摘要:
Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.
摘要:
Methods and systems for recognizing machine-readable information on three-dimensional (3D) objects are described. A robotic manipulator may move at least one physical object through a designated area in space. As the at least one physical object is being moved through the designated area, one or more optical sensors may determine a location of a machine-readable code on the at least one physical object and, based on the determined location, scan the machine-readable code so as to determine information associated with the at least one physical object encoded in the machine-readable code. Based on the information associated with the at least one physical object, a computing device may then determine a respective location in a physical environment of the robotic manipulator at which to place the at least one physical object. The robotic manipulator may then be directed to place the at least one physical object at the respective location.
摘要:
Example embodiments provide for robotic apparatuses that facilitate moving objects within an environment, such as to load or unload boxes or to construct or deconstruct pallets (e.g., from a container or truck bed). One example apparatus includes a horizontal conveyor and a robotic manipulator that are both provided on a moveable cart. A first end of the robotic manipulator is mounted to the moveable cart and a second end of the robotic manipulator has an end effector, such as a grasper. The apparatus also includes a control system configured to receive sensor data indicative of an environment containing a plurality of objects, and then cause the robotic manipulator to place an object from the plurality of objects on the horizontal conveyor.
摘要:
Example systems and methods allow for dynamic updating of a plan to move objects using a robotic device. One example method includes determining a virtual environment by one or more processors based on sensor data received from one or more sensors, the virtual environment representing a physical environment containing a plurality of physical objects, developing a plan, based on the virtual environment, to cause a robotic manipulator to move one or more of the physical objects in the physical environment, causing the robotic manipulator to perform a first action according to the plan, receiving updated sensor data from the one or more sensors after the robotic manipulator performs the first action, modifying the virtual environment based on the updated sensor data, determining one or more modifications to the plan based on the modified virtual environment, and causing the robotic manipulator to perform a second action according to the modified plan.
摘要:
Methods and systems for detecting and reconstructing environments to facilitate robotic interaction with such environments are described. An example method may involve determining a three-dimensional (3D) virtual environment representative of a physical environment of the robotic manipulator including a plurality of 3D virtual objects corresponding to respective physical objects in the physical environment. The method may then involve determining two-dimensional (2D) images of the virtual environment including 2D depth maps. The method may then involve determining portions of the 2D images that correspond to a given one or more physical objects. The method may then involve determining, based on the portions and the 2D depth maps, 3D models corresponding to the portions. The method may then involve, based on the 3D models, selecting a physical object from the given one or more physical objects. The method may then involve providing an instruction to the robotic manipulator to move that object.
摘要:
Device to grip and manipulate bobbins of textile thread, used to grip, move and transport cops (10) after the textile thread has been wound on, the cops (10) having an inner cavity (10c) and flanges (10b) at the ends, the device being suitable to cooperate with at least one end of the cop (10), the end of the cop (10) including toothed clamping means (18) protruding therefrom and facing outwards, the gripper device including at least a central body (13) suitable to be inserted at least partly inside the inner cavity (10c) of the cop (10) and cooperating with the wall of the inner cavity (10c), the central body (13) being associated with an elastic type clamp/release device governed by the activation of at least a drive button (14), the clamp/release device including a first position of elastic clamping and a second release position.
摘要:
The handling of textile bobbins and textile bobbin tubes, particularly in yarn end preparation of textile bobbins, is improved by the pallet of the present invention which has an arbor of longer axial length than the textile bobbin tube it supports so as to protrude sufficiently from the textile bobbin tube that the arbor can be gripped while the textile bobbin remains supported on the pallet. A releasable connection between the base plate and arbor of the pallet in the preferred form of a functionally detachable plug-type snap connection allows for a temporary separation of these components. A pot-like covering body for the textile bobbin is connected to the base plate, particularly for conical or cylindrical cross-wound bobbins.
摘要:
A hand-held spool transport tool including a tubular body having a base end, a tip end, a plunging compartment formed therein near the tip end, and a trigger compartment formed therein near the base end; a generally dome-shaped forward guide axially aligned with the body and coupled to the tip end thereof; a pair of generally opposed elongated claws with each claw having an inboard end and an outboard end and with each inboard end pivotally coupled to the body; a handle coupled to the base end of the body for allowing a user a firm grip; a plunger slidably extended between the plunging compartment and the trigger compartment; a pair of wire cables with each wire cable secured between the plunger and one of the outboard ends of one of the claws; a spring mechanism for urging the plunger toward the forward guide; and a user-actuatable trigger mechanism secured to the plunger for extending and retracting the claws.
摘要:
Apparatus for transporting packaging material supply reels from a storage location to a consumption station which includes a gripping mechanism for engaging the core tube of the supply reel and a support for the gripping mechanism, the support permitting the gripping mechanism to be moved in three mutually perpendicular directions. The support includes a pair of angularly arranged, pivotal contact arms which define an angle, the axis of the gripping means lying in a plane which bisects the angle between the contact arms. Deflection of both arms to preselected angular positions against a resiliant bias will be indicative of establishment of a coaxial relationship between the gripping mechanism and the core of the supply reel whereupon the gripping mechanism may be inserted into the core for engagement therewith and subsequent reel transfer.
摘要:
An apparatus for grasping spun yarn carriers in spinning machines or twisting machines is enabled to clamp spun yarn carriers of different nominal diameter ranges by the provision of a stationary clamping element formed by a common holder and a set of detachable interchangeable clamping elements selectively mountable to and demountable from the holder. Each of the interchangeable clamping elements is associated with a specific predetermined nominal diameter range of spun yarn carriers.