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Title:
DEVICE AND METHOD FOR RECOGNIZING BAGLIKE WORKPIECE
Document Type and Number:
Japanese Patent JP2010256209
Kind Code:
A
Abstract:

To provide a device and a method for recognizing a baglike workpiece for precisely detecting the position and posture of the baglike workpiece to be picked with an unshaped baglike workpiece as a target.

The baglike workpiece recognition device includes: a distance sensor 12 for measuring three-dimensional shapes of a plurality of baglike workpieces 1 having smooth surfaces; and an object recognition processor for recognizing the positions and postures of the baglike workpieces to be picked from three-dimensional shapes for outputting the results to a robot control unit. The object recognition processor allocates label values differing for the respective baglike workpieces from angles of normal vectors of the three-dimensional shapes by regarding the discontinuous sections as boundaries of the baglike workpieces and recognizes the positions and postures of the baglike workpieces for the respective label values each.


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Inventors:
KOWASHI NOBUYA
INOUE TOMOHIRO
HAYASHI TOSHIHIRO
KONO YUKIHIRO
Application Number:
JP2009107521A
Publication Date:
November 11, 2010
Filing Date:
April 27, 2009
Export Citation:
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Assignee:
IHI CORP
International Classes:
G01B11/00; G01B11/26
Domestic Patent References:
JPH04244391A1992-09-01
JP2005244518A2005-09-08
JPH11300683A1999-11-02
JP2006072873A2006-03-16
JP3849514B22006-11-22
JP3919932B22007-05-30
JP2008309671A2008-12-25
JPH0370084A1991-03-26
JPH05280941A1993-10-29
JPH0644363A1994-02-18
JPH0783614A1995-03-28
JPH0788791A1995-04-04
JPH09212643A1997-08-15
JPH11291187A1999-10-26
Attorney, Agent or Firm:
Minoru Hotta
Yasuharu Nakasone
Toshihiro Nomura



 
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