Systems and methods for object processing using a gripper for objects with low pose authority

Abstract

A kind of end effector for programmable motion device is disclosed.The end effector includes a main body, the main body includes: vacuum portion, vacuum is applied to object by the vacuum portion;And clamping portion suitable for engaging the object, the vacuum portion is substantially orthogonal to the clamping portion.

Description

[0001] priority

[0002] This application claims priority to U.S. Provisional Patent Application Serial No. 63 / 115,721, filed November 19, 2020, the disclosure of which is incorporated herein by reference in its entirety. Background Technology

[0003] The present invention relates generally to programmable motion systems, and more particularly to end effectors for use in programmable motion devices (e.g., robotic systems) in object processing such as object classification and object assignment.

[0004] For example, the end effector of a robotic system can be used in some applications to select and grasp objects, and then move the acquired objects to a new location very quickly. Applications may include picking items from a suitcase and then placing those items into another suitcase or other location. In many applications, and to broaden the range of suitable applications, robotic picking systems must be able to pick a very wide range of objects. Therefore, it is desirable for the end-effector to be able to grip as many items as possible.

[0005] There are many types of end-of-arm tools for grasping objects, including parallel grippers or finger-based grippers, as well as general-purpose grippers or clamping grippers that use a fluidized bed concept inside bags, electroadhesive grippers, and vacuum grippers. Other techniques for acquiring and securing objects include electrostatic attraction, magnetic attraction, needles for penetrating objects such as fabrics, fingers that squeeze objects, hooks that engage and lift protruding features of objects, and chucks that expand in openings in objects, among others. For example, gripping grippers or finger grippers are sometimes used to grasp objects, but such systems also face challenges in certain applications. These systems generally require two opposing surfaces in a relative form to grasp the object, and finger grippers are mechanically complex, typically requiring multiple parts and actuation mechanisms to close and open the fingers.

[0006] Vacuum grippers use vacuum pressure to pick up and hold objects for transport or subsequent operations via articulated arms. However, vacuum grippers typically require a good seal with the object, and ensuring this seal sometimes necessitates selecting specific suction cups corresponding to the object being gripped. Additionally, gripping certain objects (such as plastic bags) may require specific types of end effectors to ensure the bag does not detach from the end effector or collapse under its force, thereby damaging the bag and / or the seal. Furthermore, the lifting force may be limited by a quantity proportional to the contact area of ​​the suction cups in the vacuum system, and the vacuum itself may damage some objects.

[0007] However, many such grippers have considerable difficulty grasping and moving objects with limited posture permissions (the ability to maintain a specific posture while lifting or moving). For example, Figure 1 A portion 10 of an articulated arm 12 with an end effector 14 is shown, which may be, for example, a vacuum end effector. If the object 16 in the box 18 has low-pose permissions, when the object is grasped and lifted (e.g.) Figure 2 As shown, the cover 20 of object 16 may move or rotate relative to the base 22 of object 16. In an automated object handling system, this could not only lead to poor system control over the object (because the base 22 may swing or fall), but also allow any contents of the object to escape between the open cover 20 and the base 22.

[0008] Further reference Figure 3 and Figure 4 Even from the long side 24 ( Figure 3 (as shown) or short side 26 ( Figure 4 As shown, when grasping an object (e.g., a box), the contents may still escape, and the top 20 may swing or detach from the base 22. Any of these events can become problematic in an automated object handling system that operates independently of human intervention.

[0009] There is still a need for an end effector in a programmable motion system that can easily grasp objects with low pose permissions and then move the acquired objects to a new location very quickly. Summary of the Invention

[0010] According to one aspect, the present invention provides an end effector for a programmable motion device. The end effector includes a body comprising: a vacuum section through which a vacuum is applied to an object; and a clamping portion adapted to engage the object, the vacuum section being substantially orthogonal to the clamping portion.

[0011] According to another aspect, the present invention provides an end effector for a programmable motion device, the end effector comprising: a cover receiving portion for facilitating the holding of an object; and a clamping portion adapted to engage the object, the cover receiving portion being substantially orthogonal to the clamping portion.

[0012] According to another aspect, the present invention provides a programmable motion device for an object processing system. The programmable motion device includes an end effector having: a cover receiving portion for facilitating the holding of an object; and a clamping portion adapted to engage the object, the cover receiving portion being substantially orthogonal to the clamping portion.

