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AssigneeSymbotic Canada, ULC
InventorsSylvain-Paul Morency, Marc Ducharme, Robert Jodoin, Christian Simon, Jonathan Fournier, Sebastien Lemay
Estimating the term…
The problem of picking tightly-pack generally uniformed products such as rubber bales in a bin is solved by sequentially selecting each one of the products based on the products depths in the bin, using a robot with a tool to grip each selected product, and moving on an output station each gripped product considering its position relative to the gripping tool. A first sensor system is used to determine the product depths in the bin. The sensor system can be mounted on the robot tool or be positioned above the bin. The position of each gripped product in the gripping tool is achieved by analyzing an image of the gripped product in the gripping tool.
A system for picking products in a container, the system comprising:
A robot, equipped with an end of arm tool, that sequentially picks products in a bin, constricting a field of view of the upper products in the bin so that the products in the bin are visible but from above the bin, based on in bin position dimension information of the visible products determined by a first sensor system and that defines a position of the upper products within the bin with respect to a predetermined frame of reference of the container, and, while each visible product is being picked, that moves said each visible product to a selected location while based on a position and an orientation of said each visible product relative to the end of arm tool determined by a second sensor system, where the position and orientation of said each visible product relative to the end of arm tool determined by the second sensor system is effected by the second sensor system independent of the first sensor system, and the position and the orientation determination by the second sensor system defines pose characterizing information that characterizes a grip pose of each gripped visible product, coincident with and as gripped by the end of arm tool, with respect to a predetermined reference frame of the end of arm tool that is different than the predetermined frame of reference of the container.
A method for picking tightly-pack generally uniformed products in an opened container comprising:
Dependencies are inferred from the claim text.