Bin-picking system and method for bin-picking

A bin-picking system comprising:

• a transformable bin-picking box;
• a bin-picking unit configured to pick up a bin-picking target object from randomly arranged objects in the bin-picking box;
• a supporting unit configured to support a bottom part of the bin-picking box and be movable upward and downward;
• a control unit configured to detect features of bin-picking candidate objects, determine the bin-picking target object based on the features of bin-picking candidate objects and control the bin-picking unit;
• wherein the bin-picking candidate objects are inside the bin-picking box and placed randomly on the supporting unit,
• where the bin-picking target object is an object selected from the bin-picking candidate objects,
• wherein when the bin-picking target object is not determined by the control unit, the control unit changes an alignment randomly of the bin-picking candidate objects by transforming the bin-picking box by controlling a movement of the supporting unit to select the bin-picking target object, and
• wherein the supporting unit distorts the bottom part of the bin-picking box by a movement, when the control unit changes the alignment randomly of the bin-picking candidate objects.