초록

In one embodiment of the present invention, a system for lifting objects comprises a Cartesian manipulator, a machine vision system for acquiring video images of the objects, and a control processor for processing the video images and providing position command signals to the Cartesian manipulator.

대표청구항 ▼

1. A system for lifting objects comprising:a robotic manipulator; a distance sensor adapted to acquire object height measurements of said objects; a light plane projector adapted to illuminate said objects; a video camera adapted to acquire video images of said objects; and a control processor adapt

1. A system for lifting objects comprising:a robotic manipulator; a distance sensor adapted to acquire object height measurements of said objects; a light plane projector adapted to illuminate said objects; a video camera adapted to acquire video images of said objects; and a control processor adapted to process said video images and said object height measurements and provide control signals to said robotic manipulator by implementing a polygonal object location method to provide position command signals to said Cartesian manipulator, said polygonal object location method comprising: acquiring a video image of said polygonal object using a machine vision system, at least one component of said machine vision system being disposed on a component carrying link of a robotic manipulator; locating, in said video image, a new edge point corresponding to a respective edge of said polygonal object; incorporating said new edge point into a historical point set; computing a plurality of edge lines from said historical point set; computing a polygon center from said edge lines; and commanding said robotic manipulator to move an end effector toward said polygon center by moving said component carrying link.