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SE544102C2 - Waste sorting robot with throw sensor for determining position of waste object - Google Patents

Waste sorting robot with throw sensor for determining position of waste object

Info

Publication number
SE544102C2
SE544102C2 SE2030329A SE2030329A SE544102C2 SE 544102 C2 SE544102 C2 SE 544102C2 SE 2030329 A SE2030329 A SE 2030329A SE 2030329 A SE2030329 A SE 2030329A SE 544102 C2 SE544102 C2 SE 544102C2
Authority
SE
Sweden
Prior art keywords
waste
throw
sorting robot
manipulator
determining position
Prior art date
Application number
SE2030329A
Other versions
SE2030329A1 (en
Inventor
Harri Holopainen
Tuomas Lukka
Original Assignee
Zenrobotics Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zenrobotics Oy filed Critical Zenrobotics Oy
Priority to SE2030329A priority Critical patent/SE2030329A1/en
Priority to PCT/FI2021/050724 priority patent/WO2022090627A1/en
Publication of SE544102C2 publication Critical patent/SE544102C2/en
Publication of SE2030329A1 publication Critical patent/SE2030329A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/06—Sorting according to size measured mechanically
    • B07C5/065—Sorting according to size measured mechanically with multiple measuring appliances adjusted according to different standards, for example length or thickness, which detect the shape of an object so that if it conforms to the standard set by the measuring appliance, it is removed from the conveyor, e.g. by means of a number of differently calibrated openings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0054—Sorting of waste or refuse
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40019—Placing and assembly, throw object correctly on table
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
  • Automation & Control Theory (AREA)
  • Data Mining & Analysis (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Quality & Reliability (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A waste sorting robot (100) comprises a manipulator (101) moveable within a working area (102). A gripper (103) is connected to the manipulator (101) and arranged to selectively grip a waste object (104, 104a, 104b, 104c) in the working area (102). A throw sensor (112, 112a, 112b) is configured to determine the position of the waste object (104, 104a, 104b, 104c) after being thrown to a target position (106a). A controller (108) is in communication with the throw sensor (112, 112a, 112b) and is configured to receive said position as throw data (109’) and to determine deviations in the position of the thrown waste object (104, 104a, 104b, 104c) by comparing the throw data with the target position (106a). The controller (108) is configured to determine control instructions to the gripper (103) and/or manipulator (101) for subsequently gripped waste objects (104, 104a, 104b, 104c) based on the deviations to throw the subsequently gripped waste objects (104, 104a, 104b, 104c) towards the target position (106a). A related method of controlling a waste robot is also disclosed.
SE2030329A 2020-10-28 2020-10-28 Waste sorting robot with throw sensor for determining position of waste object SE2030329A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE2030329A SE2030329A1 (en) 2020-10-28 2020-10-28 Waste sorting robot with throw sensor for determining position of waste object
PCT/FI2021/050724 WO2022090627A1 (en) 2020-10-28 2021-10-26 Waste sorting robot with throw sensor for determining position of waste object

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2030329A SE2030329A1 (en) 2020-10-28 2020-10-28 Waste sorting robot with throw sensor for determining position of waste object

Publications (2)

Publication Number Publication Date
SE544102C2 true SE544102C2 (en) 2021-12-21
SE2030329A1 SE2030329A1 (en) 2021-12-21

Family

ID=81077457

Family Applications (1)

Application Number Title Priority Date Filing Date
SE2030329A SE2030329A1 (en) 2020-10-28 2020-10-28 Waste sorting robot with throw sensor for determining position of waste object

Country Status (2)

Country Link
SE (1) SE2030329A1 (en)
WO (1) WO2022090627A1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021200989A1 (en) * 2021-02-03 2022-08-04 Bilal Tariq Robot for detecting and picking up at least one predetermined object
AT526401A1 (en) * 2022-08-11 2024-02-15 Brantner Env Group Gmbh Method for sorting material to be sorted
CN117742239B (en) * 2024-02-19 2024-05-14 南京超颖新能源科技有限公司 Vertical correction system and correction method for machine tool

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9789517B2 (en) * 2015-02-10 2017-10-17 Veolia Environnement—Ve Selective sorting method
US20180127219A1 (en) * 2016-11-08 2018-05-10 Berkshire Grey Inc. Systems and methods for processing objects
WO2019207202A1 (en) * 2018-04-22 2019-10-31 Zenrobotics Oy Force control coupling for a robotic end effector for a waste sorting robot
WO2019215384A1 (en) * 2018-05-11 2019-11-14 Zenrobotics Oy Waste sorting robot
JP2020022930A (en) * 2018-08-07 2020-02-13 宇部興産株式会社 Waste sorting device and sorting method, as well as waste processing system and processing method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9789517B2 (en) * 2015-02-10 2017-10-17 Veolia Environnement—Ve Selective sorting method
US20180127219A1 (en) * 2016-11-08 2018-05-10 Berkshire Grey Inc. Systems and methods for processing objects
WO2019207202A1 (en) * 2018-04-22 2019-10-31 Zenrobotics Oy Force control coupling for a robotic end effector for a waste sorting robot
WO2019215384A1 (en) * 2018-05-11 2019-11-14 Zenrobotics Oy Waste sorting robot
JP2020022930A (en) * 2018-08-07 2020-02-13 宇部興産株式会社 Waste sorting device and sorting method, as well as waste processing system and processing method

Also Published As

Publication number Publication date
WO2022090627A1 (en) 2022-05-05
SE2030329A1 (en) 2021-12-21

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