US Patent No. 9,079,310

APPARATUS AND METHOD OF TAKING OUT BULK STORED ARTICLES BY ROBOT


Patent No. 9,079,310
Issue Date July 14, 2015
Title Apparatus And Method Of Taking Out Bulk Stored Articles By Robot
Inventorship Hidetoshi Kumiya, Minamitsuru-gun (JP)
Assignee FANUC Corporation, Minamitsuru-gun, Yamanashi (JP)

Claim of US Patent No. 9,079,310

1. An article take-out apparatus comprising:
a robot having a hand capable of holding an article;
a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space to acquire a 3D
point set composed of a plurality of 3D points;

a local maximum point selecting unit selecting from the 3D point set a 3D point, where a coordinate value with respect to
a predetermined coordinate axis is maximum, as a local maximum point;

a processing unit determining a hand position and posture including a target position and target posture of the hand enabling
an article near the local maximum point to be taken out, based on the local maximum point selected by the local maximum point
selecting unit; and

a robot control unit controlling the robot so as to move the hand to the hand position and posture determined by the processing
unit and take out the article from the hand position and posture,

wherein the processing unit comprises,
a first processing unit determining a local maximum point vicinity set which is a sub set of the 3D point set, the local maximum
point vicinity set including a set of 3D points including the local maximum point selected by the local maximum point selecting
unit,

a second processing unit determining a representative position which represents the local maximum point vicinity set, based
on positions of the 3D points included in the local maximum point vicinity set determined by the first processing unit, and

a third processing unit determining the hand position and posture corresponding to the representative position determined
by the second processing unit.