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:
Mar. 28, 2017
Filed:
May. 08, 2015
Toshiba Kikai Kabushiki Kaisha, Chiyoda-ku, Tokyo-to, JP;
Yasunori Nishihara, Numazu, JP;
TOSHIBA KIKAI KABUSHIKI KAISHA, Tokyo, JP;
Abstract
A picking apparatus includes: a three-dimensional imaging device configured to three-dimensionally-image workpieces contained in bulk in a container; a robot arm having a hand capable of gripping a workpiece; and a control device configured to control an operation of the robot arm; the control device is configured: to recognize a position and a posture of a target workpiece, based on an imaging result of the three-dimensional imaging device; to obtain an gripping position of the workpiece and an approach vector thereof, based on the recognized position and posture information; to calculate an intersection point between a straight line extending along the approach vector through the gripping position and a plane including an opening of the container; and to judge whether the workpiece can be picked or not, based on a positional relationship between the intersection point and the opening.