Method for invalidating sensor measurements after a picking action in a robot system

A sensor and measurement value technology, applied in the field of invalidating the sensor measurement value after picking up the action in the robot system, can solve the problems of time-consuming, energy consumption of the second reading, etc.

Inactive Publication Date: 2014-04-30
泽恩机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The problem with the second type of sensor is the need to move the imaging object or the sensor relative to each other
Taking a second reading with this sensor is energy and time consuming

Method used

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  • Method for invalidating sensor measurements after a picking action in a robot system
  • Method for invalidating sensor measurements after a picking action in a robot system
  • Method for invalidating sensor measurements after a picking action in a robot system

Examples

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Embodiment Construction

[0059] Reference will now be made in detail to embodiments of the invention, examples of which are illustrated in the accompanying drawings.

[0060] figure 1 is a block diagram illustrating a robotic system employing two line sensor arrays in one embodiment of the invention.

[0061] figure 1In this example, the robot system 100 includes a robot 110 , such as an industrial robot, which includes a robot arm 112 . Attached to the robotic arm 116 is a gripper 114, which may also be a gripper or jaw. The robotic arm 116 is capable of moving the gripper 112 within the operating area 102B of the conveyor belt 102 . The robotic arm 112 may include a number of motors, such as servo motors that enable controlled rotation, pitch, and pinch of the robotic arm. The various movements of the robotic arm 112 and gripper 114 are effected by actuators. For example, the actuator may be an electric actuator, a pneumatic actuator, or a hydraulic actuator, or any combination of these actuato...

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PUM

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Abstract

The invention relates to a method and system for invalidating sensor measurements after a sorting action on a target area of a robot sorting system. In the method there are obtained sensor measurements using sensors from a target area. A first image is captured of the target area using a sensor over the target area. A first sorting action is performed in the target area using a robot arm based on the sensor measurements and the first image. Thereupon, a second image of the target area is captured using a sensor over the target area. The first and the second images are compared to determine invalid areas in the target area. The invalid areas are avoided in future sorting actions based on the sensor measurements.

Description

technical field [0001] The present invention relates to systems and methods for manipulating physical objects with robotic arms and grippers. In particular, the invention relates to a method of invalidating sensor measurements after a picking action in a robotic system. Background technique [0002] Robotic systems can be used for sorting and sorting of various physical objects such as manufactured components, machine parts and renewable materials. Sorting and classification require physical objects to be identified with sufficient probability. In applications such as recycling and waste management, it is important that the purity of the sorted object set is high, ie that there are as few objects of the wrong type as possible in the final sorted object set. The sorted groups typically include glass, plastic, metal, paper and biological waste. Objects to be sorted are typically provided on a conveyor belt to a robotic system comprising at least one robotic arm for sorting ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B07C5/34B25J9/16B65G47/90G05B19/418
CPCY10S901/31Y10S901/47B25J9/1697G05B2219/40078G05B2219/40004G05B2219/40005
Inventor 哈里·瓦尔波拉图奥马斯·卢卡
Owner 泽恩机器人有限公司
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