Detection, localization and picking up of coil springs from a pile

Keitaro Ono, Takuya Ogawa, Yusuke Maeda, Shigeki Nakatani, Go Nagayasu, Ryo Shimizu, Noritaka Ouchi

    Abstract

    Picking of parts loaded in bulk is an industrial need. Thus bin-picking systems for various objects have ever been studied by various ways. However, it is difficult to recognize coil springs randomly placed in a pile by conventional machine vision techniques because of their shape characteristics. In this paper, we propose a method of recognition and pose estimation of coil springs. This method uses their highlights made by illumination for their recognition and pose estimation with stereo vision. We implemented this method as a bin-picking system with an industrial robot. Bin-picking of coil springs was successfully demonstrated on the system. Position errors were less than 2 mm. The average success rate for a coil spring in the part box was 94% when multiple retrials of picking were allowed. This rate could be improved by implementation of collision avoidance.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages3477-3482
    Number of pages6
    DOIs
    StatePublished - 2014 Sep 22
    Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China

    Other

    Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
    CountryChina
    CityHong Kong
    Period14/5/3114/6/7

    Fingerprint

    Bins
    Piles
    Stereo vision
    Industrial robots
    Collision avoidance
    Computer vision
    Lighting

    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Ono, K., Ogawa, T., Maeda, Y., Nakatani, S., Nagayasu, G., Shimizu, R., & Ouchi, N. (2014). Detection, localization and picking up of coil springs from a pile. In Proceedings - IEEE International Conference on Robotics and Automation. (pp. 3477-3482). [6907360] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/ICRA.2014.6907360

    Detection, localization and picking up of coil springs from a pile. / Ono, Keitaro; Ogawa, Takuya; Maeda, Yusuke; Nakatani, Shigeki; Nagayasu, Go; Shimizu, Ryo; Ouchi, Noritaka.

    Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3477-3482 6907360.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Ono, K, Ogawa, T, Maeda, Y, Nakatani, S, Nagayasu, G, Shimizu, R & Ouchi, N 2014, Detection, localization and picking up of coil springs from a pile. in Proceedings - IEEE International Conference on Robotics and Automation., 6907360, Institute of Electrical and Electronics Engineers Inc., pp. 3477-3482, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31-7 June. DOI: 10.1109/ICRA.2014.6907360
    Ono K, Ogawa T, Maeda Y, Nakatani S, Nagayasu G, Shimizu R et al. Detection, localization and picking up of coil springs from a pile. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc.2014. p. 3477-3482. 6907360. Available from, DOI: 10.1109/ICRA.2014.6907360

    Ono, Keitaro; Ogawa, Takuya; Maeda, Yusuke; Nakatani, Shigeki; Nagayasu, Go; Shimizu, Ryo; Ouchi, Noritaka / Detection, localization and picking up of coil springs from a pile.

    Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3477-3482 6907360.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

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