The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 14, 2015
Filed:
Jul. 24, 2013
Fanuc Corporation, Minamitsuru-gun, Yamanashi, JP;
Hidetoshi Kumiya, Minamitsuru-gun, JP;
FANUC Corporation, Minamitsuru-gun, Yamanashi, JP;
Abstract
An article take-out apparatus comprising: a robot having a hand capable of holding an article; a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space to acquire a 3D point set composed of a plurality of 3D points; a local maximum point selecting unit selecting from the 3D point set a 3D point, where a coordinate value with respect to a predetermined coordinate axis is maximum; a processing unit determining a hand position and posture including a target position and target posture of the hand enabling an article near the local maximum point to be taken out based on the selected local maximum point; and a robot control unit controlling the robot so as to move the hand to the determined hand position and posture and take out the article from the hand position and posture.