Patent ID: 9561593
Date: 2017-02-07
CPC Classifications: B25J,G05B

Claim:
1. A working method using a sensor, comprising: acquiring image and depth information of a pile of objects using a visual sensor, the pile of objects including an object; extracting a region of an object in the pile of objects that corresponds to a region of a standard model having an angle that is the same as an angle of the extracted region of the object in x-axis, y-axis, and z-axis directions using the image and depth information of the pile of objects; calculating a local point of the extracted region of the object and measuring a distance to the local point using a distance sensor; picking the object on the basis of the measured distance; moving the object to a predetermined place; acquiring an image of the object after the object has been moved; detecting an edge of the object from the image of the object; extracting a feature of the detected edge; and estimating an angle of the object after the object has been moved by comparing the extracted feature of the detected edge with an edge of a predetermined object standard model included in an object image database, wherein the object image database includes stored images of the object acquired under a variety of illumination environments and at a plurality of rotation angles, and wherein estimating the angle of the object includes reducing an illumination influence on the image of the object using the predetermined object standard model of the object image database.