公开(公告)号：US20230390941A1

公开(公告)日：2023-12-07

申请号：US18034021

申请日：2021-10-26

Applicant: WOOTZANO LIMITED

Inventor： Jesse OPOKU ,  François MORINI ,  Mark BECKWITH ,  Atif SYED

IPC: B25J13/08 ,  B25J9/16 ,  B65G47/90 ,  B07C5/36 ,  B65B5/10 ,  B65B57/14 ,  B65B57/18 ,  B65B25/04 ,  B65B5/06

CPC classification number: B25J13/085 ,  B25J9/1612 ,  B65G47/905 ,  B07C5/36 ,  B65B5/105 ,  B65B57/14 ,  B65B57/18 ,  B65B25/046 ,  B65B5/068 ,  B65G2201/0211 ,  B07C2501/0081 ,  G06V20/68

Abstract: An item packing system configured to sort and/or pack items into item containers, the system comprising a robotic arm. At least one end effector for holding and manipulating an item to be sorted and/or packed, wherein at least one end effector comprises a pressure sensing assembly. A controller configured to receive sensor signals from the pressure sensing assembly to obtain an indication of a magnitude of contact pressure for contact between the end effector and the item held by the end effector. A direction of contact pressure for contact between the end effector and the item held by the end effector, wherein the controller is configured to determine whether the end effector is correctly holding the item based on the indication of the magnitude of the contact pressure and the indication of the direction of contact pressure.

公开(公告)号：US20230390923A1

公开(公告)日：2023-12-07

申请号：US18034023

申请日：2021-10-26

Applicant: WOOTZANO LIMITED

Inventor： Thierry GARCIA ,  François MORINI ,  Atif SYED ,  Mark BECKWITH ,  Jesse OPOKU

IPC: B25J9/16 ,  B25J19/02 ,  B25J13/08

CPC classification number: B25J9/1612 ,  B25J19/028 ,  B25J13/083

Abstract: An item picking system configured to pick items from a collection region for placing said items into an item container, the system comprising a robotic arm. One or more end effectors coupled to the robotic arm for holding and manipulating an item, wherein at least one of the end effectors comprises a contact pressure sensing assembly including a piezoresistive sensor configured to obtain piezoresistive signals indicative of contact pressure between said sensor and an item held by said end effector. Signal processing circuitry configured to process the piezoresistive signals, the signal processing circuitry comprising a differential amplifier having a first input terminal coupled to the sensor to receive the piezoresistive signals therefrom. A second input terminal arranged to receive a calibration signal and an output terminal for providing a difference signal based on the two input signals, wherein, for each piezoresistive signal provided to the differential amplifier, the system is configured to control the calibration signal provided to the second input terminal of the differential amplifier to be within a selected range from said piezoresistive signal. A control unit coupled to the output terminal of the differential amplifier, wherein the control unit is configured to control operation of the robotic arm based on the difference signals from the differential amplifier.