# US 9,452,894 B2 · Storage and order-picking system for the fully-automated identification and picking of articles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,452,894 B2 - Document ID: US9452894B2 - Status: Granted - Kind: B2 - Application number: 14/780,803 - Filed: 2014-02-10 - Published: 2016-03-17 - Granted: 2016-09-27 - Earliest claimed: 2013-04-09 - Assignees: Knapp AG - Applicants: Knapp AG - Inventors: Peter Puchwein; Claus Blödorn; Peter Stelzer; Franz Mathi - Web page: https://patentgrep.com/patent/US9452894B2 ## CPC - B65G 47/06: from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines (de-stacking devices B65G59/00) - B25J 9/0093: {co-operating with conveyor means} - B25J 9/1612: {characterised by the hand, wrist, grip control} - B25J 9/1679: {characterised by the tasks executed} - B25J 9/1697: {Vision controlled systems} - B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas} - B65G 43/08: Control devices operated by article or material being fed, conveyed or discharged {(and controlling the discharging devices B65G47/42)} - B65G 2203/041: Camera - G05B 2219/39039: Two cameras detect same reference on workpiece to define its position in space - G05B 2219/39102: Manipulator cooperating with conveyor - Y10S 901/31: Gripping jaw - Y10S 901/47: Optical - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract The invention relates to a storage and order-picking system (1) for the fully-automated picking of articles that are stored in storage loading aids (2) and are picked according to an order, which includes an article store, a first conveyor system that conveys storage loading aids leaving the article store to a picking station that is operated unmanned, a fully-automated robotic gripping unit on said picking station, which removes articles to be picked from said storage loading aids and deposits them in accordance with the order, the articles deposited according to an order, particularly in an order loading aid, subsequently being conveyed away by means of a second conveyor system, an image identification device for determining possible gripping points for the gripping unit in order to grip articles from the storage loading aids, wherein the image identification device comprises at least one and preferably at least two cameras in the region of the robotic gripping unit (9) and, if at least two cameras are provided, the capturing directions thereof are aligned into the storage loading aid located in the gripping region of the gripping unit, while being coordinated and in particular inclined toward each other. ## Claims ### Claim 1 A storage and order-picking system for the fully-automated picking of articles that are stored in storage loading aids and are picked according to an order, comprising: an article store; a first conveyor system that conveys storage loading aids leaving the article store to a picking station that is operated unmanned; a fully-automated gripping unit on said picking station, which removes articles to be picked from said storage loading aids and deposits the articles, in accordance with the order, in an order loading aid which is subsequently conveyed away by a second conveyor system; and an image identification device for determining possible gripping points for the gripping unit in order to grip articles from the storage loading aids, wherein the image identification device includes at least two cameras in the region of the gripping unit, the capturing directions of which are aligned into the storage loading aid located in the gripping region of the gripping unit, while being coordinated and inclined toward each other, and wherein the gripping unit is movable sideways on short notice for determining possible gripping points, in order to allow at least two cameras of the image identification device to have a clear view of the articles in the storage loading aid. ### Claim 2 (depends on 1) A storage and order-picking system according to claim 1, wherein the image identification device is configured for determining the possible gripping points and the gripping unit is configured for gripping the articles from the storage loading aid, and wherein the storage loading aid is stationary or is transported at a reduced speed or at the normal transport speed of the first conveyor system. ### Claim 3 (depends on 1) A storage and order-picking system according to claim 1, wherein the gripping unit is configured for adjusting the gripping points for picking up the article also during the approach of the gripper toward the article to be gripped, if the possible gripping points continuously determined by the image identification device have changed. ### Claim 4 (depends on 1) A storage and order-picking system according to claim 1, wherein at least one of the storage loading aids exhibiting a length, a width and a height is part of the storage and order-picking system and the space between the at least two cameras and the distance of the cameras from the storage loading aid are determined depending on the height or the width of the storage loading aid or, respectively, the compartment partition of the storage loading aid, which is transported by the first conveyor system. ### Claim 5 (depends on 1) A storage and order-picking system according to claim 1, wherein illuminants are provided which illuminate the storage loading aid located in the gripping region and illuminate the gripping region with a pattern or a grid. ### Claim 6 (depends on 5) A storage and order-picking system according to claim 5, wherein the illuminants illuminate in the frequency range not visible to humans and the cameras are configured so as to be sensitive in the frequency range. ### Claim 7 (depends on 1) A storage and order-picking system according to claim 1, wherein at least four cameras are arranged around the gripping unit. ### Claim 8 (depends on 1) A storage and order-picking system according to claim 1, wherein a folding tray is provided above at least one order loading aid and the gripping unit is configured for depositing the articles collected from the storage loading aids on the folding tray, before the articles are tipped from the folding tray into the order loading aid. ### Claim 9 (depends on 1) A storage and order-picking system according to claim 1, wherein, with the image identification device, an identification contained on the article picked up by the gripping unit and which marks said article is discerned and, depending on the identification, the gripping unit is configured for depositing the article in the order loading aid or another loading aid. ### Claim 10 (depends on 9) A storage and order-picking system according to claim 9, wherein the image identification device comprises an additional camera for discerning the identification of the article and that the gripping unit holds the gripped article into the captured area of the additional camera for discerning the identification. ### Claim 11 (depends on 1) A storage and order-picking system according to claim 1, wherein the picked articles are stacked or arranged in order in an order loading aid by the gripping unit and that, for applying a label, the robotic gripping unit conveys the gripped article to a label applicator. ### Claim 12 (depends on 1) A storage and order-picking system according to claim 1, wherein the gripping unit is configured for collecting empty storage loading aids from the first conveyor system onto the second conveyor system. ### Claim 13 A picking station that is operated unmanned for a storage and order-picking system for the fully-automated picking of articles that are stored in storage loading aids and are picked according to an order, comprising: a fully-automated gripping unit on said picking station, which removes articles to be picked from said storage loading aids and deposits the articles, in accordance with the order, in an order loading aid which is subsequently conveyed away by a second conveyor system; and an image identification device for determining possible gripping points for the gripping unit in order to grip articles from the storage loading aids, wherein the image identification device includes at least two cameras in the region of the gripping unit, the capturing directions of which are aligned into the storage loading aid located in the gripping region of the gripping unit, while being coordinated and inclined toward each other, and wherein the gripping unit is movable sideways on short notice for determining possible gripping points in order to allow at least two cameras of the image identification device to have a clear view of the articles in the storage loading aid.