METHOD FOR TEACHING A ROBOTIC ARM TO PICK OR PLACE AN OBJECT
First Claim
1. A method for teaching a robot arm to pick and place an object, comprising:
- pushing the robot arm until a target appears within a vision of an eye-in-hand vision device;
setting an appearance position of the target as a visual point;
controlling the eye-in-hand vision device to capture a first image at a visual point;
pushing the robot arm to a target position from the visual point;
setting the target position as a pick and place point;
activating an automatic movement control of the robot arm;
automatically picking and placing the object by the robot arm and returns to the visual point from the pick and place point;
controlling the eye-in-hand vision device to capture a second image at the visual point; and
forming a differential image by subtracting the second image from the first image, setting the target image according to the differential image and automatically learning image characteristic of the target.
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Accused Products
Abstract
A method for teaching a robotic arm to pick or place an object includes the following steps. Firstly, the robot arm is pushed until a target appears within a vision. Then, an appearance position of the target is set as a visual point. Then, a first image is captured. Then, the robot arm is pushed to a target position from the visual point. Then, the target position is set as a pick and place point. Then, an automatic movement control of the robot arm is activated. Then, the robot arm automatically picks and places the object and returns to the visual point from the pick and place point. Then, a second image is captured. Then, a differential image is formed by subtracting the second image from the first image, the target image is set according to the differential image, and image characteristic of the target are automatically learned.
10 Citations
14 Claims
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1. A method for teaching a robot arm to pick and place an object, comprising:
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pushing the robot arm until a target appears within a vision of an eye-in-hand vision device; setting an appearance position of the target as a visual point; controlling the eye-in-hand vision device to capture a first image at a visual point; pushing the robot arm to a target position from the visual point; setting the target position as a pick and place point; activating an automatic movement control of the robot arm; automatically picking and placing the object by the robot arm and returns to the visual point from the pick and place point; controlling the eye-in-hand vision device to capture a second image at the visual point; and forming a differential image by subtracting the second image from the first image, setting the target image according to the differential image and automatically learning image characteristic of the target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification
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- Resources
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Current AssigneeTechman Robot Inc.
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Original AssigneeQuanta Storage Incorporated (AUO Corp.)
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InventorsHUANG, Chung-Hsien, HUANG, Shih-Jung
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Granted Patent
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Time in Patent OfficeDays
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Field of Search
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US Class Current
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CPC Class CodesB25J 9/1612 characterised by the hand, ...B25J 9/1697 Vision controlled systemsG05B 19/423 Teaching successive positio...G05B 2219/39543 Recognize object and plan h...