[0013] According to another aspect, the present invention provides an object processing system for processing an object. The object processing system includes: a programmable motion device having an end effector; a control system for identifying potentially openable portions of the object; and an end effector having a cover receiving portion and a clamping portion, the cover receiving portion for facilitating the retention of a cover of the object, and the clamping portion adapted to engage the object.

[0014] According to another aspect, the present invention provides a method for processing an object, the method comprising identifying a potentially openable portion of the object and grasping the object with an end effector, the end effector including a cover receiving portion and a clamping portion, the cover receiving portion being used to facilitate holding a cover of the object, and the clamping portion being adapted to engage the object. Attached Figure Description

[0015] The specific implementation method can be further understood by referring to the accompanying drawings, in which:

[0016] Figure 1 An illustrative schematic diagram of an end effector of a programmable motion device prior to grasping an object is shown in a system according to the prior art.

[0017] Figure 2 It shows Figure 1 An illustrative diagram of an end effector holding an object;

[0018] Figure 3 It shows Figure 1 Illustrative diagram of an end effector holding an object from different gripping positions;

[0019] Figure 4 It shows Figure 1 An illustrative diagram of an end effector holding an object from another gripping position;

[0020] Figure 5 An illustrative schematic diagram of an end effector of a programmable motion device according to one aspect of the present invention is shown;

[0021] Figure 6 It shows Figure 5 An illustrative schematic end view of the end effector;

[0022] Figure 7 It shows Figure 5 An illustrative schematic side view of the end effector;

[0023] Figure 8 It shows Figure 5 An illustrative schematic bottom view of the end effector;

[0024] Figure 9 It shows Figure 5An illustrative schematic rear view of the end effector;

[0025] Figure 10 It shows Figure 5 An illustrative schematic enlarged bottom view of the end effector;

[0026] Figure 11 It shows Figure 5 A further enlarged view illustrating the end effector;

[0027] Figure 12 It shows Figure 5 An illustrative enlarged end view of the end effector;

[0028] Figure 13 It shows Figure 5 An enlarged bottom view illustrating the end effector;

[0029] Figure 14 It shows Figure 5 An enlarged illustrative schematic view of the end effector;

[0030] Figure 15 It shows Figure 5 end effector along Figure 14 An illustrative enlarged side section view taken from line 15-15 in the diagram;

[0031] Figure 16 It shows Figure 5 An enlarged side view illustrating the end effector;

[0032] Figure 17A and Figure 17B It shows Figure 5 The end effector approaches the box to be grasped. Figure 17A ) and grabbing boxes ( Figure 17B An illustrative diagram;

[0033] Figure 18A and Figure 18B It shows Figure 5 The end effector approaches the boxes of different orientations to be grasped. Figure 18A ) and grasping boxes with different orientations ( Figure 18B An illustrative diagram;

[0034] Figure 19 This illustrates one aspect of the prior art. Figure 5 An illustrative diagram of an object processing system for an end effector;

[0035] Figure 20 It shows Figure 19 An illustrative enlarged view of a part of the system, showing a box being lifted from a crate;

[0036] Figure 21 It shows Figure 19 An illustrative enlarged view of another part of the system, showing a box being placed inside another box;

[0037] Figure 22 An illustrative enlarged schematic view of an end effector including a barb according to another aspect of the invention is shown;

[0038] Figure 23 It shows Figure 22 An illustrative schematic diagram of an enlarged end view of the end effector; and

[0039] Figure 24A and Figure 24B It shows Figure 22 The end effector approaches the box to be grasped. Figure 24A ) and grabbing boxes ( Figure 24B An illustrative diagram;

[0040] The accompanying drawings are for illustrative purposes only. Detailed Implementation

[0041] According to one aspect, the present invention provides an end effector that can be used with a programmable motion device in an object processing system for handling objects with low pose permissions. For example, Figure 5 A portion 30 of an articulated arm 32 comprising an end effector 34 of a programmable motion device according to one aspect of the invention is shown. Figure 5 An isometric view of an end effector 34 is shown, which includes a first portion 36 through which a vacuum is applied to an object and through which a cover facilitates the containment of the object, as discussed further below. The end effector 34 also includes a second portion 38 that can engage a side of the object, which is also discussed in more detail below.

