received by the International Bureau on 03 November 2017 (03.11.2017)

LISTING OF CLAIMS:

Claim 1. A system for automatically moving one or more parts between a bin at a source location and a destination using a robot with an end effector comprising; a first vision system for identifying and determining the pick location and pick orientation a part having a non-fixed location and orientation within the bin;

a second vision system for determining the location and orientation of a destination;

a robot having an end effector for picking the part from the bin and moving the part to the destination; and

a controller for planning a best path for the robot to foliow in moving the part between the pick location and the destination,

Claim 2. A method for automatically moving one or more parts between a bin at a source location and a destination using a robot with an end effector, said method comprising:

identifying a part having a non-fixed location and orientation within the bin using a first vision system;

determining the pick location and pick orientation of the pan* within the bin using the first vision system;

determining the location and orientation of a destination using a second vision system;

determining a path between the pick location and the destination; picking the part from the pick location by the end effector on the robot; moving the part along the path by the robot; and

placing the part at the destination by the end effector on the robot.

Claim 3. The method as set forth in Claim 2 wherein the step of determining a path between the pick location and the destination includes determining a best path between the pick location and the destination from a plurality of possible paths; and wherein the step of moving the part along the path by the robot includes moving the part along the best path by the robot.

Claim 4. The method as set forth in Claim 2 further including the step of: simulating a plurality of possible paths between the pick location and the destination incorporating geometrical information of the robot and the pick location and the pick orientation and the target location and the target orientation.

Claim 5, The method as set forth in Claim 4 wherein the step of determining a path between the pick location and the destination includes determining a best path between the pick location and the destination from the plurality of possible paths; and wherein the step of moving the part along the path by the robot includes moving the part along the best path by the robot. Claim 8. The method as set forth in Claim 2 wherein the step of identifying a part having a non-fixed location and orientation within the bin using a first vision system further inciudes identifying a part having a random location and orientation within the bin.

Claim 7. The method as set forth in Claim 2 wherein the step of identifying a part having a non-fixed location and orientation within the bin using the first vision system further includes comparing an image of the part with one or more reference images.

Claim 8. The method as set forth in Claim 2 wherein the step of determining the pick location and pick orientation of the part within the bin using the first vision system further includes comparing an image of the part with one or more reference images.

Claim 9. The system as set forth in Claim 1 wherein the part having a non- fixed location and orientation within the bin has a random location and orientation within the bin.

Claim 10, The system as set forth in Claim 1 wherein the destination is within the bin at the source location.

Claim 11. The system as set forth in Claim 1 wherein the destination is outside of the bin at the source location. Claim 12. The system as set forth in Claim 1 wherein the first vision system includes two or more cameras.

Claim 13. The system as set forth in Claim 1 wherein the second vision system includes two or more cameras.

Claim 14. The system as set forth in Claim 1 wherein the first vision system and/or the second vision system is a 2.5D system.

Claim 15. The system as set forth in Claim 1 wherein the first vision system and/or the second vision system is a 3D system.