{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9604364","patent":{"patent_number":"US-9604364","title":"Picking apparatus and picking method","assignee":null,"inventors":[],"filing_date":"2015-05-08T00:00:00.000Z","publication_date":"2017-03-28T00:00:00.000Z","cpc_codes":["B25J","G05B","G05B","G05B"],"num_claims":18,"abstract":"A picking apparatus includes: a three-dimensional imaging device configured to three-dimensionally-image workpieces contained in bulk in a container; a robot arm having a hand capable of gripping a workpiece; and a control device configured to control an operation of the robot arm; the control device is configured: to recognize a position and a posture of a target workpiece, based on an imaging result of the three-dimensional imaging device; to obtain an gripping position of the workpiece and an approach vector thereof, based on the recognized position and posture information; to calculate an intersection point between a straight line extending along the approach vector through the gripping position and a plane including an opening of the container; and to judge whether the workpiece can be picked or not, based on a positional relationship between the intersection point and the opening."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Picking apparatus and picking method","description":"A picking apparatus includes: a three-dimensional imaging device configured to three-dimensionally-image workpieces contained in bulk in a container; a robot arm having a hand capable of gripping a wo","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9604364","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9604364","citation_suggestion":"Patentable. \"Picking apparatus and picking method\" (US-9604364). https://patentable.app/patents/US-9604364","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9604364","json":"https://patentable.app/api/llm-context/US-9604364","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T09:00:26.788Z"}