[0042] Figure 6 A front view of the end effector 34 is shown, with the second portion 38 facing forward. The end effector 34 can be rotated by rotating the end effector connection 33 of the articulated arm 32 (to which the end effector 34 is connected). The first portion 36 and the second portion 38 of the end effector 34 can be substantially orthogonal to each other. Figure 7 A side view of the end effector 34 is shown, illustrating the general relative position / orientation relationship between the first portion 36 and the second portion 38 of the end effector 34. Figure 8 A bottom view of the end effector 34 is shown, with the first portion 36 facing downwards, and Figure 9 A rear view of the end effector 34 is shown.

[0043] Figure 10 An enlarged view of the first portion 36 of the end effector 34 is shown, the first portion including a vacuum opening 40 coupled to a vacuum source. The vacuum source may be provided, for example, by a blower (the blower's vacuum pressure is higher than that provided by an ejector). Thus, the vacuum source can provide a vacuum pressure of no more than about 25,000 Pascals below atmospheric pressure at a maximum airflow rate of, for example, at least about 100 cubic feet per minute (e.g., 130 to 140 cubic feet per minute). The first portion 36 also includes ridges 42 (some of which extend through the opening 40, as shown at 45), and the ridges facilitate the distribution of vacuum on the contact surface of the object. At least one ridge may be formed as part of a closed region 43 above the vacuum opening 40, while one or more other ridges may open above the vacuum opening 40, as shown at 47. In this way, a portion of the vacuum opening may include a closed vacuum region (e.g., 43), while in other regions, the ridge provides vacuum flow in a first direction (along the ridge) (e.g., at 45), and in yet another region, the ridge may further provide vacuum flow in a second direction orthogonal to the first direction (through the opening in the ridge) (e.g., at 47). In this way, one or more portions can provide more sealing to the object than other portions, with the closed region providing the maximum sealing, the ridge region 45 providing less sealing (due to the vacuum flow along the ridge), and the ridge opening 47 providing even less sealing (due to the vacuum flow along the ridge through the opening 47). Thus, variable levels of sealing and airflow can be provided in different regions at the interface between the first portion 36 and the grasped box, allowing lighter boxes to be held by the seals while heavier boxes are further held by a high-flow-rate vacuum.

[0044] Similarly, Figure 10 As shown, the second part 38 of the end effector 34 includes an anti-slip surface 44 formed of, for example, rubber, cork, adhesive or electrostatic material. Figure 11 It shows Figure 10 An enlarged view of the first part 36 of the end effector 34, and Figure 12 It shows Figure 10 An enlarged front view of the second part 38 of the end effector 34. A foam or rubber seal 41 may surround the ridge 42 and the hole 40 on the bottom side of the first part 36 to facilitate the application of vacuum to the object. The height of the foam or rubber seal 41 may be at least as high as the height of the ridge 42.

[0045] Figure 13 A more detailed bottom side view of the end effector 34 is shown, which shows the ridge 36 of the first part 36, the anti-slip surface 44 of the second part 38, and the outer wall 50 of the first part 36 and the outer wall 52 of the second part 38. Figure 14 It shows Figure 13 The rear view of the end effector 34 shows the walls 50, 52, and the connecting member 54 for connection to the end effector connection 33 discussed above. Figure 15 It shows Figure 14 The end effector 34 is shown in a side cross-sectional view taken from the center of the end effector 34 at position 15-15. Figure 16 It shows Figure 14 Side view of the end effector 34.

[0046] Object processing system (see below) Figure 19 (Discussed in further detail) This may include one or more sensing units for viewing an object. The sensing units communicate (e.g., wirelessly) with one or more computer processing systems to partially identify the grasping location. The systems initially identify whether the object belongs to any of the object categories with potentially undesirable posture permissions. For example, analyzing objects that appear box-shaped or cube-shaped to determine whether they contain potentially exposed or missing trapdoors. Figure 17A An object 60 with a cubic shape is shown, comprising three flaps 62 (two shown), which are attached to a top 64 and overlap a box base 66. An end effector 34 may be selected to grasp the object 60 such that a first portion of the end effector 34 contacts at least a portion of either the base 66 or the flaps 62 along the short side 67 of the box 60. Figure 17B As shown. The second part 38 of the end effector 34 contacts the bottom side of the base 66.

