Split robotic article pick and put system

• US 10,537,990 B2
• Filed: 03/28/2018
• Issued: 01/21/2020
• Est. Priority Date: 03/30/2017
• Status: Active Grant

• Current Assignee: Dematic Corporation (KION GROUP AG)
• Original Assignee: Dematic Corporation (KION GROUP AG)
• Inventors: Heath, Kevin M., Paniczko, Anthony J., O'Brien, Mark D., Burkert, Mitchell D., Sze, Hau Y.
• Primary Examiner(s): Randazzo, Thomas
• Application Number:
  US15/938,595
• Publication Number:
  US 20180282079A1
• Time in Patent Office: 664 Days
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: B25J 9/023 Cartesian coordinate type
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B65G 1/137 with arrangements or automatic control means for selecting which articles are to be removed
• CPC Class Codes: B65G 1/1378 the orders being assembled on fixed commissioning areas remote from the storage areas
• CPC Class Codes: B65G 2201/02 Articles
• CPC Class Codes: B65G 47/905 Control arrangements
• CPC Class Codes: B65G 47/907 with at least two picking-up heads
• CPC Class Codes: G05B 2219/39083 Robot interference, between two robot arms
• CPC Class Codes: G05B 2219/40554 Object recognition to track object on conveyor
• CPC Class Codes: G05B 2219/45063 Pick and place manipulator
• CPC Class Codes: Y10S 901/07 Conveyor
• CPC Class Codes: Y10S 901/16 Cartesian, three degrees of freedom
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A method and system for picking articles from a collection of articles and arranging articles into placement locations, includes capturing an image with a first vision system from a collection of articles at a first pick location and determining coordinate data for at least some of the articles in the collection of articles. The coordinate data for an article in the collection of articles is provided to a first robotic manipulator. That article is picked from the collection of articles with the first robotic manipulator according to the coordinate data for that article and that article placed at a first place location. The position and orientation data of that article are obtained at a second pick location and provided along with a desired position and orientation of that article at a second place location to a second robotic manipulator. That article is picked with the second robotic manipulator using the position and orientation data of that article at the second pick location and that article is placed at the second place location at the desired position and orientation.

Claims

1. An article pick and put system, comprising:

a first robotic system comprising a first vision system and a first robotic manipulator;

a second robotic system comprising a second vision system and a second robotic manipulator;

an article support at a first pick location and an article support at a second place location;

said first vision system adapted to obtain coordinates of an article at said first pick location and said first robotic manipulator adapted to respond to the coordinates of that article to pick that article from said first pick location and place that article at a first place location;

said second vision system adapted to obtain position and orientation data of an article at a second pick location and said second robotic manipulator adapted to respond to said second vision system to pick that article at the article'"'"'s position and orientation at said second pick location and place that article at a receptacle placement location of one of a plurality of receptacles at the second place location; and

wherein said first robotic manipulator is adapted to at least place an article at the first place location and said second robotic manipulator is adapted to at least pick that article substantially without conflict with said first robotic manipulator, such that said first and second robotic manipulators are operable at different speeds.

2. The system as claimed in claim 1 wherein said first robotic manipulator is adapted to pick articles from a receptacle at said first pick location and wherein said first vision system is adapted to capture coordinates for at least some articles in the receptacle.

3. The system as claimed in claim 1 wherein said first vision system is operable with image processing software to sense at least one chosen from article identifier, article dimensions, article volume, article location, article orientation in space, and article color.

4. The system as claimed in claim 1 wherein said second vision system is operable with image processing software to sense at least one chosen from article presence, article identity, article position and article orientation in space.

5. The system as claimed in claim 1 wherein said first vision system is mounted to said first robotic manipulator or an end-of-arm tool on said first robotic manipulator.

6. The system as claimed in claim 1 wherein said second vision system is mounted to said second robotic manipulator or an end-of-arm tool on said second robotic manipulator.

7. The system as claimed in claim 1 including a third vision system adapted to obtain data at said second place location.

9. The system as claimed in claim 1 wherein said second robotic manipulator adapted to pick the article at the position and orientation of the article at a second pick location that is spaced from said first place location and including a conveyance device adapted to convey articles from said first place location to said second pick location.

10. The system as claimed in claim 9 wherein said conveyance device comprises a conveyor.

11. The system as claimed in claim 9 including a scanner at said conveyance device, said scanner adapted to capture additional data regarding each article being conveyed by said conveyance device.

12. The system as claimed in claim 1 wherein said second place location defines a plurality of order locations.

13. The system as claimed in claim 12 wherein each of said order locations is adapted to support a receptacle.

14. The system as claimed in claim 13 including an automated shuttle that is adapted to remove completed receptacles from said second place location.

15. The system as claimed in claim 14 wherein said automated shuttle is adapted to deliver completed receptacles for retrieval by an in/out robotic manipulator.

8. The system as claimed in 7 wherein said third vision system is adapted to sense at least one chosen from receptacle location, receptacle orientation, receptacle size, receptacle percent fill, and article position.

