Bin-picking principle

Combining the part’s CAD file with a series of 3D measurements performed on the work space, comprising the parts to pick up and their environment (container or other).


Industrial needs :

  • To automate bin-picking whatever the robot brand, even complex, placed in bulk.
  • To avoid excess packaging costs.
  • To guarantee a high and constant throughput (four to 12 seconds per picked part, depending on robot size, general configuration and the use or not, of background task scanning, etc.).
  • To guarantee precise and repeatable positioning of picked parts (circa 0.1 to 0.5 mm depending on parts size).
  • To guarantee non-collision of the part with its environment during picking.


Bin Picking Movies


The complete process of bin-picking consists of three successive steps.


  Once a part has been picked up by the robot, each of the three steps is performed… :


Bin-Picking


1 – Digitalization: the 3D vision system scans the actual work space in the form of a cloud of points (acquisition by the scanner cirrus3D).

Bin Picking Schéma vue 3D


2 – Localization: The calculation algorithm localizes the best part to pick up from these 3D measurements. To guarantee a correct picking by the robot, possible areas of overlap by another workpiece are simulated in 3D by building a virtual work space.

Bin Picking aperçu dévracage 3D


3 – Picking: the robot receives the position (three translation components) and orientation (three rotation components) of the part to reach, along with a “choice” of possible grippers among the range of gripping strategies that the Eyesberg technology allows you to first teach the robot. The robot’s program then chooses one of these strategies based on its own constraints (accessibility, singularities, etc…)