[0047] Figure 18A An object 60 with a cubic shape and including three flaps 62 (two are also shown) is also illustrated, the three flaps being attached to a top 64 and overlapping a box base 66. An end effector 34 can be similarly selected to grasp the object 60 such that a first portion of the end effector 34 contacts at least a portion of either the base 66 or the flaps 62 along the long side 69 of the box 60, as shown. Figure 18B As shown. The second part 38 of the end effector 34 contacts the bottom side of the base 66. Additionally, identification markings 70 and / or 72 on the box (such as...) Figure 17A and 18A (As shown) can be identified by the object processing system. Identification tags can be used in conjunction with a warehouse inventory to determine the destination location of each box.

[0048] The system may therefore include one or more sensing units located on or near the feed conveyor for identifying external markings on each box, providing sensing data from which the contents of the box can be identified, and then knowing its relative position on the conveyor and tracking its position. Assume, according to one aspect, the boxes of objects are marked with visually distinguishable markings, such as barcodes (e.g., providing UPC codes), QR codes, or radio frequency identification (RFID) tags or mailing tags, at one or more locations on their exterior, making them fully identifiable by a scanner for processing. The type of marking depends on the type of scanning system used but may include 1D or 2D barcode symbols. Various symbols or marking methods can be employed. It is assumed that the type of scanner used is compatible with the marking method. For example, marking may be performed by barcodes, RFID tags, mailing tags, or other means to encode identification marks (e.g., symbol strings), which are typically a string of letters and / or numbers. The symbol string uniquely associates a supplier box with a specific set of homogeneous objects.

[0049] On a selected feed conveyor at the object processing station, a sensing system (using a central control system 100, such as one or more computer processing systems) assists a programmable motion device, including an end effector, in positioning and grasping objects in the feed bin. According to a further aspect, each object can also be marked with a visually distinguishable label, such as a barcode (e.g., providing a UPC code), QR code, or radio frequency identification (RFID) tag or mailing label, so that they can be fully identified by a scanner for processing. The type of label depends on the type of scanning system used, but may include 1D or 2D barcode symbols. Multiple symbols or marking methods can also be used on each object.

[0050] refer to Figure 19The object processing system 80 may include a sensing system 82 that looks down at the object processing station and senses sensing data from one or more objects on a feed conveyor 84. Objects to be processed may arrive at bins 86 on the feed conveyor 84. Objects can be processed by placing each object into a designated destination location bin 90, which may extend along either of the two output conveyors 92, 94. A vacuum source 33 provides a high-flow-rate vacuum to the end effector. The sensing system 82 is mounted above the bin of objects to be processed and may (on its underside) include a camera, a depth sensor, and lights. A combination of 2D and 3D (depth) data can be acquired. The depth sensor can provide depth information, which can be used in conjunction with camera image data to determine depth information regarding possible traps on various objects in the view. Lights can be used to eliminate shadows and facilitate the identification of object edges, and may be fully on during use or illuminated in a desired sequence to assist in object and trap identification. The system uses the images and various algorithms to generate a set of candidate grab positions for objects in the bin, including traps, as discussed in more detail below.

[0051] The system will identify candidate gripping locations that include a portion of a flap on one or more objects, and may not attempt to identify gripping locations for objects partially obscured by other objects. Candidate gripping locations can be indicated using a 3D model of the robot's end effector, placed where the actual end effector will use it as a gripping location. Gripping locations may be considered good, for example, if they are close to the object's center of mass to provide greater stability during gripping and transport, and / or if they are avoided on objects where a good vacuum seal may not be possible (such as lids, seams, etc.).

[0052] If an object cannot be fully perceived by the detection system, the system considers it to be two distinct objects and may propose more than one candidate object for grasping. If the system performs a grasp at any of these undesirable grasping locations, it will either fail to acquire the object due to a poor grasp point resulting from the inability to create a vacuum seal, or it will acquire the object at a grasping location far from the object's centroid, thus causing significant instability during any attempted transport. Each of these outcomes is undesirable.

[0053] If an incorrect grasping location is encountered, the system may remember the location of the relevant object. By identifying good and bad grasping locations, a correlation is established between features in 2D / 3D images and the concept of good or bad grasping locations. Using this data and these correlations as input to a machine learning algorithm, for each image presented to the system, it can eventually learn where to best grasp objects and where to avoid grasping objects.

[0054] Further reference Figure 20 Object 60 can be retrieved from box 86, and referenced. Figure 21 Object 60 can be placed into the appropriate box 90. Conveyors 84, 92, and 94 may include bidirectional sections to aid in steering, or may be provided as linear conveyors, both within the reach of the articulated arm 32. Additional sensors may be provided along the conveyors to identify boxes and containers and track their positions.

