Gripper assembly, robot system, and operation method therefor

Abstract

To provide an improved gripper assembly that is able to stably grip an object in a robot system.SOLUTION: A gripper assembly 700 includes: a first side gripper 710 configured to grip a target object 112 on a first side of the target object 112; a second side gripper 720 configured to grip the target object 112 on a second side of the target object 112; and a corner gripper 730 configured to grip the target object 112 at a corner of the target object 112, where the first side and the second side intersect.SELECTED DRAWING: Figure 7B

Description

[Technical field]

[0001] The present technology relates generally to robotic systems, and more particularly to gripper assemblies configured to grip objects. [Background technology]

[0002] Thanks to their high performance and low cost, many robots (e.g., machines that operate automatically and autonomously) are widely used in many fields. For example, robots can be used to perform various tasks (e.g., manipulating and moving objects in space), such as manufacturing and assembly, packing and wrapping, and transportation and shipping. When performing tasks, robots can reproduce human behavior, so they can replace or reduce human intervention that is otherwise required to perform dangerous or repetitive tasks (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6678911 Summary of the Invention [Problem to be solved by the invention]

[0004] However, despite technological advances, robots may lack the sophistication necessary to replicate the human sensitivity and / or adaptability required to perform more complex tasks. For example, a robot may have difficulty selectively grasping an object from a group of objects, such as directly adjacent objects, objects of irregular or varying shapes / sizes, etc. Robots may also be limited in stably grasping objects with open tops (e.g., containers). Thus, there remains a need for improved gripper or handling mechanisms in robotic systems. [Means for solving the problem]

[0005] A gripper assembly according to one aspect of the invention includes a first side gripper configured to grip a target object on a first side of the target object, a second side gripper configured to grip the target object on a second side of the target object, and at least one corner gripper configured to grip the target object at a corner portion of the target object where the first side and the second side intersect.

[0006] A robot assembly according to one aspect of the present invention comprises a robot arm and the above-described gripper assembly attached to an end of the robot arm.

[0007] A method of operating a robot assembly according to one embodiment of the present invention is a method of operating the above-mentioned robot system, and includes operating the robot arm to position the gripper assembly relative to the target object, and gripping the target object with the first side gripper, the second side gripper, and the at least one corner gripper. [Brief description of the drawings]

[0008] [Figure 1] 1 illustrates an exemplary environment in which a robotic system with a gripper assembly operates, in accordance with one or more embodiments of the present technique. [Diagram 2] FIG. 1 is a block diagram illustrating components of a robotic system in accordance with one or more embodiments of the present technology. [Diagram 3] FIG. 1 is a schematic perspective view of a robot in accordance with one or more embodiments of the present technology; [Figure 4] FIG. 4 is a perspective view of an exemplary object processed by the robot of FIG. 3 in accordance with one or more embodiments of the present technique. [Diagram 5] FIG. 1 is a perspective view of an exemplary object stack in accordance with one or more embodiments of the present technique. [Figure 6A]1 illustrates an example of an image of a stack of objects taken from above by a detection system in accordance with one or more embodiments of the present technology. [Figure 6B] 1 illustrates an example of a detection result generated by a detection system in accordance with one or more embodiments of the present technology. [Figure 7A] FIG. 13 is a top view of a gripper assembly in accordance with one or more embodiments of the present technology. [Figure 7B] FIG. 13 is a perspective view of a gripper assembly positioned above an object in accordance with one or more embodiments of the present technique; [Figure 7C] FIG. 13 is a front view of a gripper assembly in accordance with one or more embodiments of the present technology. [Figure 8A] FIG. 13 is an exploded perspective view of a side gripper in accordance with one or more embodiments of the present technology. [Figure 8B] FIG. 13 is an enlarged side view of a side gripper in accordance with one or more embodiments of the present technology. [Figure 8C] FIG. 13 is an exploded perspective view of a side gripper in accordance with one or more embodiments of the present technology. [Figure 8D] FIG. 13 is a bottom view of a side gripper in accordance with one or more embodiments of the present technology. [Figure 9A] FIG. 13 is an enlarged side view of a corner gripper in accordance with one or more embodiments of the present technology. [Figure 9B] FIG. 13 is an exploded perspective view of a corner gripper in accordance with one or more embodiments of the present technology. [Figure 9C] FIG. 14 is a bottom view of a corner gripper in accordance with one or more embodiments of the present technology. [Figure 10A-10I] FIG. 1 is a schematic diagram of a gripper assembly in accordance with one or more embodiments of the present technique; [Figures 11A-11D] 1A-1C are schematic diagrams illustrating the process of gripping and transferring a target object by a gripper assembly in accordance with one or more embodiments of the present technology. [Figure 12] FIG. 11 is a flow diagram illustrating a method of operating a robotic system in accordance with one or more embodiments of the present technology. [Figure 13]FIG. 13 is a perspective view of a gripper assembly including a corner gripper according to another embodiment; [Figure 14] 13 is a plan view showing a schematic view of the periphery of a corner of a target object when a gripper assembly according to another embodiment is positioned relative to the target object. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The drawings are not necessarily drawn to scale. Similarly, some components and / or operations may be separated into different blocks or combined into a single block for purposes of describing some of the embodiments of the present technology. Furthermore, while the present technology is susceptible to various modifications and alternative forms, specific embodiments are shown by way of example in the drawings and are described in detail below. However, the intention is not to limit the technology to the specific embodiments described.

[0010] For ease of reference, the gripper assembly and its components may be described herein with reference to X, Y and Z axes relative to the spatial orientation of the embodiments shown in the figures. The Z axis corresponds to an up and down direction. However, it should be understood that the gripper assembly and its components may be moved to and used in different spatial orientations without altering the structure and / or function of the disclosed embodiments of the technology.

[0011] In the following, numerous specific details are described to provide a thorough understanding of the technology disclosed in the present invention. In other embodiments, the technology introduced herein can be implemented without these specific details. In other instances, well-known features, such as specific functions or routines, are not described in detail to avoid unnecessarily obscuring the present disclosure. References to "embodiment," "one embodiment," and the like in this detailed description mean that the particular feature, structure, material, or characteristic described is included in at least one embodiment of the present disclosure. Thus, appearances of such phrases in this specification do not necessarily all refer to the same embodiment. On the other hand, such references are not necessarily mutually exclusive. Moreover, particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments.

[0012] It should be understood that the various embodiments shown in the figures are merely exemplary representations. Also, the figures are semi-schematic and not to scale, in particular some of the dimensions are exaggerated in the figures for clarity of presentation. Similarly, while the figures generally show similar orientations for ease of explanation, this depiction in the figures is largely arbitrary.

[0013] For clarity, some details describing structures or processes that are well known and often associated with robotic systems and subsystems, but that may unnecessarily obscure some important aspects of the disclosed technology, are not included in the following description. Furthermore, in the following disclosure, some embodiments of different aspects of the technology are shown, but some other embodiments may have different configurations or different components than those described in this section. Thus, the disclosed technology may have other embodiments that have additional elements or that do not have some of the elements described below.

[0014] Many embodiments or aspects of the disclosure described below may take the form of computer-executable or controller-executable instructions, including routines executed by a programmable computer or controller. Those skilled in the art will appreciate that the disclosed technology may be implemented in computer or controller systems other than those shown and described below. The technology described herein may be embodied in a special purpose computer or data processor that is specially programmed, configured, or constructed to execute one or more of the computer-executable instructions described below. Thus, the terms "computer" and "controller" as used generally herein refer to any data processor, including Internet appliances and handheld devices, including palmtop computers, wearable computers, cellular or mobile phones, multiprocessor systems, processor-based or programmable consumer electronics, network computers, minicomputers, and the like. Information processed by these computers and controllers may be presented on any suitable display medium, including a liquid crystal display (LCD). Instructions for performing computer-executable or controller-executable tasks may be stored on any suitable computer-readable medium, including hardware, firmware, or a combination of hardware and firmware. The instructions may be contained in any suitable memory device, including, for example, a flash drive, a USB device, and / or other suitable medium, including tangible, non-transitory computer-readable media.

[0015] The terms "coupled" and "connected," along with their derivatives, may be used herein to describe a structural relationship between components. It should be understood that these terms are not intended as synonyms for each other. Rather, in certain embodiments, "connected" may be used to indicate that two or more elements are in direct contact with each other. Unless otherwise clear by context, the term "coupled" may be used to indicate that two or more elements are in direct or indirect contact with each other (with other intervening elements therebetween), that two or more elements cooperate or interact with each other (e.g., in a causal relationship such as transmission / reception of signals or function calls), or both.

[0016] [Example environment of a robot system] FIG. 1 is an illustration of an exemplary environment in which a robotic system 100 transports objects. The robotic system 100 may include an unloading unit 102, a transfer unit 104, a transport unit 106, a loading unit 108, or a combination thereof in a warehouse or a distribution / shipping hub. Each unit of the robotic system 100 may be configured to perform one or more tasks. Tasks may be combined in sequence to perform actions to achieve a goal, such as, for example, unloading an object from a vehicle, such as a truck, trailer, van, rail car, etc., and storing it in a warehouse, or unloading an object from a storage location and loading it onto a vehicle for shipment. In another example, a task may include moving an object from one location, such as a container, bin, cage, basket, shelf, platform, pallet, or conveyor belt, to another location. Each unit may be configured to perform a sequence of actions, such as manipulating one or more components therein, to perform the task.

