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1.发明授权公开(公告)号：US12037194B2
公开(公告)日：2024-07-16
申请号：US16978232
申请日：2019-03-07
IPC分类号： B65G1/137 , B25J9/00 , B25J9/16 , B25J13/08 , B25J15/06 , G05B19/4155 , G06Q10/087
CPC分类号： B65G1/137 , B25J9/0093 , B25J9/1612 , B25J13/08 , B25J15/0616 , G05B19/4155 , G06Q10/087 , G05B2219/39561
摘要： A robot system includes a robot having a gripping unit for picking and placing down/throwing goods, wherein the goods are differentiated into multiple types with respect to their dimensional stability, compressive stability, flexural rigidity, strength, their absolute weight and/or specific weight. When the goods are manipulated, the robot and/or the gripping unit are controlled depending on the type determined for the goods. Moreover, a method operates the robot system.
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2.发明授权公开(公告)号：US12012282B2
公开(公告)日：2024-06-18
申请号：US17284311
申请日：2019-10-23
CPC分类号： B65G1/0485 , B65G1/1378
摘要： In a method for order-picking articles from source loading aids into or onto target loading aids in a storage and order-picking system, the articles belong to a first group of types of article , whose types of article can be handled automatically, or a second group of types of article , whose types of article can be handled manually. A first order part with articles of the first group of types of article is transported to a first automatic order-picking station and order-picked there, and a second order part with articles of the second group of types of article is transported to a first manual order-picking station and order-picked there. Further, a storage and order-picking system executes the method.
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公开(公告)号：US12098037B2
公开(公告)日：2024-09-24
申请号：US16978305
申请日：2019-03-07
发明人： Christoph Doppler , Stefan Holzner , Sebastian Maximilian Feistl , Christian Prechtl , Harald Schroepf
CPC分类号： B65G47/914 , B65G1/1378 , B65G47/66 , B65G2203/041
摘要： A picking station for picking goods has a source container conveyor for automated transporting of source containers, a target container conveyor for automated transporting of target containers and a fully automated robot system. The source container conveyor includes a first removal area, where a first source container is provisioned, and a second removal area, where a second source container is provisioned. The target container conveyor includes a first loading area, where a first target container is provisioned, and a second loading area, where a second target container is provisioned. The robot system includes a robot having a gripping unit configured to remove goods according to different orders from the first source container and/or second source container and place them into the first target container and/or second target container, and a sensor system for capturing the goods in the first and second source containers. A method automatically picks goods.
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公开(公告)号：US11912505B2
公开(公告)日：2024-02-27
申请号：US16962949
申请日：2019-01-15
IPC分类号： B65G1/137 , B65G1/04 , G06Q10/087
CPC分类号： B65G1/1378 , B65G1/0492 , G06Q10/087
摘要： The invention relates to a picking system (1) for picking goods (2a, 2b), comprising a goods acceptance zone (A1), a goods transfer zone (D1, D2), a storage zone (B1 . . . B7), (a) storage conveying device(s) (3), an order processing computer for registering a picking order and (a) removal conveying device(s) (4), wherein the storage conveying device(s) (3) and/or the removal conveying device(s) (4) has/have a plurality of autonomous conveying vehicles (5a . . . 5l, 6a . . . 6h) for transporting the goods (2a, 2b)/ordered goods (2c) on a travel surface. The travel surface is subdivided into multiple travel surface segments (E1 . . . E8), and driving movements are co-ordinated so that at least 90% of each of the driving movements in the travel surface segments (E1 . . . E8) is carried out by a closed group of autonomous conveying vehicles (5a . . . 5l, 6a . . . 6h). The invention further relates to a method for operating the picking system (1).
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公开(公告)号：US12109700B2
公开(公告)日：2024-10-08
申请号：US17289887
申请日：2019-11-20
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J9/1653 , B25J9/1687 , B25J9/1697
摘要： An optimization method improves article pickup and discharge reliability in a picking process using a robot. An article is picked-up from or out of a first load carrier and is placed in or on or dropped into or onto a second load carrier by a gripping unit on the robot head. In an image processing step, a gripping pose for the gripping unit is calculated for picking-up the article by determining at least one dimension from a captured image and by determining a range allocation by comparing with dimension ranges. Using a confidence value, a dimension value is determined, from stored article reference data or from a normalization value of the dimension range and allocated to the determined dimension. In a preparation step, a mathematical scattering measure function is applied for the determined dimension and dimension ranges, and normalization and confidence values of the dimension ranges are determined therefrom.
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