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1. WO2020091846 - AUTOMATED PACKAGE REGISTRATION SYSTEMS, DEVICES, AND METHODS

Publication Number WO/2020/091846
Publication Date 07.05.2020
International Application No. PCT/US2019/035608
International Filing Date 05.06.2019
IPC
B65G 61/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
61Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
B65G 59/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
59De-stacking of articles
02De-stacking from the top of the stack
B65G 47/91 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
47Article or material-handling devices associated with conveyors; Methods employing such devices
74Feeding, transfer, or discharging devices of particular kinds or types
90Devices for picking-up and depositing articles or materials
91incorporating pneumatic, e.g. suction, grippers
CPC
B25J 9/1676
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1674characterised by safety, monitoring, diagnostic
1676Avoiding collision or forbidden zones
B25J 9/1687
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1687Assembly, peg and hole, palletising, straight line, weaving pattern movement
B25J 9/1697
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
1697Vision controlled systems
B65B 43/46
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
43Forming, feeding, opening or setting-up containers or receptacles in association with packaging
42Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position
46using grippers
B65G 61/00
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
61Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
G05B 19/40935
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
4093characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
40931concerning programming of geometry
40935Selection of predetermined shapes and defining the dimensions with parameter input
Applicants
  • MUJIN, INC. [JP]/[JP]
Inventors
  • DIANKOV, Rosen Nikolaev
  • LIU, Huan
  • YE, Xutao
  • RODRIGUES, Jose Jeronimo Moreira
  • KANEMOTO, Yoshiki
  • YU, Jinze
  • ISLAM, Russell
Agents
  • HONG, Han Saem
Priority Data
16/290,74101.03.2019US
62/752,75630.10.2018US
62/852,96324.05.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) AUTOMATED PACKAGE REGISTRATION SYSTEMS, DEVICES, AND METHODS
(FR) SYSTÈMES, APPAREILS ET PROCÉDÉS D'ENREGISTREMENT D'EMBALLAGE AUTOMATISÉS
Abstract
(EN)
A method of operating a package handling system includes: receiving first image data representative of a first surface image of a package surface; identifying a pair of intersecting edges for the package surface based on the first image; determining a minimum viable region based on the pair of edges, the minimum viable region for gripping and lifting the package; receiving second image data representative of the package after the lift; and creating registration data based on the third image data.
(FR)
L'invention porte sur un procédé de fonctionnement d'un système de gestion d'emballage comprenant les étapes consistant à : recevoir des premières données d'image représentatives d'une première image de surface d'une surface d'emballage ; identifier une paire de bords d'intersection pour la surface d'emballage sur la base de la première image ; déterminer une région viable minimale sur la base de la paire de bords, la région viable minimale pour saisir et soulever l'emballage ; recevoir des secondes données d'image représentatives de l'emballage après la levée ; et créer des données d'enregistrement sur la base des troisièmes données d'image.
Also published as
Latest bibliographic data on file with the International Bureau