[0017] In some embodiments, a task may include an interaction with a target object 112, such as manipulating, transporting, redirecting, or a combination thereof, of the object. The target object 112 is a target object to be handled by the robotic system 100. More specifically, the target object 112 may be a particular object among many objects that are the target of an action or task by the robotic system 100. For example, the target object 112 may be an object selected by the robotic system 100 or an object that is currently being handled, manipulated, moved, redirected, or a combination thereof. The target object 112 may include, by way of example, a box, a case, a tube, a package, a bundle, a combination of individual items, or any other object that may be handled by the robotic system 100.

[0018] As an example, a task may include transferring a target object 112 from an object source 114 to a task location 116. The object source 114 is a receptacle for storing objects. The object source 114 may include a number of configurations and forms. For example, the object source 114 may be a platform on which objects may be placed or stacked, with or without walls, such a platform may be a pallet, shelf, or conveyor belt. Alternatively, the object source 114 may be a partially or fully enclosed receptacle with walls or a lid on which objects may be placed, such as a bin, cage, or basket. In some embodiments, the walls of a partially or fully enclosed object source 114 may be transparent or may include openings or gaps of various sizes such that portions of objects contained therein may be visible or partially visible through the walls.

[0019] 1 illustrates examples of functions and operations that may be performed by various units of the robotic system 100 when handling a target object 112, it being understood that the environments and conditions may differ from those described below. For example, the unloading unit 102 may be a vehicle unloading robot configured to transfer the target object 112 from a position in a carrier, such as a truck, to a position on a conveyor belt. Also, the transfer unit 104 may be a palletizing robot configured to transfer the target object 112 from a position on a conveyor belt to a location on the transfer unit 106, such as for loading the target object 112 onto a pallet on the transfer unit 106. In another example, the transfer unit 104 may be a piece-picking robot configured to transfer the target object 112 from one container to another. Upon completion of the operation, the transport unit 106 can transport the target object 112 from an area associated with the transfer unit 104 to an area associated with the loading unit 108, and the loading unit 108 can transfer the target object 112 from the transfer unit 104 to a storage location, such as a location on a shelf, such as by moving a pallet carrying the target object 112.

[0020] The robotic system 100 can include various types of end effectors. For example, the transfer unit 104 can include a robot end effector 140 (also referred to herein as a gripper assembly or end effector 140) to pick up and transport objects. Gripper assemblies can also be included in the unloader unit 102, the transport unit 106, the loading unit 108, and other components of the robotic system 100. The configuration of the gripper assembly can be selected based on the desired transport capacity.

[0021] For illustrative purposes, the robotic system 100 has been described in the context of a distribution center, but it is understood that the robotic system 100 can be configured to perform tasks in other environments or for other purposes, such as manufacturing, assembly, packaging, medical, or other types of automation. It is also understood that the robotic system 100 can include other units, such as manipulators, service robots, modular robots, etc., that are not shown in FIG. 1 . For example, in some embodiments, the robotic system 100 can include a depalletizing unit for transferring objects from a cage, cart, or pallet to a conveyor or other pallet, a container switching unit for transferring objects from one container to another, a packaging unit for packaging objects, a sorting unit for grouping objects according to one or more characteristics thereof, a piece-picking unit for differently manipulating (e.g., sorting, grouping, and / or transporting) objects according to one or more characteristics thereof, or combinations thereof.

[0022] The imaging system 160 can provide image data that is used to monitor the operation of components, identify objects of interest, track objects of interest, or otherwise perform a task. For example, the image data can be analyzed to evaluate stacking arrangements of containers, container position information, available transfer paths (e.g., transfer paths between the pick-up section and the drop section), position information regarding the gripper assemblies, or a combination thereof.

[0023] The controller 109 can communicate with the imaging system 160 and other components of the robotic system 100. The controller 109 can generate a transfer plan including an order for picking up and dropping objects, positioning information, command information for picking up objects, command information for dropping objects, a stacking plan (e.g., a plan for stacking objects in a drop section), a restacking plan (e.g., a plan for restacking at least a portion of the containers in a pick-up section), or a combination thereof. The information and instructions provided by the transfer plan can be selected based on the placement of the containers, the contents of the containers, or a combination thereof. In some embodiments, the controller 109 can include electronic / electrical devices such as one or more processing units, processors, storage devices (e.g., external or internal storage devices, memories, etc.), communication devices (e.g., communication devices for wireless or wired connections), and input / output devices (e.g., screens, touch screen displays, keyboards, keypads, etc.). Exemplary electronic / electrical devices and controller components are described in connection with FIG. 2.

[0024] [Robot System] 2 is a block diagram illustrating components of a robotic system 100 in accordance with one or more embodiments of the present technology. In some embodiments, for example, the robotic system 100 can include electronic devices, electrical devices, or combinations thereof, such as a control unit 202, a storage unit 204, a communication unit 206, a system interface 208, one or more actuation devices 212, one or more transport motors 214, one or more sensor units 216, or combinations thereof. The various devices can be coupled to each other via wired and / or wireless connections. For example, the robotic system 100 can include a bus, such as a system bus, a Peripheral Component Interconnect (PCI) bus or PCI-Express bus, a HyperTransport or Industry Standard Architecture (ISA) bus, a Small Computer System Interface (SCSI) bus, a Universal Serial Bus (USB), an IIC (I2C) bus, or an IEEE (Institute of Electrical and Electronics Engineers) standard 1394 bus (also called "Firewire"). Also, for example, the robotic system 100 may include bridges, adapters, controllers, or other signal-related devices to provide wired connections between devices. Wireless connections may be based on, for example, cellular communication protocols (e.g., 3G, 4G, LTE, 5G, etc.), wireless local area network (LAN) protocols (e.g., Wireless Fidelity (WIFI)), peer-to-peer or device-to-device communication protocols (e.g., Bluetooth, Near Field Communication (NFC)), Internet of Things (IoT) protocols (e.g., NB-IoT, Zigbee, Z-wave, LTE-M, etc.), and / or other wireless communication protocols.

[0025] The control unit 202 can be implemented in many different ways. For example, the control unit 202 can be a processor, an application specific integrated circuit (ASIC), an embedded processor, a microprocessor, a hardware control logic, a hardware finite state machine (FSM), a digital signal processor (DSP), or a combination thereof. The control unit 202 can execute instructions (e.g., software instructions) stored in a storage unit 204 (e.g., computer memory) to provide intelligence for the robotic system 100. The control unit 202 can implement program instructions for controlling / interfacing with other devices, thereby causing the robotic system 100 to perform actions, tasks, and / or operations.

[0026] The storage unit 204 may include a non-transitory computer-readable medium on which program instructions are stored. The storage unit 204 may be a volatile memory, a non-volatile memory, an internal memory, an external memory, or a combination thereof. For example, the storage unit 204 may be a volatile storage such as a flash memory, a disk storage, or a static random access memory (SRAM), or a non-volatile storage such as a non-volatile random access memory (NVRAM). Other examples of the storage unit 204 may include a portable memory drive and / or a cloud storage device.

[0027] In some embodiments, the storage unit 204 may be used to further store and provide access to master data, processing results, predefined data, thresholds, or combinations thereof. For example, the storage unit 204 may store master data 252 including descriptions of objects (e.g., boxes, box types, cases, case types, containers, container types, and / or products) that may be manipulated by the robotic system 100. In one embodiment, the master data 252 may include dimensions, shapes (e.g., templates of potential poses and / or computer-generated models for recognizing objects in different poses), mass / weight information, color schemes, images, identification information (e.g., barcodes, Quick Response (QR) codes, logos, etc., and / or their expected locations), expected mass or weight, or combinations thereof, of objects expected to be manipulated by the robotic system 100. In some embodiments, the master data 252 may include operation-related information about the objects, such as center of gravity locations on each object, expected sensor measurements (e.g., force, torque, pressure, and / or contact measurements) corresponding to one or more actions / movements, or combinations thereof. The robotic system 100 can retrieve other stored master data 252, such as contact levels (e.g., levels of pressing against a positioning element) for controlling the transfer robot. The storage unit 204 can also store object tracking data 254. In some embodiments, the object tracking data 254 can include a log of scanned or manipulated objects. In some embodiments, the object tracking data 254 can include image data (e.g., photos, point clouds, live video feeds, etc.) of objects at one or more locations (e.g., designated pick-up or drop-off locations). In some embodiments, the object tracking data 254 can include the location and / or orientation of the object at one or more locations.

[0028] The communication unit 206 may include circuitry configured to communicate with external or remote devices over a network. For example, the communication device unit may include a receiver, a transmitter, a modulator / demodulator (modem), a signal detector, a signal encoder / decoder, a connector port, a network card, and the like. The communication unit 206 may be configured to transmit, receive, and / or process electrical signals according to one or more communication protocols (e.g., Internet Protocol (IP), wireless communication protocols, and the like). The robotic system 100 may use the communication unit 206 to exchange information between units of the robotic system 100. For example, information may be transmitted between the control unit 202, the storage unit 204, the communication unit 206, the system interface 208, the actuation device 212, the transport motor 214, the sensor unit 216, or a combination thereof. The robotic system 100 may also use the communication unit 206 to exchange information with systems or devices external to the robotic system 100, for example, for reporting, data collection, analysis, and / or troubleshooting purposes.

