Estimating workpiece pose using the feature points method
First Claim
1. A robot system for acquiring unoriented unmodified workpieces from a bin which comprises:
- (a) a robot assembly which includesa hand to engage unoriented workpieces stored in the bin, at least some of the workpieces having three angles of uncertainty; and
an arm secured to the hand to translate and rotate the hand;
(b) a video imaging device to provide data corresponding to the workpieces in the bin, the workpiece being structurally distinct from the device, which data includes information based on the three angles of uncertainty and is sufficient to allow a candidate holdsite to be determined, the device defines line of sight optical paths and the hand is secured to the arm and adapted for movement along a line of sight optical path;
(c) means to store data corresponding to the relative positions of the bin, the device and the robot assembly, and the data provided by the device; and
(e) a computer communicating with the robot assembly, the device and the means to store the data which includesmeans to determine the position of the candidate holdsites; and
means to output data to the robot assembly to move the hand to engage the workpiece at the selective candidate holdsite and to remove subsequently the workpiece from the bin.
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Accused Products
Abstract
A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goalsite. The method is applicable to workpieces that have six continuous unknown degrees of freedom. Furthermore, partial occlusion of the workpiece by the robot hand is allowed.
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Citations
36 Claims
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1. A robot system for acquiring unoriented unmodified workpieces from a bin which comprises:
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(a) a robot assembly which includes a hand to engage unoriented workpieces stored in the bin, at least some of the workpieces having three angles of uncertainty; and an arm secured to the hand to translate and rotate the hand; (b) a video imaging device to provide data corresponding to the workpieces in the bin, the workpiece being structurally distinct from the device, which data includes information based on the three angles of uncertainty and is sufficient to allow a candidate holdsite to be determined, the device defines line of sight optical paths and the hand is secured to the arm and adapted for movement along a line of sight optical path; (c) means to store data corresponding to the relative positions of the bin, the device and the robot assembly, and the data provided by the device; and (e) a computer communicating with the robot assembly, the device and the means to store the data which includes means to determine the position of the candidate holdsites; and means to output data to the robot assembly to move the hand to engage the workpiece at the selective candidate holdsite and to remove subsequently the workpiece from the bin. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A robot system for determining the pose of an engaged workpiece which comprises:
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(a) a robot assembly which includes a hand to engage a workpiece and an arm to translate and rotate the hand; (b) a video imaging device which defines line of sight optical paths to the features of the workpiece, the features being defined in images obtained in at least two presentation poses; (c) means to store the data corresponding to the relative positions of the robot assembly and the device, and the data provided by the device; and (d) a computer communicating with the robot assembly, the device and the means to store, which includes means to compare the images obtained and to match them to a workpiece model and to determine the six dimensional position and orientation of the workpiece and means to output data to the robot assembly to control movement of the workpiece. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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17. A method of acquiring unoriented unmodified workpieces from a bin, the workpieces being structurally distinct from a video imaging device which collects data, at least some of the workpieces having three angles of uncertainty, which includes:
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(a) collecting data about candidate holdsites with a video imaging device which defines line of sight optical paths; (b) locating a candidate holdsite relative to the hand of a robot assembly, the robot assembly including an arm to translate and rotate the hand; (c) moving the hand along a line of sight optical path to engage the selected holdsite; and
,(d) engage the workpiece. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25)
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26. A method of determining the pose of a workpiece which includes:
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(a) engaging a workpiece with the hand of a robot assembly, the robot assembly including an arm to translate and rotate the hand; (b) moving the workpiece relative to a first presentation pose; (c) collecting data about the pose of the workpiece in a first pose by a video imaging device along a line of sight which device obtains images corresponding to features of the workpiece; (d) moving the workpiece relative to a second presentation pose; (e) collecting data about the pose of the workpiece in the second presentation pose by a video imaging device along a line of sight which device obtains images corresponding to features of the workpiece; and (f) establishing the position and orientation of the workpiece from the collected data by comparing the images obtained; and
matching the images to a workpiece model, which model comprises of three dimensional locations of features to determine the six dimensioned position and orientation of the workpiece. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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Specification