US Patent No. 9,434,070


Patent No. 9,434,070
Issue Date September 06, 2016
Title Apparatus And Method For Picking Up Article Randomly Piled Using Robot
Inventorship Taiga Satou, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,434,070

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.