Apparatus for picking up objects

Abstract

An apparatus for picking up objects including a robot for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection information converting means to pick up the object. Thus, the object having a curved shape can be detected and picked up in a reasonably short period of time.

Description

technical field [0001] The invention relates to a target object taking-out device for taking out a target object, especially a workpiece including a curved surface shape, with a robotic hand. Background technique [0002] In recent years, industrial robots have been used to take out a plurality of workpieces arranged in disorder, that is, a plurality of workpieces that are not positioned in a basket or on a pallet. In "Practical Bin Picking by the Intelligent Robot" (Proc. of 36th ISR, TH311, 2005), it is described that a so-called polyhedron workpiece having a plurality of planar parts and capable of stably detecting contour and shape features is picked up from a basket or the like. [0003] On the other hand, in workpieces including curved surfaces, there are few shape features such as textures that can be stably detected. Furthermore, in a workpiece including a curved surface shape, there is a problem that the contour of the workpiece including a curved surface shape is ...

AI Technical Summary

Problems solved by technology

Therefore, the method described in the specification of Japanese Patent No. 3252941 cannot cope with the situation where a plurality of workpieces overlap each other.

In addition, as in the case of Japanese Patent Application Laid-Open No. 2005-1022, the method described in Japanese Patent No. 3252941 also requires texture or contours, so it is difficult to accurately recognize workpieces such as simple cylinders.

[0009] Furthermore, in the method described in Japanese Patent Application Laid-Open No. 10-315167, a complex and expensive device is required to obtain three-dimensional shape data.

In addition, in order to calculate three-dimensional data, it usually requires extremely large calculation processing, so it is difficult to put the system described in Japanese Patent Application Laid-Open No. 10-315167 into practical use.

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