[0029] The system interface 208 can include user interface devices configured to communicate information to and / or receive information from a human operator. For example, the system interface 208 can include a display 210 and / or other output devices (e.g., a speaker, haptic circuitry, or haptic feedback devices, etc.) for communicating information to a human operator. The system interface 208 can also include control or receiving devices, such as a keyboard, mouse, touch screen, microphone, user interface (UI) sensors (e.g., a camera for receiving motion commands), wearable input devices, etc. In some embodiments, the robotic system 100 can use the system interface 208 to interact with a human operator in performing actions, tasks, operations, or combinations thereof.

[0030] In some embodiments, a controller (e.g., controller 109 in FIG. 1) may include a control unit 202, a storage unit 204, a communication unit 206, and / or a system interface 208. A controller may be a stand-alone component or part of a unit / assembly. For example, each component of the robotic system 100 (unloading unit 102, transfer unit 104, transport unit 106, and loading unit 108) may include one or more controllers. In some embodiments, a single controller may control multiple units or stand-alone components.

[0031] The robotic system 100 can include physical or structural members (e.g., robotic arms) that are articulated for movement (e.g., rotational and / or lateral displacement). The structural members and joints can form a kinematic chain configured to manipulate an end effector (e.g., a gripper assembly) configured to perform one or more tasks (e.g., grasping, spinning, welding, etc.) depending on the use / operation of the robotic system 100. The robotic system 100 can include actuation devices 212 (e.g., motors, actuators, wires, artificial muscles, electroactive polymers, etc.) configured to drive or manipulate (e.g., displace and / or reorient) the structural members around or at the corresponding joints. In some embodiments, the robotic system 100 can include a transport motor 214 configured to transport a corresponding unit / chassis from location to location.

[0032] The sensor unit 216 can be configured to obtain information used to perform tasks, such as to manipulate structural members and / or transport the robotic unit. The sensor unit 216 can include devices configured to detect or measure one or more physical characteristics of the robotic system 100 (e.g., the status, state, and / or location of one or more structural members / joints thereof) and / or the surrounding environment. Some examples of the sensor unit 216 can include contact sensors, proximity sensors, accelerometers, gyroscopes, force sensors, strain gauges, torque sensors, position encoders, pressure sensors, vacuum sensors, etc.

[0033] In some embodiments, the sensor unit 216 may include one or more imaging devices 222 (e.g., two-dimensional (2D) and / or three-dimensional (3D) imaging devices) configured to detect the surrounding environment. The imaging devices may include cameras (including visual and / or infrared cameras), lidar devices, radar devices, and / or other distance measuring or detection devices. The imaging devices 222 may generate representations of the detected environment, such as digital images and / or point clouds, that are used to perform machine / computer vision (e.g., for automated inspection, robotic guidance, or other robotic applications).

[0034] The robotic system 100 (e.g., via the control unit 202) can process the image data to identify the target object 112 of FIG. 1, the object source 114 of FIG. 1, the task location 116 of FIG. 1, the pose of the target object 112 of FIG. 1, or a combination thereof. For example, the robotic system 100 can capture and analyze an image of a designated area (e.g., in a vehicle, in a container, or a location for picking up an object on a conveyor belt) to identify the target object 112 and its object source 114. Similarly, the robotic system 100 can capture and analyze an image of another designated area (e.g., a drop-off location for placing an object on a conveyor belt, a location for placing an object in a container, or a location on a pallet for stacking purposes) to identify the task location 116. The robotic system 100 can also use the image data, etc. to determine how to access and pick up the object. The image of the designated area can be analyzed to determine a plan for positioning the gripper assembly to grasp the target object, even if the target object is adjacent to other objects. The image output from the sensor unit 216 (eg, a lidar device) and the image data from a remote device (eg, imaging system 160 of FIG. 1) may be utilized alone or in combination.

[0035] Also, in some embodiments, the sensor unit 216 may include system sensors 224 for monitoring the robotic system 100 or each unit thereof. The system sensors 224 may include sensors (e.g., distance sensors, position encoders, potentiometers, etc.) that detect the position of structural members (e.g., robotic arms and / or end effectors) and / or corresponding joints of the robotic system 100. The robotic system 100 may use the system sensors 224 to track the location and / or orientation of the structural members and / or joints during the performance of a task.

[0036] In some embodiments, the sensor unit 216 can include contact sensors 226 (e.g., force sensors, strain gauges, piezoresistive / piezoelectric sensors, capacitive sensors, elastic resistive sensors, and / or other tactile sensors) configured to measure a characteristic associated with direct contact between a plurality of physical structures or surfaces. The contact sensors 226 can measure a characteristic corresponding to the gripping of the end effector (e.g., gripper assembly) on the target object 112. As such, the contact sensors 226 can output contact measurements that represent quantified measurements (e.g., measured force, torque, position, etc.) corresponding to physical contact, the degree of contact or adhesion between the gripper assembly and the target object 112, or other contact characteristics. For example, the contact measurements can include one or more force, pressure, or torque readings associated with the gripping of the target object 112 by the end effector. In some embodiments, the contact measurements can include force readings associated with the gripper assembly (e.g., readings of the pressing force against the positioning element).

[0037] [Object Grasping System] 3 is a diagram illustrating a robot 300 (such as, for example, the transfer unit 104 of FIG. 1) configured in accordance with some embodiments of the present technology. The robot 300 has a robot base 305 and a robot arm 310. The robot arm 310 is supported at one end by the robot base 305 and carries an end-of-arm tool 320 at its other end. The end-of-arm tool 320 may also be referred to herein as an "end effector", "EoAT (End of Arm Tool)", "tool", "object gripping mechanism", "object gripping assembly", "gripping assembly", "gripping mechanism", "object gripper", or "gripper assembly".

[0038] The robotic arm 310 has a tool coupling 312 and one or more joints 314 (three shown), while the end-of-arm tool 320 includes an arm coupling 322 that is operably coupleable to the tool coupling 312 of the robotic arm 310. When the tool coupling 312 and the arm coupling 322 are coupled together, both a physical connection and one or more communication connections (e.g., electrical connections, fluid connections, or other suitable communication connections) can be established. The physical connection allows the robotic arm 310 to carry the end-of-arm tool 320, while the communication connection allows the end-of-arm tool 320 to be controlled via the connection to the robotic arm 310.

[0039] The robot 300 can be configured to clamp, pick up, grasp, transfer, release, load, and / or unload various types or categories of objects. For example, in the described embodiment, the one or more joints 314 enable the robot arm 310 to controllably position the end-of-arm tool 320 relative to one or more target objects (e.g., the target object 112 described above with respect to FIG. 1). Once positioned, the end-of-arm tool 320 can be operated to grasp the target object. The one or more joints 314 then also enable the robot arm 310 to move the target object grasped by the end-of-arm tool 320 between locations (e.g., between a pick-up location and a drop-off location). Once positioned over a desired location, the end-of-arm tool 320 can be manipulated to release the target object.

[0040] [Examples of objects and their detection] Fig. 4 shows an example of an object 400 to be processed by the robot 300 of Fig. 3. The example of the object 400 is a container that is rectangular in plan view and has an open top. The object 400 has a bottom wall 402 and a total of four side walls 404, 406. The bottom wall 402 has a flat surface, and the four side walls 404, 406 rise from the periphery of the bottom wall 402. Adjacent side walls 404, 406 intersect at 90 degrees. The inner surfaces of the side walls 404, 406 (i.e., the inner walls of the object 400) are made of flat surfaces.

[0041] The outer surfaces of the side walls 404, 406 (i.e., the outer walls of the object 400) have ribs 410, 412 protruding therefrom. The ribs 410 extend horizontally, and the ribs 412 extend vertically. For example, a plurality of the ribs 410 (two in this example) are formed near the tops of the side walls 404, 406. The ribs 410 may extend continuously along the side wall 406, or may extend partially at both ends of the side wall 404. For example, a plurality of the ribs 412 (two on the side wall 404 and seven on the side wall 406 in this example) are formed on each of the side walls 404, 406. The ribs 412 may be formed continuously throughout the height of the side walls 404, 406, or may be formed only on a portion of the top of the side wall 406. The ribs 412 may also be formed at the corners 408 where the adjacent side walls 404, 406 intersect. The object 400 has an outwardly protruding upper periphery. Specifically, the upper ends of the four side walls 404, 406 of the object 400 have rims 420 that protrude outwardly. The rims 420 protrude outwardly, for example, parallel to the ribs 410 and to the same extent as the ribs 410.

[0042] In some embodiments, the object to be processed by the robot 300 may not have an open top. For example, such an object may be a container having a lid on the top. The lid may have a protrusion and / or a recess on the top. The lid may also constitute an inner wall of the object. For example, the walls defining the protrusion and / or recess of the lid may constitute the inner wall of the object. The inner wall of the object is located further inward than the outer wall of the object (the outer wall of the container body).

