Vision-assisted system and method for picking of rubber bales in a bin
US10239210B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 9, 2015 |
| Grant date | Mar 26, 2019 |
| Priority date | — |
| Expiry date | Dec 20, 2035 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/47
- WIPO fieldHandling
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.