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SE1751638A1 - Systems and methods of gripping and emptying a bag - Google Patents

Systems and methods of gripping and emptying a bag

Info

Publication number
SE1751638A1
SE1751638A1 SE1751638A SE1751638A SE1751638A1 SE 1751638 A1 SE1751638 A1 SE 1751638A1 SE 1751638 A SE1751638 A SE 1751638A SE 1751638 A SE1751638 A SE 1751638A SE 1751638 A1 SE1751638 A1 SE 1751638A1
Authority
SE
Sweden
Prior art keywords
bag
gripping
end portion
closed end
image
Prior art date
Application number
SE1751638A
Other versions
SE541843C2 (en
Inventor
Christian Toräng
Stefan Holmertz
Stefan Nilsson
Tommy Peresin
Original Assignee
Envac Optibag Ab
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 Envac Optibag Ab filed Critical Envac Optibag Ab
Priority to SE1751638A priority Critical patent/SE541843C2/en
Publication of SE1751638A1 publication Critical patent/SE1751638A1/en
Publication of SE541843C2 publication Critical patent/SE541843C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B69/00—Unpacking of articles or materials, not otherwise provided for
    • B65B69/0075—Emptying systems for flexible intermediate bulk containers [FIBC]
    • 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
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • 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
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/112—Coding means to aid in recycling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/138—Identification means
    • 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
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)

Abstract

The present disclosure relates to a bag gripping system, comprising an optical device (202a, 202b), for capturing 3D data of the bag and for capturing an image of a wall of the bag, said image depicting an optically readable element, which represents information of a relative position of at least a closed end portion of the bag, a control device (300), comprising a processor arranged to perform the following steps:using the captured 3D data and the captured image to determine a spatial position and orientation of the closed end portion of the bag, and controlling a vacuum gripping device to engage the closed end portion of the bag, such that the bag is held by the vacuum gripping device to an extent sufficient to allow the vacuum gripping device to lift or move the bag The disclosure also provides a device and a method for gripping and emptying waste bags.
SE1751638A 2017-12-22 2017-12-22 Systems and methods of gripping and emptying a bag SE541843C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SE1751638A SE541843C2 (en) 2017-12-22 2017-12-22 Systems and methods of gripping and emptying a bag

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1751638A SE541843C2 (en) 2017-12-22 2017-12-22 Systems and methods of gripping and emptying a bag

Publications (2)

Publication Number Publication Date
SE1751638A1 true SE1751638A1 (en) 2019-06-23
SE541843C2 SE541843C2 (en) 2019-12-27

Family

ID=67296878

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1751638A SE541843C2 (en) 2017-12-22 2017-12-22 Systems and methods of gripping and emptying a bag

Country Status (1)

Country Link
SE (1) SE541843C2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113401531A (en) * 2021-07-09 2021-09-17 江苏万家福公共设施有限公司 Bag breaking mechanism for garbage classification box

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000024531A1 (en) * 1998-10-22 2000-05-04 Jan Boie Pedersen Method and apparatus for the sorting of refuse, and handling robot for this purpose
US6721444B1 (en) * 1999-03-19 2004-04-13 Matsushita Electric Works, Ltd. 3-dimensional object recognition method and bin-picking system using the method
US20120168354A1 (en) * 2009-09-14 2012-07-05 Maricap Oy Method and apparatus for sorting wastes
US20140190130A1 (en) * 2011-07-29 2014-07-10 Sig Technology Ag Device and Method for Unpacking and Feeding Flat-Folded and Upright Packaging Sleeves
US20150197009A1 (en) * 2014-01-10 2015-07-16 Simon Melikian Method for picking up an article using a robot arm and associated system
US20160096694A1 (en) * 2014-10-03 2016-04-07 Frito-Lay North America, Inc. Apparatus and Method for Maintaining a Pattern of Non-Rigid Objects in a Desired Position and Orientation
US20160279791A1 (en) * 2015-03-24 2016-09-29 Canon Kabushiki Kaisha Information processing apparatus, information processing method, and storage medium

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000024531A1 (en) * 1998-10-22 2000-05-04 Jan Boie Pedersen Method and apparatus for the sorting of refuse, and handling robot for this purpose
US6721444B1 (en) * 1999-03-19 2004-04-13 Matsushita Electric Works, Ltd. 3-dimensional object recognition method and bin-picking system using the method
US20120168354A1 (en) * 2009-09-14 2012-07-05 Maricap Oy Method and apparatus for sorting wastes
US20140190130A1 (en) * 2011-07-29 2014-07-10 Sig Technology Ag Device and Method for Unpacking and Feeding Flat-Folded and Upright Packaging Sleeves
US20150197009A1 (en) * 2014-01-10 2015-07-16 Simon Melikian Method for picking up an article using a robot arm and associated system
US20160096694A1 (en) * 2014-10-03 2016-04-07 Frito-Lay North America, Inc. Apparatus and Method for Maintaining a Pattern of Non-Rigid Objects in a Desired Position and Orientation
US20160279791A1 (en) * 2015-03-24 2016-09-29 Canon Kabushiki Kaisha Information processing apparatus, information processing method, and storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113401531A (en) * 2021-07-09 2021-09-17 江苏万家福公共设施有限公司 Bag breaking mechanism for garbage classification box

Also Published As

Publication number Publication date
SE541843C2 (en) 2019-12-27

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