Loaves were fed into the machine in a single file, and transferred onto the machine input conveyor. At the junction of the two conveyors, looking downwards, a line scan vision system with high intensity LED Backlight that was used to create a silhouette of the passing loaves.
The vision system scanned the loaf as it passed to determine its position and orientation. Two 6-axis robots mounted centrally above each end of the loaf conveyor then used the information given by the vision system to track the loaves to allow the robot to pick them up from the moving conveyor. The robot then transferred the loaf into a basket at an angle of 30°. The scanning of the loaf also looked for open bags, and the overall size of the loaf to ensure it was the correct product. If a defect was detected, it was allowed to carry on down the conveyor to a collection bin.
Bespoke servo grippers were designed to cater for variation, limit damage and to handle different sizes of loaves.