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Automated system for locating and transferring objects on a conveyor belt

  • US 5,040,056 A
  • Filed: 01/29/1990
  • Issued: 08/13/1991
  • Est. Priority Date: 01/29/1990
  • Status: Expired due to Fees
First Claim
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1. A method for picking up objects from a moving conveyor belt and transferring them to a destination, comprising:

  • receiving a pixel image of a first vision window image portion of said belt containing images of said objects using first image-receiving means;

    digitizing said first vision window image by assigning a gray scale level and a coordinate location to the pixels in said first vision window image;

    electronically determining and transmitting, utilizing first data transmission means, the locations of at least one of said objects represented by object images in said first vision window image to a first motion controller directing a first robot means associated with said first image-receiving means located in the direction of belt travel with respect to said first image-receiving means;

    picking up at least one of said objects represented by object images in said first vision window image, the locations of which were transmitted to said first motion controller, using said first robot means;

    transmitting, utilizing second data transmission means, the locations of at least one of the objects represented by object images in said first vision window image which were not picked up by said first robot means, from said first motion controller to a second motion controller directing a second robot means associated with said first image-receiving means located in the direction of belt travel with respect to said first robot means; and

    picking up at least one of said objects represented by object images in said first vision window image, the locations of which were transmitted to said second motion controller, using said second robot means.

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