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US 2024/0208069 A1Published application
Automatic pick and place system
AssigneeSiemens Aktiengesellschaft
InventorsJuan L. Aparicio Ojea, Heiko Claussen, Ines Ugalde Diaz, Gokul Narayanan Sathya Narayanan, Eugen Solowjow, Chengtao Wen, Wei Xi Xia, Yash Shahapurkar, Shashank Tamaskar
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Abstract
Fully flexible kitting processes can be automated by generating pick and place motions for multi-robot, multi-gripper, robotic systems.
Claims15
A method of performing a kitting operation, the method comprising:
- capturing an image of an object within a robotic cell, the object positioned in a first pose within the robotic cell;
- based on the image, determining a first estimation of the first pose of the object;
- receiving robot configuration data associated with the robotic cell;
- receiving one or more models associated with the object and a container;
- based on the one or more models, determining a second estimation of a second pose of the object, the second pose representative of a destination position of the object in the container;
- and
- based on the robot configuration data, the first estimation of the first pose, and the second estimation of the second pose, determining a sequence for performing the kitting operation.
4 more elements
An autonomous system comprising:
- a plurality of robots within a robotic cell, each robot defining an end effector configured to grasp an object within a physical environment;
- a sensor configured to capture an image of an object within the robotic cell, the object positioned in a first pose,
- one or more processors;
- and
- a memory storing instructions that, when executed by the one or more processors, cause the autonomous system to:
- based on the image, determine a first estimation of the first pose of the object;
- receive robot configuration data associated with the robotic cell;
- receive one or more models associated with the object and a container;
- based on the one or more models, determine a second estimation of a second pose of the object, the second pose representative of a destination position of the object in the container;
- and
- based on the robot configuration data, the first estimation of the first pose, and the second estimation of the second pose, determine a sequence for performing the kitting operation.
8 more elements
Dependencies are inferred from the claim text.