公开(公告)号：US20150262012A1

公开(公告)日：2015-09-17

申请号：US14621329

申请日：2015-02-12

Applicant: Electronics and Telecommunications Research Institute

Inventor： Kye Kyung KIM ,  Sang Seung KANG ,  Jae Yeon LEE ,  Jae Hong KIM ,  Joong Bae KIM ,  Jong Hyun PARK

IPC: G06K9/00 ,  G06K9/62 ,  G06T7/00 ,  G06K9/46

CPC classification number: G06T7/75 ,  G06K9/3241 ,  G06K2209/19 ,  G06T2207/30164

Abstract: The present invention relates to a device and a method of detecting arbitrarily piled objects, and a device and a method for picking a detected object. The present invention may provide a device and a method of detecting an object, which extract a unique local characterized part of the object by using a visual sensor, detect an object region, and estimate a posture from the detected object region. Also the present invention may provide an object picking system capable of being applied to an actual production process, such as assembling or packaging, in a cell producing method.

Abstract translation: 本发明涉及一种检测任意堆积的物体的装置和方法，以及用于拾取被检测物体的装置和方法。 本发明可以提供一种检测物体的装置和方法，其通过使用视觉传感器，检测对象区域以及从检测到的对象区域估计姿势来提取对象的唯一的局部特征化部分。 此外，本发明还可以提供一种能够应用于细胞生产方法中的实际生产过程，例如组装或包装的物体拾取系统。

公开(公告)号：US20140100696A1

公开(公告)日：2014-04-10

申请号：US13940186

申请日：2013-07-11

Applicant: Electronics and Telecommunications Research Institute

Inventor： Kye Kyung KIM ,  Sang Seung KANG ,  Jae Yeon LEE ,  Joong Bae KIM ,  Jae Hong KIM ,  Jong Hyun PARK

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  G05B2219/40053 ,  G05B2219/45063

Abstract: Disclosed is a working method using a sensor, which increases recognition of a component to increase mounting of a component and enhancing productivity. The working method includes: extracting an object to be picked from a pile of objects using the sensor; picking the extracted object to move the picked object to a predetermined place; and estimating an angle of the moved object in the current position using the sensor. Accordingly, the working method can perform precise component recognition and posture estimation by two steps: a component picking step and a component recognition step, and effectively apply to a manufacturing line, thereby improving mounting of a component and enhancing productivity of a product.

Abstract translation: 公开了一种使用传感器的工作方法，其增加了部件的识别以增加部件的安装并提高生产率。 该工作方法包括：使用传感器从一堆物体中提取要拾取的物体; 拾取提取的物体将拾取的物体移动到预定的位置; 以及使用所述传感器估计当前位置中的被移动物体的角度。 因此，工作方法可以通过以下两个步骤执行精确的部件识别和姿势估计：部件拾取步骤和部件识别步骤，并且有效地应用于生产线，从而改进部件的安装并提高产品的生产率。