16. A method of picking articles from a collection of articles and arranging the articles into receptacles at placement locations, said method comprising:

capturing an image with a first vision system from a collection of articles at a first pick location and determining coordinate data with an image processor for at least some of the articles in the collection of articles;

providing the coordinate data with a sequence controller for an article in the collection of articles to a first robotic manipulator;

picking that article from the mixed collection of articles with said first robotic manipulator according to the coordinate data for that article;

placing that article at a first place location by said first robotic manipulator;

determining, with a second vision system and the image processor, the position and orientation data of that article as placed by the said first robotic manipulator and a receptacle placement location of one of the receptacles for that article;

providing, with the sequence controller, the receptacle placement location data of that article to a second robotic manipulator;

picking that article with said second robotic manipulator using the position and orientation data of that article as placed by said first robotic manipulator and as determined by the second vision system and the image processor; and

placing that article at the receptacle placement location with said second robotic manipulator;

wherein said picking of the article with said second robotic manipulator is substantially without conflict with said placing of that article at the first place location with said first robotic manipulator, wherein said first and second robotic manipulators are operable at different speeds.

17. The method as claimed in claim 16 wherein said second robotic manipulator picks that article at a second pick location that is spaced from the first place location and including transporting articles from the first place location to the second pick location.

18. The method as claimed in claim 17 including capturing an image of that article at said second pick location with a second vision system.

19. The method as claimed in claim 17 wherein said first place location comprises a conveying surface and wherein said transporting including conveying articles at said first place location with said conveying surface to said second pick location.

20. The method as claimed in claim 17 including obtaining or confirming the position and orientation data of that article at the second pick location.

21. The method as claimed in claim 20 including capturing an image of that article at said second pick location with a second vision system.

22. The method as claimed in claim 21 including article receptacles positioned at said second place locations and including capturing an image of articles in said receptacles with a third vision system.

23. The method as claimed in claim 22 including determining receptacle information of at least one chosen from location of a receptacle, orientation of a receptacle, size of a receptacle, percentage fill of a receptacle and positions of articles in a receptacle.

24. An article pick and put system, comprising:

a first robotic system comprising a first vision system and a first robotic manipulator;

a second robotic system comprising a second vision system and a second robotic manipulator;

an article support at a first pick location and an article support at a second place location;

said first vision system adapted to obtain coordinates of an article at said first pick location and said first robotic manipulator adapted to respond to the coordinates of that article to pick that article from said first pick location and place that article at a first place location;

said second vision system adapted to obtain position and orientation data of an article at a second pick location and said second robotic manipulator adapted to respond to said second vision system to pick that article at the article'"'"'s position and orientation at said second pick location and place that article at a placement location at the second place location;

wherein said second robotic manipulator adapted to pick the article at the position and orientation of the article at said second pick location that is spaced from said first place location and including an accumulation conveyor adapted to convey articles from said first place location to said second pick location.

25. An article pick and put system, comprising:

a first robotic system comprising a first vision system and a first robotic manipulator;

a second robotic system comprising a second vision system and a second robotic manipulator;

an article support at a first pick location and an article support at a second place location;

said first vision system adapted to obtain coordinates of an article at said first pick location and said first robotic manipulator adapted to respond to the coordinates of that article to pick that article from said first pick location and place that article at a first place location;

said second vision system adapted to obtain position and orientation data of an article at a second pick location and said second robotic manipulator adapted to respond to said second vision system to pick that article at the article'"'"'s position and orientation at said second pick location and place that article at a placement location at the second place location;

wherein said second robotic manipulator adapted to pick the article at the position and orientation of the article at said second pick location that is spaced from said first place location and including a conveyance device adapted to convey articles from said first place location to said second pick location; and

a scanner at said conveyance device, said scanner adapted to capture additional data regarding each article being conveyed by said conveyance device, wherein said scanner comprises a scan tunnel that is adapted to scan multiple sides of an article to read an optical code on any side of an article.

26. An article pick and put system, comprising:

a first robotic system comprising a first vision system and a first robotic manipulator;

a second robotic system comprising a second vision system and a second robotic manipulator;

an article support at a first pick location and an article support at a second place location;

said first vision system adapted to obtain coordinates of an article at said first pick location and said first robotic manipulator adapted to respond to the coordinates of that article to pick that article from said first pick location and place that article at a first place location;

said second vision system adapted to obtain position and orientation data of an article at a second pick location and said second robotic manipulator adapted to respond to said second vision system to pick that article at the article'"'"'s position and orientation at said second pick location and place that article at a placement location at the second place location;

wherein said second robotic manipulator adapted to pick the article at the position and orientation of the article at said second pick location that is spaced from said first place location and including a conveyance device adapted to convey articles from said first place location to said second pick location; and

a second conveyance device that is adapted to convey a receptacle from said first pick location after said first robotic manipulator picks at least one article from that receptacle.