Object recognition: Bin-picking for industrial use

摘要

This paper shows a method for object pose detection and gripping point determination that is successfully applied to industrial applications running a three-shift system. The industrial applications are fully automated feeding systems, commonly known as bin-picking. The proposed method for object detection is a generic approach to detect 6 degrees of freedom of any solid objects with arbitrary geometry. The proposed method is using 3D range data and is based on a heuristic tree search using a 6D pose voting scheme. For gripping point determination the object removal is simulated using the range data and a CAD model of the gripper in order to avoid any kind of collisions. During long-term operations in different use-cases, the method showed its usability regarding the crucial requirements, such as robustness, accuracy, portability and speed.