[0043] FIG. 5 shows an example of an object stack 500. The object stack 500 is a stack of multiple objects on an object source 114 (e.g., a pallet), and the objects are, for example, the object 400 in FIG. 4. The objects in the object stack 500 are open at the top and have a rim 420 on the upper periphery, like the object 400, but in the illustrated example, they are partially different from the object 400 in terms of, for example, the configuration of the ribs 410 and 412. The object stack 500 may be a stack of multiple objects loaded individually or mixed. That is, the object stack 500 may be a stack of one type of object or multiple objects of different types (sizes, shapes, SKUs, etc.) loaded on the same object source 114 (e.g., a pallet). For example, the object stack 500 may be a stack of the open-topped object 400 and an object with a lid on the top.

[0044] A detection system 520 is provided for detecting the object stack 500. The detection system 520 may include one or more imaging devices 222 of the sensor unit 216 and / or the imaging system 160 of Figure 1 and may identify and determine the location of an object on the object source 114 and the kind of object (type, size, etc.). In one embodiment, the detection system 520 may be mounted to the end-of-arm tool 320.

[0045] FIG. 6A shows an example of an image 610 of the object stack 500 taken from above by the detection system 520. FIG. 6B shows an example of a detection result generated by the detection system 520 for a case where there are five objects on the top of the object stack 500. The detection system 520 can identify edges and / or corners that may correspond to boundaries of the objects. The detection system 520 can identify and determine the presence of five objects 400 on the top of the object stack 500, as well as the location, size, type, etc. of each object 400. For example, the detection system 520 can identify and determine the presence or absence of a rim 420 on the object 400, as well as the location and size of the rim 420. Based on the detection result of the detection system 520, the robot system 100 can generate a motion plan for manipulating the robot arm 310 and the end-of-arm tool 320 (e.g., a motion plan for picking up a target object 112 from the object stack 500 and transferring it to another location).

[0046] [Gripper assembly] 7A-7C show a gripper assembly 700 configured in accordance with some embodiments of the present technology. Gripper assembly 700 is an example of end-of-arm tool 320 of FIG. 3. Gripper assembly 700 has a body 740 configured to be coupleable to the end of robot arm 310. An upper portion of body 740 has arm coupling portion 745 that couples to tool coupling portion 312 of FIG. 3.

[0047] The gripper assembly 700 has two side grippers 710, 720 and one corner gripper 730. The side grippers 710, 720 are provided on side surfaces 741, 742 of a main body 740, respectively. The corner gripper 730 is provided on a front surface 743 (a corner on the front side) of the main body 740. The side surfaces 741, 742 of the main body 740 are vertical surfaces that extend in the X-axis direction and the Y-axis direction, respectively, and are perpendicular to each other. The front surface 743 is formed as a vertical surface by chamfering the front corner where the side surfaces 741 and 742 intersect at 45 degrees. The front surface 743 is angled at 45 degrees with respect to the X-axis direction and the Y-axis direction, respectively. Thus, the side grippers 710, 720 are positioned perpendicular to each other, and the corner gripper 730 is positioned at 45 degrees with respect to each of the side grippers 710, 720.

[0048] A slide rail 751 is provided on a side surface 741 of the main body 740 to guide the side gripper 710 movably along the side surface 741. The slide rail 751 extends in the X-axis direction along the side surface 741, and an upper guide 711 of the side gripper 710 is engaged with the slide rail 751. The side gripper 710 is connected to a lateral actuator system 761. The actuator system 761 moves the side gripper 710 along the slide rail 751 in the X-axis direction so as to approach or move away from the corner gripper 730.

[0049] Similarly, a slide rail 752 is provided on a side surface 742 of the main body 740 to guide the side gripper 720 movably along the side surface 742. The slide rail 752 extends in the Y-axis direction along the side surface 742, and an upper guide 721 of the side gripper 720 is engaged with the slide rail 752. The side gripper 720 is coupled to a lateral actuator system 762. The actuator system 762 moves the side gripper 720 along the slide rail 752 in the Y-axis direction so as to approach or move away from the corner gripper 730.

[0050] The actuator systems 761, 762 include, for example, an actuator and a power transmission mechanism. The actuator may be, for example, electric, pneumatic, or hydraulic, and may be, for example, a motor, an air cylinder, a hydraulic cylinder, or a rotary actuator. The power transmission mechanism transmits the power of the actuator to the actuated element (side grippers 710, 720), and may be, for example, a belt and pulley, or a gear system (for example, a worm gear, a gear train, or the like). The actuator systems 761, 762 are operable independently of each other. Therefore, the side grippers 710, 720 are movable and positionable independently of each other. The side grippers 710, 720 are positionable at predetermined positions in the X-axis direction and the Y-axis direction with respect to the side surfaces 741, 742, respectively. On the other hand, the corner gripper 730 is fixed in position in the X-axis direction and the Y-axis direction with respect to the front surface 743.

[0051] As shown in FIG. 7B, with respect to the work object 112, the side gripper 710 is disposed on a first side of the work object 112 and the side gripper 720 is disposed on a second side of the work object 112. The first and second sides of the work object 112 are orthogonal. The corner gripper 730 is disposed at a corner where the first and second sides of the work object 112 intersect. In the context of the object 400 of FIG. 4, the side grippers 710, 720 are disposed relative to the side walls 404, 406 of the object 400, respectively, while the corner gripper 730 is disposed relative to the corner 408 of the object 400. The side grippers 710, 720 grip the side walls 404, 406 of the object 400, while the corner gripper 730 grips the object 400 at a corner portion including the corner 408 and / or an adjacent portion of the corner 408 (a portion of each of the side walls 404, 406 that is adjacent to the corner 408). The side grippers 710, 720 and the corner gripper 730 each have a gripping mechanism 771, 772, 773 at their bottoms, as shown in FIG. 7C, and the gripping mechanisms 771, 772, 773 can grip and manipulate a target object.

[0052] [Side gripper] 8A to 8D show the side gripper 710. The gripping mechanism 771 of the side gripper 710 includes a positioning element 810, a gripping element 820, and a distance sensor 830. The positioning element 810 is configured to be positionable on the inner side wall of the target object 112, and the gripping element 820 is configured to be positionable on the outer side wall of the target object 112. The side gripper 710 further includes a horizontal actuator 840 configured to move the gripping element 820 relative to the positioning element 810. The horizontal actuator 840 enables horizontal movement (movement in the Y-axis direction) and positioning of the gripping element 820. For example, the horizontal actuator 840 horizontally moves the gripping element 820 so that the gripping element 820 contacts the outer side wall of the target object 112 and presses the inner side wall of the target object 112 against the positioning element 810.

[0053] The positioning element 810 protrudes downward from the lower end of the fixed housing 850 of the side gripper 710. The positioning element 810 is composed of, for example, two pins (positioning pins) extending in the Z-axis direction, and the two positioning elements 810 are arranged parallel to the X-axis direction and spaced apart in the X-axis direction. In other embodiments, the number of positioning elements 810 is not limited to two but may be one or more, and the shape of the positioning element 810 is not limited to a pin but may be other shapes such as a plate shape or a block shape.

[0054] The gripping element 820 is provided at the lower part of the movable housing 860 of the side gripper 710. The gripping element 820 has a base 821 fixed to the lower part of the movable housing 860 and a claw portion 822 protruding from the base 821 toward the positioning element 810. The claw portion 822 faces one of the two positioning elements 810. The claw portion 822 is bifurcated toward the front and has a comb portion 823 with a gap therebetween. The comb portion 823 is configured to be able to accommodate the rib 412 of the object 400 in this gap. A tip surface 824 of the comb portion 823 is a flat vertical surface, and an upper surface 825 of the comb portion 823 is a flat horizontal surface. An upper part of the claw portion 822 has a recess 826. In another embodiment, the claw portion 822 may not have the comb portion 823 or multiple fingers. For example, the claw 822 may consist of a single finger or a single hook.

[0055] The distance sensor 830 is provided facing downward on a fixed housing 850 of the side gripper 710. A sensor opening 832 is formed on the lower surface of the fixed housing 850, through which a beam 831 emitted from the distance sensor 830 passes. The beam 831 emitted from the distance sensor 830 and passing through the sensor opening 832 is emitted toward the rim 420 of the target object 112 (object 400). The distance sensor 830 confirms the position of the side gripper 710 above the rim 420 of the target object 112 based on the light reflected by the rim 420, and determines the distance from the rim 420 of the target object 112 to the side gripper 710. That is, the distance sensor 830 obtains position information of the side gripper 710 relative to the target object 112.

[0056] The horizontal actuator 840 is provided on the upper part of the fixed housing 850 of the side gripper 710, and an output part 841 is connected to the movable housing 860. The horizontal actuator 840 may be, for example, an electric, pneumatic or hydraulic actuator, and may be a motor, an air cylinder, a hydraulic cylinder, a rotary actuator or the like. When the horizontal actuator 840 is driven, the movable housing 860 moves in a direction approaching or receding from the fixed housing 850. This causes the gripping element 820 to move horizontally (in the Y-axis direction).

