Title:
箱状物ピッキング装置及びその方法
Document Type and Number:
Japanese Patent JP7065632
Kind Code:
B2
Abstract:
To provide a box-shaped object picking device capable of automatically confirming and measuring a box-shaped object being a gripping object.SOLUTION: The box-shaped object picking device comprises: cutting means (step S2) for cutting a plane image from whole of each of a plurality of box-shaped picking objects, based on three-dimensional point group information and a two-dimensional image; conversion means (step S3) for converting the cut plane image into a front image; region determination means (step S4) for finding a common pattern from the converted front images, for determining a box-shaped region; position posture output means (step S6) for outputting a three-dimensional position posture of the box-shaped picking object being a gripping object, based on three-dimensional point group information belonging to the determined region of the box-shaped object; and a robot for gripping the box-shaped picking object being the gripping object and transferring the same, based on the output three-dimensional position posture.SELECTED DRAWING: Figure 2
Inventors:
Su Edmond
Akatsuki Ushi
Xu Go
Tomohiro Nakamichi
Suzuki Katsuhide
Junji Miyake
Tsutomu Ishida
Akatsuki Ushi
Xu Go
Tomohiro Nakamichi
Suzuki Katsuhide
Junji Miyake
Tsutomu Ishida
Application Number:
JP2018023430A
Publication Date:
May 12, 2022
Filing Date:
February 13, 2018
Export Citation:
Assignee:
Kyoto Robotics Co., Ltd.
International Classes:
B65G59/02; B25J13/08; G06T7/70; G06T7/73
Domestic Patent References:
| JP2015114292A | ||||
| JP10031742A | ||||
| JP2016170050A | ||||
| JP2011070602A | ||||
| JP3130808A | ||||
| JP2006300929A | ||||
| JP2010247959A |
Foreign References:
| US9102055 |
Attorney, Agent or Firm:
Hiroshi Masaki
Yuko Mikami
Yuko Mikami
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