| 摘要 |
A method for recognizing, collecting and repositioning objects (1) having non-predetermined dimensional characteristics and which are arranged on a support surface (2) is implemented by means of a gripper group (30). The gripper group (30) is mobile in at least a lengthwise direction of movement relative to an object (1) to be handled, a direction of moving towards/away from the object (1), and a direction of adjustment of the height relative to the object (1). The gripper group (30) is controlled by a computerized control unit. The method comprises the following operating stages: a stage of approaching and recognizing an object (1), comprising the approximately-set approach of the gripper group (30) to the object (1), performed with the assistance of positional information stored in the control unit; identification of the outline of the object (1), by perpendicular three-dimensional scanning performed, using sequences of movements of the gripper group (30), by means for gauging punctual distance (50) arranged near at least one finger (35, 36) of the gripper group (30), and by sensor means (55) for detecting the presence of the object (1), which identify the depth of the object and are arranged at the head of the fingers (35, 36); a stage of gripping the object (1); a stage of collection the object (1), comprising operations of lifting and moving the object (1).
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