[0057] In relation to the target object 112 (object 400), the side gripper 710 is positioned above the target object 112 (object 400) based on the detection result of the distance sensor 830, the positioning element 810 is disposed inside the side wall 404 of the object 400, and the gripping element 820 is disposed outside the side wall 404 of the object 400. Then, the claw portion 822 of the gripping element 820 accommodates the rib 412 of the object 400 in the gap in the comb portion 823, the tip surface 824 of the comb portion 823 contacts the outer surface of the side wall 404 of the object 400, and further, the upper surface 825 of the comb portion 823 can support the bottom surface of the protruding portion (the rib 410 or the rim 420) of the object 400. During a gripping operation, the horizontal actuator 840 moves the gripping element 820 horizontally, pressing the inner sidewall of the sidewall 404 of the object 400 against the positioning element 810 via the tip surface 824 of the comb portion 823 .

[0058] In some embodiments, the target object 112 is an object having a lid thereon, and even in this case, the side gripper 710 has the positioning element 810 positioned on an inner side wall of the object and the gripping element 820 positioned on an outer side wall of the object. For example, the positioning element 810 is positioned on one of the walls defining the protrusion and / or recess of the lid, and the gripping element 820 is positioned on the outer side wall of the object body (e.g., a portion corresponding to the outer surface of the side wall 404 of the object 400) of the object body (e.g., a container body).

[0059] In some embodiments, the side gripper 710 can also have sensors that provide contact measurements (e.g., force readings) that indicate when the gripping elements 820 contact the sidewall 404 of the object 400 and / or when the gripping elements 820 press the sidewall 404 of the object 400 against the positioning elements 810. The side gripper 710 can control the actuation of the horizontal actuator 840 based on the results of such sensors.

[0060] In some embodiments, the side gripper 710 may also have a vertical actuator 870 for moving the gripping element 820 in the Z-axis direction relative to the positioning element 810 (see FIG. 8B). The movable housing 860 may have, for example, a vertical base 861, a fixed cover 862, and a slider plate 863. An output part 841 of the horizontal actuator 840 is connected to the vertical base 861, and the fixed cover 862 is fixed to the vertical base 861. The slider plate 863 is guided movably in the Z-axis direction along a rail on the inside of the fixed cover 862. A base part 821 of the gripping element 820 is fixed to a lower part of the slider plate 863. Thus, the vertical actuator 870 connected to the slider plate 863 moves the gripping element 820 in the Z-axis direction via the slider plate 863. The vertical actuator 870 allows the bottom surface of the protruding portion (rib 410 or rim 420 ) of the object 400 supported by the gripping element 820 to be the bottom surface of the rib 410 or the bottom surface of the rim 420 .

[0061] The configuration of side gripper 720 is similar to that of side gripper 710, and the configuration of gripping mechanism 772 of side gripper 720 is similar to that of gripping mechanism 771 of side gripper 710. However, it will be easily understood that the direction of horizontal movement of the gripping elements of gripping mechanism 772 is the X-axis direction, which is perpendicular to the direction of horizontal movement (Y-axis direction) of the gripping elements of gripping mechanism 771. A detailed description of side gripper 720 and its gripping mechanism 772 will be omitted.

[0062] [Corner gripper] 9A-9C show a corner gripper 730. The gripping mechanism 773 of the corner gripper 730 includes a positioning element 910 and a gripping element 920. The positioning element 910 is configured to be positionable on an inner side wall of the target object 112, and the gripping element 920 is configured to be positionable on an outer side wall of the target object 112. The corner gripper 730 further includes a horizontal actuator 940 configured to move the gripping element 920 relative to the positioning element 910. The horizontal actuator 940 enables horizontal movement (movement in a direction of 45 degrees with respect to each of the X-axis and the Y-axis) and positioning of the gripping element 920. For example, the horizontal actuator 940 moves the gripping element 920 horizontally so that the gripping element 920 contacts the outer side wall of the target object 112 and presses the inner side wall of the target object 112 against the positioning element 910.

[0063] The positioning element 910 protrudes downward from the lower end of the fixed housing 950 of the corner gripper 730. The positioning element 910 has two side positioning elements 911, 911 and a corner positioning element 913. The side positioning elements 911, 911 are configured to be able to contact the inner surfaces of the side walls 404, 406, respectively, in the vicinity of the corner 408 of the object 400 (target object 112). The corner positioning element 913 is configured to be able to contact the inner surface of the corner 408 of the object 400 (target object 112). The side positioning elements 911, 911 and the corner positioning element 913 allow the corner gripper 730 to be positioned and oriented at the corner 408 of the object 400 (target object 112).

[0064] The side positioning elements 911, 911 are each formed, for example, of a pin (positioning pin) extending in the Z-axis direction, and the side positioning elements 911, 911 are arranged parallel to and spaced apart from each other in a direction perpendicular to the direction of horizontal movement of the gripping element 920. The corner positioning element 913 is formed of a pin (positioning pin) extending in the Z-axis direction, and is located between the side positioning elements 911, 911. In other embodiments, the number of positioning elements 910 is not limited to the above, and the shape of the positioning elements 910 is not limited to a pin, and may be other shapes such as a plate shape or a block shape.

[0065] The gripping element 920 is provided at the bottom of the movable housing 960 of the corner gripper 730. The gripping element 920 has a base 921 fixed to the bottom of the movable housing 960 and a claw portion 922 protruding from the base 921 toward the positioning element 910. The claw portion 922 faces the corner positioning element 913. The claw portion 922 is bifurcated toward the front and has a comb portion 923 with a gap therebetween. The comb portion 923 is configured to be able to accommodate the rib 412 of the object 400 in this gap. The comb portion 923 is formed to be tapered compared to the above-mentioned comb portion 823. This corresponds to the fact that the corner gripper 730 is oriented at 45 degrees with respect to the side surface of the object 400. The tip surface 924 of the comb portion 923 may have a shape corresponding to the curved surface of the corner 408 of the object 400. The upper surface 925 of the comb portion 923 is a flat horizontal surface. In other embodiments, the prongs 922 may not have the comb 923 or multiple fingers. For example, the prongs 922 may consist of a single finger or a single hook.

[0066] The horizontal actuator 940 is provided on the upper part of the fixed housing 950 of the corner gripper 730, and an output part 941 is connected to the movable housing 960. The horizontal actuator 940 may be, for example, an electric, pneumatic or hydraulic actuator, and may be a motor, an air cylinder, a hydraulic cylinder, a rotary actuator or the like. When the horizontal actuator 940 is driven, the movable housing 960 moves in a direction approaching or receding from the fixed housing 950. This causes the gripping element 920 to move horizontally (in the above-mentioned 45-degree direction).

[0067] In relation to the target object 112 (object 400), the corner gripper 730 is positioned above the target object 112 (object 400) and oriented at 45 degrees to the side walls 404, 406 of the object 400. The positioning element 910 is disposed inside the side wall 404 of the object 400, and the gripping element 920 is disposed outside the side wall 404 of the object 400. The claw portion 922 of the gripping element 920 receives the rib 412 of the corner 408 of the object 400 in the gap in the comb portion 923, the tip surface 924 of the comb portion 923 contacts the outer surface of the corner portion of the object 400, and further, the upper surface 925 of the comb portion 923 can support the bottom surface of the protrusion (rib 410 or rim 420) of the object 400. During a gripping operation, the horizontal actuator 940 moves the gripping element 920 horizontally to press the inner sidewall of the sidewall 404 of the object 400 against the positioning element 910 via the tip surface 924 of the comb portion 923 .

[0068] In some embodiments, the target object 112 is an object having a lid thereon, and even in this case, the corner gripper 730 has the positioning element 910 positioned on an inner wall of the object and the gripping element 920 positioned on an outer wall of the object. For example, the positioning element 910 is positioned on one or more walls defining the protrusion and / or recess of the lid, and the gripping element 920 is positioned on an outer wall of the object body (e.g., a portion corresponding to an outer surface of a corner of the object 400) of the object body (e.g., a container body).

[0069] In some embodiments, corner gripper 730 may also have sensors that provide contact measurements (e.g., force readings) that indicate when gripping element 920 contacts a corner of object 400 and / or when gripping element 920 presses a corner of object 400 against positioning element 910. Corner gripper 730 may control the actuation of horizontal actuator 940 based on the results of such sensors.

[0070] In some embodiments, the corner gripper 730 may also have a vertical actuator 970 for moving the gripping element 920 in the Z-axis direction relative to the positioning element 910 (see FIG. 9A). The vertical actuator 970 may be, for example, electric, pneumatic, or hydraulic, and may be a motor, an air cylinder, a hydraulic cylinder, a rotary actuator, or the like. The movable housing 960 may have, for example, a vertical base 961, a fixed cover 962, and a slider plate 963. An output part 941 of the horizontal actuator 940 is connected to the vertical base 961, and the fixed cover 962 is fixed thereto. The slider plate 963 is guided along a rail on the inside of the fixed cover 962 so as to be movable in the Z-axis direction. A base part 921 of the gripping element 920 is fixed to a lower part of the slider plate 963. Thus, the vertical actuator 970 connected to the slider plate 963 moves the gripping element 920 in the Z-axis direction via the slider plate 963. The vertical actuator 970 allows the bottom surface of the protrusion (rib 410 or rim 420 ) at the corner of the object 400 supported by the gripping element 920 to be the bottom surface of the rib 410 or the bottom surface of the rim 420 .

