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1. 发明申请

WO2021198053A1 PICK AND PLACE ROBOT SYSTEM, METHOD, USE AND SORTER SYSTEM 审中-公开
公开(公告)号：WO2021198053A1
公开(公告)日：2021-10-07
申请号：PCT/EP2021/057875
申请日：2021-03-26
申请人： BEUMER GROUP A/S
发明人： SKYUM, Henrik Frank , WERNER, Andreas
IPC分类号： B07C5/36 , B25J9/16 , G05B19/418 , B07C5/02 , B07C2501/0063 , B25J9/163 , B25J9/1697 , G05B19/4182 , G05B2219/40607 , G05B2219/45063
摘要： 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.

2. 发明申请

WO2022006635A1 ADHESIVE APPLICATION SYSTEM 审中-公开
公开(公告)号：WO2022006635A1
公开(公告)日：2022-01-13
申请号：PCT/AU2021/050732
申请日：2021-07-08
申请人： FASTBRICK IP PTY LTD
发明人： PICKERING, Samuel Thomas
IPC分类号： E04G21/22 , B05C1/08 , B05C11/10 , B05B13/04 , B05C19/06 , B05B12/00 , B25J15/0061 , B25J15/0066 , B25J15/008 , B25J18/025 , B25J5/007 , B25J5/06 , E04G21/20 , G05B19/25 , G05B2219/39107 , G05B2219/40298 , G05B2219/45054 , G05B2219/45063 , G05B2219/45086
摘要： An adhesive application system for an automated block laying machine, the adhesive application system including: (a) an adhesive supply; and, (b) an adhesive applicator including: (i) a container for storing an adhesive reservoir received from the adhesive supply via an adhesive supply line; (ii) a lid mounted to the container so as to substantially cover the adhesive reservoir; and, (iii) an adhesive roller rotatably coupled to the container so that upon rotation adhesive from the reservoir is entrained up and around at least a portion of the adhesive roller, wherein, in use, adhesive is transferred from the adhesive roller onto a bottom surface of a block as the block is moved across the roller.

3. 发明申请

WO2021122218A1 PICKING SYSTEM, STORAGE SYSTEM COMPRISING A PICKING SYSTEM AND METHOD OF PICKING 审中-公开
公开(公告)号：WO2021122218A1
公开(公告)日：2021-06-24
申请号：PCT/EP2020/085266
申请日：2020-12-09
申请人： AUTOSTORE TECHNOLOGY AS
发明人： FAGERLAND, Ingvar , GJERDE, Jone
IPC分类号： B65G1/137 , B25J9/16 , B25J15/00 , B25J9/0093 , B25J9/026 , B25J9/1697 , B65G1/1378 , B65G2203/0216 , G05B2219/45063
摘要： Picking system (400) configured to pick items from, and put items into, storage containers (106), wherein the picking system (400) comprises a picking station (410), and wherein the picking station (410) comprises: - a picking system controller (401) configured to receive product orders from a warehouse management system (402); - at least one container contents handling position (408); - a camera (407) configured to produce an image of contents of a storage container (106); - an image processing system (406) in communication with the camera (407) for processing the image produced by the camera (407) in order to identify a position of a specific item in the storage container (106), the image processing system (406) further being in communication with a picking system controller (401) and is adapted to inform the picking system controller (401) of the position of the specific item; - a robotic picking device (405), wherein the robotic picking device (405) is in communication with the picking system controller (401) and is configured to, under guidance from the picking system controller (401), to pick said specific item from said position in the storage container (106); wherein the camera (407) and the robotic picking device (405) are arranged to operate, at any one instance, on different containers (106) such that the camera (407) is producing an image and the image processing system (406) is processing the produced image of the contents of a storage container (106) in a first product order while the robotic picking device (405) is handling a second storage container on the basis of an earlier image that has been produced by the camera (407) and processed by the image processing system (406). It is further described an automated storage and retrieval system and a method of picking items from, and putting items into, containers at a picking station

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