公开(公告)号：US20230150777A1

公开(公告)日：2023-05-18

申请号：US17916592

申请日：2021-03-26

Applicant: BEUMER Group A/S

Inventor： Henrik Frank Skyum ,  Andreas Werner

IPC: B65G47/91 ,  B07C5/36 ,  B25J9/16

CPC classification number: B65G47/917 ,  B07C5/361 ,  B65G47/918 ,  B65G47/914 ,  B25J9/163 ,  B65G2203/041 ,  B65G2203/0233

Abstract: A robot system for picking randomly shaped and sized object from a continuously moving stream of objects in bulk, e.g. a 3D bulk, and placing the object singulated and aligned on an induction or directly on a sorter. A pick and place robot has a robotic actuator for moving a gripper with a controllable gripping configuration of its gripping members, e.g. four suction cups, to adapt the gripper for various objects. A control system processes a 3D image of objects upstream of a position of the pick and place robot, identifies separate objects in the 3D image, and selects which object to grip, based on parameters of the identified separate objects determined from the 3D image. Based on e.g. size and shape of the selected object to grip, the gripping configuration of the gripper is adjusted to match the surface of the object to grip for optimal gripping. The robotic actuator, e.g. a gantry type robotic actuator, is then controlled to move the gripper to a position for gripping the object, and afterwards move the gripper with the gripped object to a target position and with a target orientation to release grip of the object and thus place the object on an induction or directly on a sorter. An image after placing the object along with properties of the object determined from the 3D image can be used as input to a machine learning for online improving pick and place performance of the robot system, e.g. for online improving the algorithm for selection of which object to pick, and also for selection of the appropriate gripping configuration to match the object.