[0071] [Gripper Assembly 700 Operation] 10A-10I illustrate the operation of the gripper assembly 700. FIG. 10A illustrates the side grippers 710, 720 positioned laterally furthest from the corner gripper 730. FIGS. 10B and 10C illustrate the side grippers 710, 720 moving laterally along the sides 741, 742 of the main body 740, respectively. The lateral positions of the side grippers 710, 720 are positioned based on the size and / or center of gravity of the target object 112. FIGS. 10D, 10E, and 10F illustrate the gripping elements 920 of the corner gripper 730 and the gripping elements 820 of the side grippers 710, 720 moving laterally away from / towards the main body 740, respectively. 10G, 10H, and 10I respectively show gripping elements 920 of corner gripper 730 and gripping elements 820 of side grippers 710, 720 moving vertically. In gripper assembly 700, side grippers 710, 720 and corner gripper 730 simultaneously grip and support work object 112 from below at first and second sides and at the corner where they intersect.

[0072] [Grabbing and Transfer Process] 11A-11D, a process for gripping and transferring a target object 112 by the gripper assembly 700 will be outlined, in accordance with one or more embodiments of the present technology. As shown in FIG. 11A, the gripping process can begin by determining the lateral (X-axis and Y-axis directions, respectively) positions of the side grippers 710, 720 of the gripper assembly 700 based on the size and / or center of gravity of the target object 112. Next, as shown in FIG. 11B, the gripping elements 820, 820, 920 of the side grippers 710, 720 and corner gripper 730 move horizontally away from the body 740 and downward.

[0073] Then, in the gripping process, the robot arm 310 is operated to move the gripper assembly 700 closer to the target object 112 and to lower the gripper assembly 700 toward the target object 112. The robot system 100 can calculate the trajectory of the gripper assembly 700 relative to the target object 112 and the approximate position of the gripper assembly 700 relative to the rim 420 of the target object 112 based on the detection result of the detection system 520. The positioning elements 810, 910 of the side grippers 710, 720 and the corner gripper 730 are disposed on the inner side of the side wall 404 of the object 400, and the gripping elements 820, 920 are disposed on the outer side of the side wall 404 of the object 400. At this time, there is a predetermined gap between the positioning elements 810, 910 and the inner surfaces of the side walls 404, 406 of the object 400.

[0074] The gripping process then involves manipulating the robot arm 310 to move the gripper assembly 700 in the XY plane until the distance sensor 830 detects that the side grippers 710, 720 are over the rim 420 of the object 400. The robot arm 310 is then manipulated to move the gripper assembly 700 laterally and / or downwardly to the final position of the side grippers 710, 720 relative to the workpiece 112. This positions the gripper assembly 700 relative to the workpiece 112.

[0075] Then, in the gripping process, as shown in FIG. 11C, the gripping elements 820, 820, 920 of the side grippers 710, 720 and the corner gripper 730 move horizontally toward the outer side wall of the target object 112, contact the outer side wall of the target object 112, and press the inner side wall of the target object 112 against the positioning elements 810, 810, 910 of the side grippers 710, 720 and the corner gripper 730. Then, in the gripping process, as shown in FIG. 11D, the gripping elements 820, 820, 920 of the side grippers 710, 720 and the corner gripper 730 move upward and support the bottom surface of the protrusion (rib 410 or rim 420) of the target object 112. This allows the side grippers 710, 720 and the corner gripper 730 to grip the target object 112. Then, the process proceeds to the transfer process.

[0076] In the transfer process, the robot arm 310 is first operated to lift the target object 112 gripped by the gripper assembly 700, then move it to the task location 116 and lower it into a predetermined position at the task location 116. The gripping elements 820, 820, 920 of the side grippers 710, 720 and corner gripper 730 are then moved horizontally away from the outer wall of the target object 112 to release the target object 112 from the gripper assembly 700. The robot arm 310 is then operated to move the gripper assembly 700 away from the target object 112 and towards the object source 114 to grip the next target object.

[0077] [How to operate the robot system] 12 shows a flow diagram illustrating a method of operating the robotic system 100 in accordance with one or more embodiments of the present technology. The method may include deriving and executing a motion plan for grasping and transferring an object with the gripper assembly 700. Such a method may be performed by the controller 109 of FIG. 1, the control unit 202 of FIG. 2, and / or a controller of the gripper assembly 700 itself.

[0078] Process 1200 may begin at block 1202 with identifying one or more target objects. Identifying the target objects may include identifying a location of the target objects, identifying one or more parameters of the target objects. The parameters may include length, width, height, weight, expected weight, expected weight distribution, wall strength, expected wall strength, stiffness, presence or absence of a lid, shape of the lid, and / or any other suitable parameters. In some embodiments, the parameters are identified by the detection system 520 (e.g., the sensor unit 216 of FIG. 2 and / or the imaging system 160 of FIG. 1). Alternatively or additionally, the parameters may be retrieved from a database (e.g., a cloud database or other suitable database) using a unique identifier (e.g., a barcode, a QR code, an RFID, and / or any other suitable identifier) ​​on the target object.

[0079] For example, the robotic system 100 can obtain image data (e.g., a two-dimensional and / or three-dimensional representation of the object source 114) having the target object 112 and / or various objects in the surrounding environment. The robotic system 100 can identify candidate objects depicted in the image data by identifying edges, surface textures (e.g., images and / or text printed on the surface of the object), heights, etc. The robotic system 100 can compare the identified candidate objects and their characteristics (e.g., edge lengths, surface textures, etc.) with those of registered objects in the master data. Based on the matching with the registered objects, the robotic system 100 can detect the location and type of the object depicted in the image data.

[0080] At block 1203, the process 1200 can plan a gripping operation based on the parameters identified / detected at block 1202, the environment surrounding the target object 112 at the pick location, and / or the environment of the task location. Planning the gripping operation can include determining actions to perform the gripping and transfer processes described above. For example, determining the gripping operation can include lateral positioning of the side grippers 710, 720 of the gripper assembly 700 based on the size and / or center of gravity of the target object 112, horizontally moving the gripping elements 820, 820, 920 away from the body 740 of the gripper assembly 700 and moving the gripping elements 820, 820, 920 downwardly, planning the approach of the gripper assembly 700 to the target object 112, positioning the gripper assembly 700 relative to the target object 112, horizontally moving the gripping elements 820, 820, 920 toward the body 740 of the gripper assembly 700, and moving the gripping elements 820, 820, 920 downwardly, based on the size and / or center of gravity of the target object 112. , 820, 920 upward to support a bottom surface of a protrusion (rib 410 or rim 420) of the target object 112 to grip the target object 112 with the side grippers 710, 720 and corner grippers 730, lifting the target object 112 gripped by the gripper assembly 700, moving the lifted target object 112 to the task location 116, releasing the target object 112 from the gripper assembly 700 (horizontally moving the gripping elements 820, 820, 920 away from the main body 740 of the gripper assembly 700 to move the gripper assembly 700 away from the target object 112), etc. In some embodiments, planning the gripping operation includes generating commands for each stage of the gripping operation by the controller or the like as described above.

[0081] At block 1204, process 1200 includes executing the planned grasp operation. Once process 1200 is completed by executing the grasp operation, robotic system 100 may return to block 1202 for the next target object. In some embodiments, the parameters of the next target object are the same (or substantially similar), allowing robotic system 100 to quickly transition to block 1203 and reuse portions of the planned grasp operation. In some embodiments, the parameters of the next target object are different, requiring process 1200 to plan an entirely new grasp operation.

[0082] [Corner gripper according to another embodiment] 13 shows examples of corner grippers 1310, 1320 according to another embodiment. Unlike the above embodiment (which includes one corner gripper 730), this embodiment includes two corner grippers 1310, 1320. The corner grippers 1310, 1320 are provided on the same side as the side grippers 710, 720, respectively. For example, the corner grippers 1310, 1320 are provided on the side surfaces 741, 742 of the main body 740 at positions adjacent to the front surface 743 of the main body 740. The corner grippers 1310, 1320 are positioned orthogonal to each other and are fixed in position relative to the side surfaces 741, 742 of the main body 740, respectively.

[0083] In some embodiments, one and / or both of the corner grippers 1310, 1320 may be adjustable in position relative to the sides 741, 742 of the body 740. For example, the corner grippers 1310, 1320 may be independently movable and positionable, similar to the side grippers 710, 720. The side gripper 710 is movably guided along a slide rail 751 to move toward or away from the corner gripper 1310. Similarly, the side gripper 720 is movably guided along a slide rail 752 to move toward or away from the corner gripper 1320. In some embodiments, if the corner gripper 1310 is independently movable, the corner gripper 1310 may be moved along the slide rail 751 or another slide rail by a lateral actuator system. Similarly, if the corner gripper 1320 is independently movable, the corner gripper 1320 may be moved along the slide rail 752 or another slide rail by a lateral actuator system.

[0084] The corner grippers 1310, 1320 may be configured similarly to the side grippers 710, 720. For example, the corner grippers 1310, 1320 may have gripping mechanisms 1371, 1372 similar to the gripping mechanisms 771, 772 of the side grippers 710, 720, respectively. Thus, for example, the corner gripper 1310 may have a positioning element configured to be positionable on an inner side wall of the target object 112 and a gripping element configured to be positionable on an outer side wall of the target object 112, similar to the positioning element 810 and the gripping element 820 and the horizontal actuator 840, and may further include a horizontal actuator configured to move the gripping element relative to the positioning element. The movement of the gripping element relative to the positioning element in the corner gripper 1310 is a horizontal movement, similar to the movement of the gripping element 820 relative to the positioning element 810 in the side gripper 710. It is easily understood that the same is true for the corner gripper 1320, and therefore a detailed description thereof will be omitted. It should be noted that the corner grippers 1310 and 1320, like the corner gripper 730, do not necessarily have to include a distance sensor.

