公开(公告)号：US20100114363A1

公开(公告)日：2010-05-06

申请号：US12529257

申请日：2008-03-04

申请人： Patrizio Cardoni

发明人： Patrizio Cardoni

IPC分类号： G06F7/00 ,  B66C1/42

CPC分类号： B25J9/1612 ,  B25J9/1694 ,  G05B2219/37054 ,  G05B2219/37286 ,  G05B2219/37319 ,  G05B2219/39487 ,  G05B2219/39497 ,  G05B2219/39507 ,  G05B2219/39513 ,  G05B2219/39531 ,  G05B2219/39532 ,  G05B2219/39534 ,  G05B2219/40053 ,  G05B2219/40252 ,  G05B2219/40564 ,  G05B2219/40567 ,  G05B2219/45045

摘要： A method for recognizing, collecting and repositioning objects (1) having non-predetermined dimensional characteristics and which are arranged on a support surface (2) is implemented by means of a gripper group (30). The gripper group (30) is mobile in at least a lengthwise direction of movement relative to an object (1) to be handled, a direction of moving towards/away from the object (1), and a direction of adjustment of the height relative to the object (1). The gripper group (30) is controlled by a computerized control unit. The method comprises the following operating stages: a stage of approaching and recognizing an object (1), comprising the approximately-set approach of the gripper group (30) to the object (1), performed with the assistance of positional information stored in the control unit; identification of the outline of the object (1), by perpendicular three-dimensional scanning performed, using sequences of movements of the gripper group (30), by means for gauging punctual distance (50) arranged near at least one finger (35, 36) of the gripper group (30), and by sensor means (55) for detecting the presence of the object (1), which identify the depth of the object and are arranged at the head of the fingers (35, 36); a stage of gripping the object (1); a stage of collection the object (1), comprising operations of lifting and moving the object (1).

摘要翻译： 用于识别，收集和重新定位具有非预定尺寸特征并且布置在支撑表面（2）上的物体（1）的方法通过夹持器组（30）来实现。 夹具组30可相对于要被处理的物体（1）至少沿长度方向移动，朝向/远离物体（1）移动的方向以及高度相对的调节方向 到对象（1）。 夹具组（30）由计算机控制单元控制。 该方法包括以下操作阶段：接近和识别对象（1）的阶段，包括夹具组（30）到对象（1）的近似设置的方式，借助于存储在对象 控制单元 通过垂直三维扫描来进行物体（1）的轮廓的识别，通过使用排列在至少一个手指（35,36）附近的准时距离（50）的装置，使用夹持器组（30）的运动顺序 ）和用于检测物体（1）的存在的传感器装置（55），其识别物体的深度并布置在手指（35,36）的头部; 夹持物体（1）的阶段; 收集物体（1）的阶段，包括提升和移动物体（1）的操作。

公开(公告)号：US08467898B2

公开(公告)日：2013-06-18

申请号：US12529257

申请日：2008-03-04

申请人： Patrizio Cardoni

发明人： Patrizio Cardoni

IPC分类号： G06F7/00

CPC分类号： B25J9/1612 ,  B25J9/1694 ,  G05B2219/37054 ,  G05B2219/37286 ,  G05B2219/37319 ,  G05B2219/39487 ,  G05B2219/39497 ,  G05B2219/39507 ,  G05B2219/39513 ,  G05B2219/39531 ,  G05B2219/39532 ,  G05B2219/39534 ,  G05B2219/40053 ,  G05B2219/40252 ,  G05B2219/40564 ,  G05B2219/40567 ,  G05B2219/45045

摘要： A method for recognizing, collecting and repositioning objects (1) having non-predetermined dimensional characteristics and which are arranged on a support surface (2) is implemented by means of a gripper group (30). The gripper group (30) is mobile in at least a lengthwise direction of movement relative to an object (1) to be handled, a direction of moving towards/away from the object (1), and a direction of adjustment of the height relative to the object (1). The gripper group (30) is controlled by a computerized control unit. The method comprises the following operating stages: a stage of approaching and recognizing an object (1), comprising the approximately-set approach of the gripper group (30) to the object (1), performed with the assistance of positional information stored in the control unit; identification of the outline of the object (1), by perpendicular three-dimensional scanning performed, using sequences of movements of the gripper group (30), by means for gauging punctual distance (50) arranged near at least one finger (35, 36) of the gripper group (30), and by sensor means (55) for detecting the presence of the object (1), which identify the depth of the object and are arranged at the head of the fingers (35, 36); a stage of gripping the object (1); a stage of collection the object (1), comprising operations of lifting and moving the object (1).

摘要翻译： 用于识别，收集和重新定位具有非预定尺寸特征并且布置在支撑表面（2）上的物体（1）的方法通过夹持器组（30）来实现。 夹具组30可相对于要被处理的物体（1）至少沿长度方向移动，朝向/远离物体（1）移动的方向以及高度相对的调节方向 到对象（1）。 夹具组（30）由计算机控制单元控制。 该方法包括以下操作阶段：接近和识别对象（1）的阶段，包括夹具组（30）到对象（1）的近似设置的方式，借助于存储在对象 控制单元 通过垂直三维扫描来进行物体（1）的轮廓的识别，通过使用排列在至少一个手指（35,36）附近的准时距离（50）的装置，使用夹持器组（30）的运动顺序 ）和用于检测物体（1）的存在的传感器装置（55），其识别物体的深度并布置在手指（35,36）的头部; 夹持物体（1）的阶段; 收集物体（1）的阶段，包括提升和移动物体（1）的操作。