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公开(公告)号：US20210402595A1
公开(公告)日：2021-12-30
申请号：US17289887
申请日：2019-11-20
IPC分类号： B25J9/16
摘要： The invention relates to an optimization method for improving the reliability of a collection and discharge of articles in a picking process using a robot. An article is collected from or out of a first article carrier and is placed down or thrown into or onto a second article carrier by means of a gripping unit on the robot head. In an image processing step, a gripping position for the gripping unit is calculated for collecting the article(s) by determining at least one dimension based on a captured image and by a range allocation being determined by means of a comparison with dimension ranges. Depending on a confidence value, a dimension value is determined, from stored article reference data or from a normalization value of the dimension range and allocated to the determined dimension. In a preparation step, a mathematical scattering measure function is applied for the determined dimension and for the dimension ranges, and normalization values and confidence values of the dimension ranges are determined therefrom.
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2.发明申请公开(公告)号：US20210009351A1
公开(公告)日：2021-01-14
申请号：US16978232
申请日：2019-03-07
摘要： A robot system (2a . . . 2d) is specified, which comprises a robot (1a, 1b) having a gripping unit (4) for collecting and placing down/throwing goods (26a, . . . 26g), wherein the goods (26a, . . . 26g) are differentiated into multiple types with respect to their dimensional stability, compressive stability, flexural rigidity, strength, their absolute weight and/or specific weight. When the goods (26a, . . . 26g) are manipulated, the robot (1a, 1b) and/or the gripping unit (4) are controlled depending on the type determined for the goods (26a, . . . 26g). Moreover, a method for operating the robot system (2a, . . . 2d) is specified.
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3.发明公开公开(公告)号：US20240286837A1
公开(公告)日：2024-08-29
申请号：US18660409
申请日：2024-05-10
IPC分类号： B65G1/137 , B25J9/00 , B25J9/16 , B25J13/08 , B25J15/06 , G05B19/4155 , G06Q10/087
CPC分类号： B65G1/137 , B25J9/0093 , B25J9/1612 , B25J13/08 , B25J15/0616 , G05B19/4155 , G06Q10/087 , G05B2219/39561
摘要： A robot system includes a robot having a gripping unit for picking and placing down/throwing goods, wherein the goods are differentiated into multiple types with respect to their dimensional stability, compressive stability, flexural rigidity, strength, their absolute weight and/or specific weight. When the goods are manipulated, the robot and/or the gripping unit are controlled depending on the type determined for the goods. Moreover, a method operates the robot system.
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公开(公告)号：US20220332508A1
公开(公告)日：2022-10-20
申请号：US17636163
申请日：2020-08-21
IPC分类号： B65G1/137
摘要： A transport and manipulation system has an activity area in which a provisioning device is arranged which includes takeover and handover stations. The activity area includes a working area in which static workstations for manually executing processing orders are arranged, and a travel area, in which autonomous transport vehicles can move. Each transport vehicle is configured for automatically taking over a load carrier at the takeover station according to a transport order received, transporting it to a workstation and dispensing it there, or taking it over at the workstation, transporting it to the handover station and dispensing it there. The travel area includes first and second travel sections defining therein first and second travel speeds, respectively. The second travel speed is higher than the first travel speed. The second travel section is bounded against the first travel section, wherein transport vehicles can pass the boundary at a passing zone.
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公开(公告)号：US20200269432A1
公开(公告)日：2020-08-27
申请号：US16476154
申请日：2018-01-16
摘要： A method for picking objects is specified, in which at least one object is removed from a source loading aid and placed into a target loading aid using a robot. After the operation of removing the object, a first sensor system of the robot is used to check whether at least one object is held by the robot. A number and/or a type of the at least one removed object is ascertained using the second sensor system. The operation of placing the at least one object into the target loading aid is aborted or modified if no object is held by the robot or the number and/or the type of the at least one removed object does not contribute to completing the picking order, which defines a desired number and/or desired type of objects in the target loading aid. Furthermore, a device and a computer program product for performing the presented method is specified.
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