[0085] As an example, the gripping mechanism 1371 of the corner gripper 1310 includes a positioning element configured to be positionable on the inner side wall of the target object 112, and a gripping element configured to be positionable on the outer side wall of the target object 112, similar to the gripping mechanism 771. The positioning element can be configured, for example, by two pins protruding downward from the lower end of the fixed housing of the corner gripper 1310, similar to the positioning element 810. The gripping element can have a base fixed to the lower part of the movable housing of the corner gripper 1310 and a claw protruding from the base toward the positioning element, similar to the gripping element 820. Similar to the claw 822, the claw can be bifurcated toward the tip and has a comb portion with a gap between them, and the comb portion can be configured to accommodate the rib 412 of the object 400 in this gap. The tip surface of the comb portion is a flat vertical surface, and the upper surface of the comb portion is a flat horizontal surface. The upper part of the claw portion has a recess. In other embodiments, the claw portion can be a single finger or a single hook. The horizontal actuator in the corner gripper 1310 can be provided on top of the fixed housing of the corner gripper 1310, similar to the horizontal actuator 840, with the output portion connected to the movable housing. Driving the horizontal actuator can move the movable housing toward or away from the fixed housing, thereby horizontally moving the gripping element relative to the positioning element.

[0086] Gripper Assembly and Jaws According to Another Embodiment Fig. 14 is a plan view showing a schematic view of the periphery of a corner of target object 112 when gripper assembly 700 according to another embodiment is positioned relative to target object 112. This embodiment includes two side grippers 710, 720 and two corner grippers 1310, 1320, similar to the embodiment shown in Fig. 13, for example. However, instead of the two corner grippers, one corner gripper 730 described with reference to Figs. 7A to 7C may be included.

[0087] In this embodiment, the claw portion 1422 of the gripping element 820 of the side gripper 710 has a plurality of (three in this embodiment) separated hooks 1431, 1432, and 1433. The hooks 1431, 1432, and 1433 are arranged in parallel in the X-axis direction at intervals from each other. In addition, the hooks 1431, 1432, and 1433 each have a tracking mechanism 1450 that is movable in the horizontal direction (Y-axis direction) following the shape of the outer wall of the target object 112. For example, as shown in FIG. 14, it is assumed that one of the plurality of hooks (the hook 1431 in this embodiment) contacts the rib 412 of the target object 112 and the remaining hooks (the hooks 1432 and 1433 in this embodiment) contact a flat portion of the outer wall (the outer surface of the side wall 404) of the target object 112. In this case, when the horizontal actuator causes the gripping element 820 to move horizontally to press the inner wall of the target object 112 against the positioning element 810, the hook 1431 is allowed to be pushed back horizontally away from the rib 412 by the tracking mechanism 1450, while the remaining hooks 1432 and 1433 continue to press the flat portion of the outer wall of the target object 112 to press the inner wall of the target object 112 against the positioning element 810. Thus, the side gripper 710 with the tracking mechanism 1450 can grip the target object 112 even when the gripping element 820 contacts the rib 412 of the target object 112. Such a tracking mechanism 1450 can be, for example, spring-type. For example, the tracking mechanism 1450 can have a spring that biases the hooks 1431, 1432, and 1433 individually toward the positioning element 810.

[0088] Other grippers in the gripper assembly 700 may have similar claw configurations and follower mechanisms. For example, the claw 1422 of the gripping element 820 of the side gripper 720 may have multiple separate hooks 1441, 1442, 1443 and a follower mechanism 1460. It can be seen that in the claw 1422, the central hook 1442 pushes back against the rib 412 of the target object 112, while the adjacent hooks 1441, 1443 continue to push against the outer side wall of the target object 112. Also, the claws 1423, 1424 of the gripping elements of the corner grippers 1310, 1320 may each have multiple (here, two) separate hooks 1445, 1446 and a follower mechanism 1470. It can be seen that in claws 1423 and 1424, respectively, hook 1445 presses back against rib 412 of target object 112 and hook 1446 continues to press against the outer wall of target object 112.

[0089] As described above, the gripper assembly 700 of each embodiment comprises a first side gripper 710 configured to grip the target object 112 on a first side of the target object 112, a second side gripper 720 configured to grip the target object 112 on a second side of the target object 112, and at least one corner gripper 730 (or 1310, 1320) configured to grip the target object 112 at a corner portion of the target object 112 where the first side and the second side intersect.

[0090] According to this embodiment, the target object 112 can be gripped at three locations: the first side, the second side, and the corner portion. This makes it easy to selectively grip the target object 112, for example, even if the objects are directly adjacent to each other in a group of objects. Also, for example, even if the top of the target object 112 is open, the target object 112 can be easily and stably gripped.

[0091] <Additional Considerations Regarding Various Implementations> [Embodiment 1] a first side gripper configured to grip a target object on a first side of the target object; a second side gripper configured to grip the target object on a second side of the target object; at least one corner gripper configured to grip the target object at a corner where the first side and the second side intersect; A gripper assembly having

[0092] [Embodiment 2] 2. The gripper assembly of claim 1, wherein the first side gripper and the second side gripper are positioned perpendicular to each other.

[0093] [Embodiment 3] the first side gripper is configured to be movable in a first direction toward or away from the at least one corner gripper; 3. The gripper assembly of claim 2, wherein the second side gripper is configured to be movable in a second direction perpendicular to the first direction toward or away from the at least one corner gripper.

[0094] [Embodiment 4] A gripper assembly according to embodiment 3, wherein the first side gripper and the second side gripper are configured to be movable independently of each other.

[0095] [Embodiment 5] The first side gripper and / or the second side gripper include a positioning element configured to be positionable on an inner side wall of the target object; A gripping element configured to be positionable on an outer wall of the target object; A gripper assembly according to any one of embodiments 1 to 4, comprising: an actuator configured to move the gripping element relative to the positioning element so as to contact the outer wall of the target object and press the inner wall of the target object against the positioning element.

[0096] [Embodiment 6] The gripper assembly of embodiment 5, wherein the relative movement of the gripping element with respect to the positioning element is horizontal movement.

[0097] [Embodiment 7] The target object has an upper periphery and / or a part of the outer wall protruding outward, A gripper assembly of embodiment 5 or 6, wherein the gripping element is configured to contact the outer wall of the target object and to support a bottom surface of the upper periphery of the target object and / or a bottom surface of a protruding portion of the outer wall.

[0098] [Embodiment 8] The outer wall of the target object has a rib extending in a vertical direction, A gripper assembly according to any one of embodiments 5 to 7, wherein the gripping element has a comb portion with a gap therebetween, the comb portion being configured to accommodate the rib in the gap.

[0099] [Embodiment 9] A gripper assembly according to any one of embodiments 2 to 4, wherein the at least one corner gripper is configured to be oriented at 45 degrees to each side of the target object on the first side and the second side.

[0100] [Embodiment 10] The at least one corner gripper includes: a positioning element configured to be positionable on an inner side wall of the target object; A gripping element configured to be positionable on an outer wall of the target object; A gripper assembly as in embodiment 9, further comprising: an actuator configured to move the gripping element relative to the positioning element so as to contact the outer wall of the target object and press the inner wall of the target object against the positioning element.

[0101] [Embodiment 11] 11. The gripper assembly of claim 10, wherein the relative movement of the gripping element with respect to the positioning element is horizontal movement in a direction oriented at the 45 degrees.

[0102] [Embodiment 12] The positioning element comprises: a first side positioning element configured to be contactable with a first side of an inner wall of the target object; a second side positioning element configured to be contactable with a second side of the inner wall of the target object; A gripper assembly according to embodiment 10 or 11, further comprising a corner positioning element configured to contact a corner of an inner wall of the object where the first side and the second side intersect.

[0103] [Embodiment 13] The target object has an upper periphery and / or a part of the outer wall protruding outward, A gripper assembly of embodiments 10 to 12, wherein the gripping element is configured to contact the outer wall of the target object and to support the bottom surface of the upper peripheral edge of the target object and / or the bottom surface of a protruding portion of the outer wall.

[0104] [Embodiment 14] The outer wall of the target object has a rib extending in a vertical direction, A gripper assembly according to any one of embodiments 10 to 13, wherein the gripping element has a comb portion with a gap therebetween, the comb portion being configured to accommodate the rib in the gap.

[0105] [Embodiment 15] The at least one corner gripper includes: a first corner gripper provided on the same side as the first side gripper; A gripper assembly according to any one of embodiments 2 to 8, further comprising a second corner gripper provided on the same side as the second side gripper.

[0106] [Embodiment 16] the first side gripper is configured to be movable in a first direction toward or away from the first corner gripper; 16. The gripper assembly of claim 15, wherein the second side gripper is configured to be movable in a second direction perpendicular to the first direction, toward or away from the second corner gripper.

