Title:
SYSTEM AND METHOD FOR PICKING AND PLACING ITEMS AND CONTACT PRESSURE SENSING ASSEMBLY FOR ITEM PICKING SYSTEMS
Document Type and Number:
WIPO Patent Application WO/2022/090703
Kind Code:
A3
Abstract:
An item picking system configured to pick items from a collection region for placing said items into an item container, the system comprising a robotic arm. One or more end effectors coupled to the robotic arm for holding and manipulating an item, wherein at least one of the end effectors comprises a contact pressure sensing assembly including a piezoresistive sensor configured to obtain piezoresistive signals indicative of contact pressure between said sensor and an item held by said end effector. Signal processing circuitry configured to process the piezoresistive signals, the signal processing circuitry comprising a differential amplifier having a first input terminal coupled to the sensor to receive the piezoresistive signals therefrom. A second input terminal arranged to receive a calibration signal and an output terminal for providing a difference signal based on the two input signals, wherein, for each piezoresistive signal provided to the differential amplifier, the system is configured to control the calibration signal provided to the second input terminal of the differential amplifier to be within a selected range from said piezoresistive signal. A control unit coupled to the output terminal of the differential amplifier, wherein the control unit is configured to control operation of the robotic arm based on the difference signals from the differential amplifier.
Inventors:
GARCIA THIERRY (GB)
MORINI FRANÇOIS (GB)
SYED ATIF (GB)
BECKWITH MARK (GB)
MORINI FRANÇOIS (GB)
SYED ATIF (GB)
BECKWITH MARK (GB)
Application Number:
PCT/GB2021/052778
Publication Date:
June 09, 2022
Filing Date:
October 26, 2021
Export Citation:
Assignee:
WOOTZANO LTD (GB)
International Classes:
B25J9/16; B25J13/08; B25J19/02; G01L5/22
Foreign References:
| US20200070356A1 | 2020-03-05 | |||
| US5551301A | 1996-09-03 | |||
| US20110193363A1 | 2011-08-11 | |||
| TW201135204A | 2011-10-16 | |||
| US20190383675A1 | 2019-12-19 |
Attorney, Agent or Firm:
WHITE, Andrew et al. (GB)
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