公开(公告)号：US10239210B2

公开(公告)日：2019-03-26

申请号：US14682955

申请日：2015-04-09

Applicant: SYMBOTIC CANADA ULC

Inventor： Sylvain-Paul Morency ,  Marc Ducharme ,  Robert Jodoin ,  Christian Simon ,  Jonathan Fournier ,  Sebastien Lemay

IPC: B25J9/16 ,  G06F17/50

Abstract: The problem of picking tightly-pack generally uniformed products such as rubber bales in a bin is solved by sequentially selecting each one of the products based on the products depths in the bin, using a robot with a tool to grip each selected product, and moving on an output station each gripped product considering its position relative to the gripping tool. A first sensor system is used to determine the product depths in the bin. The sensor system can be mounted on the robot tool or be positioned above the bin. The position of each gripped product in the gripping tool is achieved by analyzing an image of the gripped product in the gripping tool.