[0107] [Embodiment 17] A main body configured to be connectable to an end of a robot arm; a first slide rail provided on a first side surface of the main body and movably guiding the first side gripper along the first side surface of the main body; A gripper assembly according to any one of embodiments 1 to 16, further comprising a second slide rail provided on a second side of the body perpendicular to the first side of the body, for movably guiding the second side gripper along the second side of the body.

[0108] [Embodiment 18] The at least one corner gripper includes: a corner of the body where the first side and the second side intersect; or A gripper assembly as in embodiment 17, provided on a portion of the first side and a portion of the second side adjacent the corner.

[0109] [Embodiment 19] A robot arm; A robot system comprising a gripper assembly according to any one of embodiments 1 to 18 attached to the end of the robot arm.

[0110] [Embodiment 20] A method of operating the robot system of embodiment 19, comprising: manipulating the robot arm to position the gripper assembly relative to the object; gripping the target object with the first side gripper, the second side gripper, and the at least one corner gripper; A method for operating a robotic system, comprising:

[0111] conclusion The above detailed description of embodiments of the disclosed technology is not intended to be exhaustive or to limit the disclosed technology to the precise form disclosed above. Although specific embodiments of the disclosed technology have been described above for illustrative purposes, those skilled in the art will recognize that various equivalent modifications are possible within the scope of the disclosed technology. For example, while processes or blocks are presented in a given order, alternative embodiments may perform routines having steps or use systems having blocks in a different order, and some processes or blocks may be deleted, moved, added, sub-divided, combined, and / or modified to provide alternative or sub-combinations. Each of these processes or blocks may be implemented in a variety of ways. Also, while processes or blocks are sometimes shown to be performed in series, these processes or blocks may instead be performed or implemented in parallel, or may be performed at different times. Furthermore, any specific numbers described herein are merely examples, and alternative embodiments may use different values ​​or ranges.

[0112] These and other changes can be made to the disclosed technology in light of the above detailed description. While the detailed description describes certain embodiments of the disclosed technology as well as the best mode contemplated, the disclosed technology can be implemented in many ways, no matter how detailed the above description is in the text. The details of the system, while encompassed by the technology disclosed herein, may vary considerably in a particular implementation. As mentioned above, a particular term used when describing a particular feature or aspect of the disclosed technology should not be construed as meaning that the term has been redefined herein to be limited to the particular characteristic, feature, or aspect of the disclosed technology with which the term is associated. Thus, the present invention is not limited, except as by the appended claims. In general, the terms used in the following claims should not be construed to limit the disclosed technology to the particular embodiments disclosed herein, unless such terms are expressly defined in the detailed description section above.

[0113] Although certain aspects of the invention are presented below in certain claim forms, Applicant contemplates various aspects of the invention in any number of claim forms, and accordingly, Applicant reserves the right to pursue additional claims after filing this application in order to pursue such additional claim forms in either this application or any continuing application. [Explanation of symbols]

[0114] 100...robot system, 102...unloading unit, 104...transfer unit, 106...transport unit, 108...loading unit, 109...controller, 112...target object, 114...object source, 116...task location, 140...end effector, 160...imaging system, 202...control unit, 204...storage unit, 206...communication unit, 208...system interface, 210...display, 212...actuating device, 214...transport motor, 216...sensor unit, 222...imaging device, 224...system sensor, 226... Contact sensor, 252...master data, 254...object tracking data, 300...robot, 305...robot base, 310...robot arm, 312...tool joint, 314...joint, 320...arm end tool, 322...arm joint, 400...object, 402...bottom wall, 404, 406...side wall, 408...corner, 410, 412...rib, 420...rim, 500...object stack, 520...detection system, 610...image, 700...gripper assembly, 710, 720...side gripper, 711, 721...upper guide, 730...corner gripper, 740...main body , 741, 742...side, 743...front, 745...arm coupling portion, 751, 752...slide rail, 761, 762...actuator system, 771, 772, 773...gripping mechanism, 810...positioning element, 820, 820...gripping element, 821...base, 822...claw portion, 823...comb portion, 824...tip surface, 825...upper surface, 826...recess, 830...distance sensor, 831...beam, 832...sensor opening, 840...horizontal actuator, 841...output portion, 850...fixed housing, 860...movable housing, 861...vertical base, 862...fixed cover, 863... Slider plate, 870...vertical actuator, 910...positioning element, 911, 911...side positioning element, 913...corner positioning element, 920...gripping element, 921...base, 922...claw portion, 923...comb portion, 924...tip surface, 925...upper surface, 940...horizontal actuator, 941...output portion, 950...fixed housing, 960...movable housing, 961...vertical base, 962...fixed cover, 963...slider plate, 970...vertical actuator, 1310, 1320...corner gripper, 1371, 1372...gripping mechanism, 1422, 1423,1424...claw portion, 1431, 1432, 1433, 1441, 1442, 1443, 1445, 1446...hook, 1450, 1460, 1470...following mechanism,

Claims

1. a first side gripper configured to grip a target object on a first side of the target object; a second side gripper configured to grip the target object on a second side of the target object; at least one corner gripper configured to grip the target object at a corner where the first side and the second side intersect; A gripper assembly having

2. The gripper assembly of claim 1 , wherein the first side gripper and the second side gripper are positioned orthogonal to one another.

3. the first side gripper is configured to be movable in a first direction toward or away from the at least one corner gripper; The gripper assembly of claim 2 , wherein the second side gripper is configured to be movable in a second direction perpendicular to the first direction toward or away from the at least one corner gripper.

4. The gripper assembly according to claim 3 , wherein the first side gripper and the second side gripper are configured to be movable independently of each other.

5. The first side gripper and / or the second side gripper include: a positioning element configured to be positionable on an inner side wall of the target object; A gripping element configured to be positionable on an outer wall of the target object; 2. The gripper assembly of claim 1, further comprising: an actuator configured to move the gripping element relative to the positioning element such that the gripping element contacts the outer side wall of the target object and presses the inner side wall of the target object against the positioning element.

6. The gripper assembly of claim 5 , wherein the relative movement of the gripping element with respect to the positioning element is horizontal movement.

7. The target object has an upper periphery and / or a part of the outer wall protruding outward, The gripper assembly of claim 5 , wherein the gripping element is configured to contact the outer wall of the target object and to support a bottom surface of the upper periphery of the target object and / or a bottom surface of a protruding portion of the outer wall.

8. The outer wall of the target object has a rib extending in a vertical direction, The gripper assembly of claim 5 , wherein the gripping elements include combs with gaps therebetween, the combs being configured to receive the ribs in the gaps.

9. The gripper assembly of claim 2 , wherein the at least one corner gripper is configured to be oriented at 45 degrees to each side of the target object on the first side and the second side.

10. The at least one corner gripper includes: a positioning element configured to be positionable on an inner side wall of the target object; A gripping element configured to be positionable on an outer wall of the target object; and an actuator configured to move the gripping element relative to the positioning element such that the gripping element contacts the outer side wall of the target object and presses the inner side wall of the target object against the positioning element.

11. The gripper assembly of claim 10 , wherein the relative movement of the gripping element with respect to the positioning element is horizontal movement in a direction oriented at the 45 degrees.

12. The positioning element comprises: a first side positioning element configured to be contactable with a first side of the inner wall of the target object; a second side positioning element configured to be contactable with a second side of the inner wall of the target object; 11. The gripper assembly of claim 10, further comprising: a corner positioning element configured to contact a corner of the inner wall of the work object where the first side and the second side intersect.

13. The target object has an upper periphery and / or a part of the outer wall protruding outward, The gripper assembly of claim 10 , wherein the gripping element is configured to contact the outer wall of the target object and to support a bottom surface of the upper periphery of the target object and / or a bottom surface of a protruding portion of the outer wall.

14. The outer wall of the target object has a rib extending in a vertical direction, The gripper assembly of claim 10 , wherein the gripping elements include combs with gaps therebetween, the combs being configured to receive the ribs in the gaps.

15. The at least one corner gripper includes: a first corner gripper provided on the same side as the first side gripper; 3. The gripper assembly of claim 2, further comprising: a second corner gripper disposed on the same side as the second side gripper.

16. the first side gripper is configured to be movable in a first direction toward or away from the first corner gripper; The gripper assembly of claim 15 , wherein the second side gripper is configured to be movable in a second direction orthogonal to the first direction toward or away from the second corner gripper.

17. A main body configured to be connectable to an end of a robot arm; a first slide rail provided on a first side surface of the main body and movably guiding the first side gripper along the first side surface of the main body; 2. The gripper assembly of claim 1, further comprising: a second slide rail provided on a second side of the body perpendicular to the first side of the body, the second slide rail movably guiding the second side gripper along the second side of the body.

18. The at least one corner gripper includes: a corner of the body where the first side and the second side intersect; or The gripper assembly of claim 17 , wherein the gripper is disposed on a portion of the first side and a portion of the second side adjacent the corner.

19. A robot arm; A robot system comprising: a gripper assembly according to any one of claims 1 to 18 attached to an end of the robot arm.

20. 20. A method for operating a robotic system according to claim 19, comprising: manipulating the robot arm to position the gripper assembly relative to the object; gripping the object with the first side gripper, the second side gripper, and the at least one corner gripper; A method for operating a robotic system, comprising:

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