication number Publication date
AT507339B1 (en) 2011-06-15
AT507339A1 (en) 2010-04-15
WO2010034044A2 (en) 2010-04-01

Similar Documents

Publication Publication Date Title
WO2010034044A3 (en) Method and system for receiving and/or processing objects
EP2364823A3 (en) Robot system and transfer method
SA521430633B1 (en) Method and apparatus for controlling a virtual object to distinguish a virtual material and environment
ATE484039T1 (en) METHOD AND DEVICE FOR SMOKE DETECTION
WO2008094553A3 (en) Target detection and tracking from video streams
EP2636493A3 (en) Information processing apparatus and information processing method
GB2510742A (en) Method and apparatus for finding stick-up height of a pipe or finding a joint between two pipes in a drilling environment
EP3437807A3 (en) Robot control apparatus, robot control method, and robot control program
EP3453493A3 (en) Article movement apparatus, article movement method, and article movement control program
WO2016060716A3 (en) Real-time determination of object metrics for trajectory planning
NZ737005A (en) Methods and systems for copy number variant detection
WO2011008290A3 (en) Sample container intelligent rack and loading method
EP2101486A3 (en) Image processing apparatus and image processing method
TW200744806A (en) Robot system
EP2214089A3 (en) Information processing apparatus and display control method
DE602008004804D1 (en) Apparatus and method for capturing image information in surveys of equipment in a processing or other environment
CN106575043A8 (en) For gesture identification and the system of interaction, apparatus and method
EP3188159A3 (en) System and method for identifying and tracking unacknowledged marine vessels
WO2012138871A3 (en) Image analysis for specific objects
EP2241964A3 (en) Information processing apparatus, information processing method, and information processing program
WO2007002404A3 (en) Target detection and tracking from overhead video streams
WO2009027836A3 (en) Determination of inventory conditions based on image processing
WO2010091875A3 (en) Methods and systems for determining the pose of a camera with respect to at least one object of a real environment
EP2390760A3 (en) Information processing of attitude or motion data for object selection
EP4235188A3 (en) Systems and methods for reading machine-readable labels on sample receptacles

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09744904

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09744904

Country of ref document: EP

Kind code of ref document: A2