Apparatus and method for picking up article randomly piled using robot

Patent metadata

Field	Value
Publication number	US-9434070-B2
Application number	US-201414532710-A
Country	US
Kind code	B2
Filing date	Nov 4, 2014
Priority date	Nov 5, 2013
Publication date	Sep 6, 2016
Grant date	Sep 6, 2016

Abstract

An article pickup apparatus configured so as to measure surface positions of articles by a three-dimensional measurement instrument to acquire position information of three-dimensional points, calculate a density distribution indicating a degree of a distribution of the three-dimensional points in a three-dimensional space based on the measured position information, calculate a density local maximum position where a density is locally maximized based on the density distribution, calculate a hand position posture which is a position and a posture of the hand capable of picking up an article at the density local maximum position based on the density local maximum position calculated, and control the robot so as to move the hand to the hand position posture to pick up the article.

First claim

The invention claimed is:

1. An article pickup apparatus comprising:
a robot including a hand capable of holding an article;
a three-dimensional measurement instrument measuring surface positions of a plurality of articles randomly piled on a three-dimensional space to acquire position information of a plurality of three-dimensional points;
a density calculation unit calculating a density distribution indicating a degree of a distribution of the plurality of three-dimensional points in the three-dimensional space, based on the position information measured by the three-dimensional measurement instrument;
a local maximum position calculation unit calculating a density local maximum position where a density is locally maximized, based on the density distribution calculated by the density calculation unit;
a hand position posture calculation unit calculating a hand position posture based on the density local maximum position calculated by the local maximum position calculation unit, the hand position posture being a position and a posture of the hand capable of picking up an article at the density local maximum position or in the vicinity of the density local maximum position; and
a robot control unit controlling the robot so as to move the hand to the hand position posture calculated by the hand position posture calculation unit to pick up the article.

2. The article pickup apparatus according to claim 1 , wherein
the density calculation unit includes:
a face calculation unit calculating a plane or a curved surface approximating the plurality of three-dimensional points acquired by the three-dimensional measurement instrument; and
a projection point calculation unit calculating positions of projection points obtained by projecting the plurality of three-dimensional points onto the plane or the curved surface calculated by the face calculation unit,

wherein the density calculation unit determines a number of the projection points located within a predetermined distance from a density measurement point on the plane or the curved surface, determines a density of the projection points in the density measurement point according to the number of the projection points, and calculates the density distribution using the density of the projection points.

3. The article pickup apparatus according to claim 1 , further comprising
a set setting unit setting sets composed of the three-dimensional points present in the vicinity of each other among the plurality of three-dimensional points, wherein
the density calculation unit calculates the density distribution for each of the sets using the three-dimensional points included in the set, and
the local maximum position calculation unit calculates the density local maximum position for each of the sets.

4. The article pickup apparatus according to claim 3 , wherein
the sets are connected sets made by connecting the three-dimensional points present in the vicinity of each other among the plurality of three-dimensional points.

5. The article pickup apparatus according to claim 1 , further comprising
a set setting unit setting a set composed of the three-dimensional points in a region including the density local maximum position calculated by the local maximum position calculation unit, wherein
the density calculation unit calculates a representative position representing the set, based on position information of the three-dimensional points included in the set, and
the hand position posture calculation unit calculates the hand position posture based on the representative position calculated by the density calculation unit and position information of three-dimensional points around the representative position.

6. An article pickup method for picking up a plurality of articles randomly piled on a three-dimensional space using a robot including a hand capable of holding an article, the method comprising:
measuring surface positions of the plurality of articles randomly piled by a three-dimensional measurement instrument to acquire position information of a plurality of three-dimensional points;
calculating a density distribution indicating a degree of a distribution of the plurality of three-dimensional points in the three-dimensional space, based on the position information measured by the three-dimensional measurement instrument;
calculating a density local maximum position where a density is locally maximized, based on the density distribution calculated;
calculating a hand position posture based on the density local maximum position calculated, the hand position posture being a position and a posture of the hand capable of picking up an article at the density local maximum position or in the vicinity of the density local maximum position; and
controlling the robot so as to move the hand to the hand position posture calculated to pick up the article.

Assignees

• Fanuc Corp

Inventors

• Satou Taiga

Classifications

• G05B2219/40609

  Camera to monitor end effector as well as object to be handled · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• G05B2219/40564

  Recognize shape, contour of object, extract position and orientation · CPC title

• G05B2219/40053

  Pick 3-D object from pile of objects · CPC title

• B65G47/905

  Control arrangements · CPC title