Acoustical/optical bin picking system

• US 4,985,846 A
• Filed: 05/11/1989
• Issued: 01/15/1991
• Est. Priority Date: 05/11/1989
• Status: Expired due to Fees

• Current Assignee: Patrick J. Fallon
• Original Assignee: Patrick J. Fallon
• Inventors: Fallon, Patrick J.
• Primary Examiner(s): MACDONALD, ALLEN R
• Application Number:
  US07/350,164
• Time in Patent Office: 614 Days
• Field of Search: 364/513, 364/468, 364/478, 358/101, 358/107, 382/8, 382/25, 901/47
• US Class Current: 382/153
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/37557 Camera for coarse, acoustic array for fine vision
• CPC Class Codes: G06T 1/0014 Image feed-back for automatic industrial control, e.g. robot with camera robots B25J19/023

Abstract

A bin picking system for a robot manipulator arm using a combination of a video camera and an acoustical transducer array to locate and drive the manipulator arm to grasp randomly oriented, overlapping parts. The system comprises memory for storing an image of the part showing a predetermined feature in a predetermined orientation; acoustic transducer mounted on the manipulator arm for emitting and receiving acoustic signals and converting the acoustic signals to electrical signals; and first control for sluing the manipulator arm over a predetermined area of the bin to locate the closest part and generate a bearing signal representative of the bearing and distance to the part. The system includes a video device for capturing a current image of the part at this bearing and comparing the image with the stored image to identify and locate the feature; means for calculating a drive bearing to the centroid of the part from the location of the feature and the bearing signal and moving the manipulator along the drive bearing to a predetermined distance from the part; acoustic transducer array mounted on the manipulator for emitting and receiving acoustic signals and converting the received signals to electrical signals proportional to the aspect of the object when the manipulator is positioned the predetermined distance from the object along the drive bearing; and second control means for interpreting the electrical signals from the array means and comparing these signals to a stored image to produce an error drive signal to the manipulator.

Claims

1. A system for gripping with a robot manipulator a randomly oriented shaped object having a predetermined feature, said manipulator gripping said object in a predetermined orientation, said system comprising:

memory means for storing an image of said object, said stored image of said object showing said predetermined feature on said object in said predetermined orientation;

acoustic transducer means mounted on said manipulator for emitting and receiving acoustic signals and converting said acoustic signals received to electrical signals;

first control means for sluing said manipulator over a predetermined area within which said object is located and for evaluating said received electrical signals to locate said object and generate a bearing signal representative of the bearing and distance to said object;

video means for capturing a current image of said object at said bearing and comparing said image with said stored image of said object to identify and locate said feature on said object;

means for calculating a drive bearing to the centroid of said object from the location of said feature and said bearing signal and moving said manipulator along said drive bearing to a predetermined distance from said object;

acoustic transducer array means mounted on said manipulator emitting and receiving acoustic signals and converting said received signals to electrical signals proportional to the aspect of said object when said manipulator is positioned said predetermined distance from said object along said drive bearing;

second control means for interpreting said electrical signals from said array means and comparing said signals to said stored image to produce an error drive signal to said manipulator, said error drive signal being proportional to the error between said aspect of said object and the position of said manipulator, said drive signal moving said manipulator along said drive bearing to null said error drive signal thus orienting said manipulator to grip said object in said predetermined orientation when said error drive signal is nulled.

2. The system according to claim 1 wherein said video means comprises:

camera means spaced from and directed toward said object for capturing an electronic image of said object;

a laser light source spaced from said object and said camera means, said source being aimed along said bearing to said feature; and

signal processing means connected to said camera means for evaluating light reflected by said feature to said camera means to confirm the location of said feature.

3. The system according to claim 1 wherein said manipulator includes an articulated gripper assembly having a pair of opposing gripping fingers for grasping said object, said acoustic transducer means comprising an acoustic transducer centrally located between said fingers, and signal processing means for comparing said emitted and received acoustic signals to determine the distance between said object and said transducer.

4. The system according to claim 3 wherein said memory means, said first and second control means and said means for calculating comprise a digital computer.

5. A method for finding and gripping with a robot manipulator a randomly oriented shaped object in a predetermined orientation from a bin of vertically shaped objects, said manipulator including a gripper assembly having an articulated wrist having an opposing pair of gripping fingers for grasping said shaped objects, said method comprising the steps of:

a. positioning said gripping assembly over said bin;

b. activating an acoustic transducer mounted between said fingers so as to emit and receive acoustic pulses;

c. sluing said wrist in a predetermined path over a portion of said bin;

d. calculating the phase difference between said emitted and received pulses to determine a closest object in said bin;

e. generating an electrical signal proportional to the bearing of said closest object;

f. focusing a video camera on said bearing to capture an image of said closest object;

g. comparing said image with a stored image of said object to identify a feature on said object;

h. generating a bearing from said camera to said feature;

i. directing a laser light beam along said bearing to said feature, said light beam reflecting from said feature;

j. detecting and comparing the intensity reflected laser light from said feature to a predetermined intensity to confirm the location of said feature;

k. calculating a bearing to the centroid of said object if the feature location is confirmed;

l. driving said gripper assembly to a predetermined distance from said object along said bearing to the centroid of said object;

m. activating a planar array of acoustic transducers mounted symmetrically on said gripper assembly to emit and receive acoustic signals;

n. processing said received acoustic signals from said array to determine the aspect of said object;

o. generating an error drive signal proportional to the error in position between said gripper assembly and said aspect and position of object;

p. moving said gripper assembly along said bearing to null said error drive signal; and

q. grasping said object with said fingers when said error drive signal is nulled thereby grasping said object in said predetermined orientation.