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

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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
US10552551B2 (en) 2011-11-18 2020-02-04 Nike, Inc. Generation of tool paths for shore assembly
US8755925B2 (en) * 2011-11-18 2014-06-17 Nike, Inc. Automated identification and assembly of shoe parts
US8849620B2 (en) 2011-11-18 2014-09-30 Nike, Inc. Automated 3-D modeling of shoe parts
US8958901B2 (en) 2011-11-18 2015-02-17 Nike, Inc. Automated manufacturing of shoe parts
US9451810B2 (en) * 2011-11-18 2016-09-27 Nike, Inc. Automated identification 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
CN108349090B (en) 2015-08-26 2021-12-03 伯克希尔格雷股份有限公司 System and method for providing contact detection in an articulated arm
ES2845683T3 (en) 2015-09-01 2021-07-27 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
EP3988263B1 (en) 2015-09-09 2024-01-31 Berkshire Grey Operating Company, Inc. System and method for providing dynamic communicative lighting in a robotic environment
WO2017044747A1 (en) 2015-09-11 2017-03-16 Berkshire Grey Inc. Robotic systems and methods for identifying and processing a variety of objects
EP4088889A1 (en) 2015-11-13 2022-11-16 Berkshire Grey Operating Company, 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
ES2949949T3 (en) 2016-02-08 2023-10-04 Berkshire Grey Operating Company Inc Systems and methods for providing processing of a variety of objects using motion planning
EP3538961B1 (en) 2016-11-08 2023-01-25 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects
WO2018098460A1 (en) 2016-11-28 2018-05-31 Berkshire Grey, Inc. Systems and method for providing singulation of objects for processing
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
CN110049934B (en) 2016-12-09 2022-02-25 伯克希尔格雷股份有限公司 System and method for processing items arranged in a vehicle
ES2957704T3 (en) 2017-03-06 2024-01-24 Berkshire Grey Operating Company Inc Systems and methods for efficiently moving a variety of objects
US10646991B2 (en) 2017-03-24 2020-05-12 Berkshire Grey, Inc. Systems and methods for processing objects, including automated processing
CA3178148A1 (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
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
US11731792B2 (en) 2018-09-26 2023-08-22 Dexterity, Inc. Kitting machine
US20200095001A1 (en) * 2018-09-26 2020-03-26 Dexterity, Inc. Robotic kitting system
WO2022020176A1 (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 evacuation
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
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
US11866269B2 (en) 2021-10-06 2024-01-09 Berkshire Grey Operating Company, Inc. Dynamic processing of objects provided in elevated vehicles with evacuation systems and methods for receiving objects

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Also Published As

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

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