FULLY AUTOMATED ROBOTIC PICKING SYSTEM AND PICKING METHOD WITH SENSOR ASSEMBLY FOR MEASURING A REMOVED ITEM AS PART OF THE LIFTING PROCESS

摘要

The invention is based on a picking system with a robot (10) with a grip arm (16) to remove an article (18) from a source container (20) with a container rim (20a) and to store the article (18) in a target container (22),a camera (12a) for capturing at least the source container (20) in one view, and a control (14),which is designed to control the grip arm (16) depending on the image data recorded by the camera (12a) in such a way that the grip arm (16) grasps the article (18), raises it in an ascension process, leads over the target container (22) and deposits it in the target container (22) in a deposition process.;It is proposed that the picking system comprises a essentially horizontal sensor array (30) to detect a position of an underside of the article (18) during the attachment process and that the control (14) is designed for this purpose, at least control the deposition process depending on the recognised position of the underside of the article (18). This can speed up the picking process and prevent damage to the articles to be inspected (18).