APPARATUS FOR TAKING OUT BULK STORED ARTICLES BY ROBOT

• Main Author: ANDO TOSHIYUKI
• Format: Patent
• Language: English
• Published: 06.02.2014
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; HAND TOOLS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TECHNICAL SUBJECTS COVERED BY FORMER USPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ARTCOLLECTIONS [XRACs] AND DIGESTS; TRANSPORTING

An article take-out apparatus including, acquiring a reference container image including an open end face of a container by imaging operation by an camera, setting an image search region corresponding to a storage space of the container based on the reference container image, setting a reference plane including the open end face of the container, calculating a search region corresponding to the image search region based on a calibration data of the camera stored in advance, converting the search region to a converted search region, taking out 3D points included in the converted search region by projecting a plurality of 3D points measured by the 3D measuring device on the reference plane, and recognizing positions of articles inside the container using the 3D points.