A METHOD AND AN ARRANGEMENT FOR LOCATING AND PICKING UP OBJECTS FROM A CARRIER

摘要

The invention relates to a method for locating and picking up objects (2) that are placed on a carrier (1). A scanning operation is performed over the carrier. The scanning is performed by a line laser scanner (8). The result of the scanning is used to generate a 5 virtual surface (18) that represents the area that has been scanned. The virtual surface is compared to a pre-defined virtual object (15) corresponding to an object (2) to be picked from the carrier (1). Thereby, a part of the virtual surface (18) that matches the pre-defined virtual object is identified. A robot arm (5) is then caused to move to a location corresponding to the identified part of the virtual surface and pick up an object from the 10 carrier (1) at this location.