Patent ID: 9138895
Filing Date: 2015-09-22
Classification: B23Q,B25J,G05B,Y10S

Abstract:
1. A method for picking up an article using a robot arm, the method comprising: moving the robot arm having a camera mounted thereto in a space around the article; capturing images with the camera; processing the captured images with computer software to locate a machine-readable symbol affixed to the article, wherein the machine-readable symbol includes an orientation pattern for determining an orientation of the machine-readable symbol and encoded information pertaining to the article; decoding the machine-readable symbol to determine information pertaining to the article; determining an appropriate gripping tool from a plurality of available gripping tools based on the determined information pertaining to the article; determining with computer software whether the appropriate gripping tool is attached to the robot arm; if it is determined that the appropriate gripping tool is not attached to the robot arm, then removing any gripping tool attached to the robot arm, and attaching the appropriate gripping tool; processing the at least one captured image that includes the machine-readable symbol to determine x, y, and z coordinates and Rx, Ry, and Rz of the appropriate gripping tool attached to the robot arm with respect to the machine-readable symbol; determining a gripping location on the article based on the determined information pertaining to the article; determining a gripping motion path in which the robot arm moves to grip the article with the gripping tool based on the determined information pertaining to the article; moving the robot arm along the gripping motion path toward the gripping location; and actuating the gripping tool to grip the article at the gripping location.