US 12,139,340 B2
Robot system for gripping an item in a storage and picking system, and operating method for same
Stefan Aiglstorfer, Arnreit (AT); Christian Prechtl, Voecklabruck (AT); and Harald Johannes Schroepf, Wels (AT)
Assigned to TGW Logistics Group GmbH, Marchtrenk (AT)
Appl. No. 16/978,318
Filed by TGW Logistics Group GmbH, Marchtrenk (AT)
PCT Filed Mar. 7, 2019, PCT No. PCT/AT2019/060075
§ 371(c)(1), (2) Date Sep. 9, 2020,
PCT Pub. No. WO2019/169417, PCT Pub. Date Sep. 12, 2019.
Claims priority of application No. A 50205/2018 (AT), filed on Mar. 9, 2018.
Prior Publication US 2021/0047115 A1, Feb. 18, 2021
Int. Cl. G06F 7/00 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 15/06 (2006.01); B65G 1/137 (2006.01)
CPC B65G 1/1373 (2013.01) [B25J 9/0093 (2013.01); B25J 9/1666 (2013.01); B25J 9/1669 (2013.01); B25J 9/1697 (2013.01); B25J 13/08 (2013.01); B25J 15/0061 (2013.01); B25J 15/0625 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A method for picking goods using a robot in a storage and order-picking system, the robot having a robot head movable in relation to a robot base and comprising at least two suction grippers spaced apart from one another, the method comprising the steps:
providing one or a plurality of the goods in a loading aid comprising a bottom, side walls rising up from the bottom, and a loading opening bounded by the side walls,
determining by a sensor system a gripping surface pose and a gripping surface size of a gripping surface of a good to be gripped provided in the loading aid,
calculating a gripping pose for the movable robot head based on the determined gripping surface pose and gripping surface size of the good to be gripped such that a maximum number of suction grippers are in contact with the gripping surface of the good, wherein a calculated gripping pose for the robot head or a calculated motion of the robot head into the gripping pose prevents a collision of the robot head with a side wall of the loading aid, and
moving the robot head into the calculated gripping pose, and activating the suction grippers that will contact the gripping surface of the good so as to grip the good.
 
20. A method for picking goods using a robot in a storage and order-picking system, the robot having a robot head movable in relation to a robot base and comprising at least two suction grippers spaced apart from one another, the method comprising the steps:
providing a plurality of the goods in a loading aid comprising a bottom, side walls rising up from the bottom, and a loading opening bounded by the side walls,
determining by a sensor system a gripping surface pose and a gripping surface size of a gripping surface of a good to be gripped provided in the loading aid,
calculating gripping poses for the movable robot head based on the determined gripping surface pose and gripping surface size of the good to be gripped such that the calculated gripping poses have a maximum number of suction grippers in contact with the gripping surface of the good to be gripped and prevent collisions of the robot head with at least one of a side wall of the loading aid and other goods of the plurality of the goods provided in the loading aid than the good to be gripped, wherein the calculated gripping poses are collision-free gripping poses,
moving the robot head into one of the collision-free gripping poses that requires the shortest movement of the robot head or the smallest rotation angle of the robot head based on a current pose of the robot head, and
activating the suction grippers that will contact the gripping surface of the good so as to grip the good.