[0055] Similarly, the operation of the aforementioned system is coordinated with a central control system 100, which also communicates (e.g., wirelessly) with the articulated arm, sensing units, and feed and output conveyors. The system determines the UPC associated with the supplier box and the outbound destination for each object based on a symbol string. The central control system 100 consists of one or more workstations or central processing units (CPUs). For example, the mapping between UPCs or mailing tags and outbound destinations is maintained by the central control system in a database called a manifest. The central control system maintains the manifest by communicating with a warehouse management system (WMS). The manifest provides an outbound destination for each inbound object.

[0056] Figure 22 A bottom side view of an end effector 134 according to another aspect of the invention is shown, the end effector including a first portion 136 including a vacuum opening 140 coupled to a vacuum source and capable of providing a vacuum to an object. The first portion 136 also includes ridges 142 (some of which extend through the opening 140), and the ridges facilitate the distribution of vacuum on the contact surface of the object. Similarly, as... Figure 23 As shown, the second part 138 of the end effector 134 includes a non-slip surface 144 formed of, for example, rubber, cork, adhesive or electrostatic material, and multiple rows of barbs 150, which are angled upward toward the first part 136 to engage one side of the box. Figure 22 An enlarged view of the first portion 136 of the end effector 134 is shown, and Figure 23An enlarged front view of the second portion 138 of the end effector 134 is shown. A foam or rubber seal 141 may surround the ridge 142 and the orifice 140 on the bottom side of the first portion 136 to facilitate the application of vacuum to the object. The height of the foam or rubber seal 141 may be at least as high as the height of the ridge 142.

[0057] Figure 24A The diagram shows the end effector 134 approaching the box such that the ridge 142 on the first portion 136 engages the top 160 of the box, and the anti-slip surface 144 and the row of barbs 150 engage both a portion of the flap 162 and the side wall 164 of the base 166 of the box. Figure 24B As further illustrated below. In this way, since the second part 138 can fully engage the sidewall 164 of the base 166, the box can be grasped even when the first part 136 is in contact with the top 160 of the box with low posture authority. According to some aspects, the vacuum source can be switchable to change to a positive pressure source, which is pushed from the source into the hole to push the object away from the contact surface according to some aspects of the invention.

[0058] Those skilled in the art will recognize that various modifications and changes can be made to the disclosed embodiments without departing from the spirit and scope of the invention.

Claims

1. An end effector for a programmable motion device, the end effector comprising a body, the body comprising: A first portion defining a vacuum opening, through which a vacuum from a vacuum source is applied to the object; And a second portion adapted to engage the object, wherein the first portion is substantially orthogonal to the second portion. The first portion includes a plurality of ridges formed on the surface of the first portion to distribute vacuum to the surface of the object. At least one of the ridges is configured to define a closed region located on a portion of the vacuum opening to provide a vacuum seal between the first portion and the object. One or more of the other ridges are configured to define an opening region for guiding vacuum airflow to provide a high-flow-rate vacuum seal between the first portion and the object.

2. The end effector of claim 1, wherein the first portion is disposed within the cover receiving portion to facilitate the retention of the cover of the object.

3. The end effector according to any one of claims 1 to 2, wherein the second part includes an anti-slip surface.

4. The end effector according to any one of claims 1 to 3, wherein the second part includes barbs.

5. The end effector of claim 4, wherein at least one of the barbs is elongated.

6. The end effector according to any one of claims 1 to 5, wherein the vacuum source provides a high-flow-rate vacuum at a maximum air flow rate of at least about 100 cubic feet per minute, with a vacuum pressure not exceeding about 25,000 Pascals below atmospheric pressure. The one or more of the other ridges include ridges extending through the vacuum opening to provide a vacuum flow along a straight direction to the open end of the ridge.

7. An end effector for a programmable motion device, the end effector comprising a body, the body comprising: A first portion defining a vacuum opening, through which a vacuum from a vacuum source is applied to an object, the first portion being configured to contact at least a portion of a cover on the object; And a second portion adapted to engage the object, wherein the first portion is substantially orthogonal to the second portion. The first portion includes a plurality of ridges formed on the surface of the first portion to distribute vacuum to the surface of the object. At least one of the ridges is configured to define a closed region located on a portion of the vacuum opening to provide a vacuum seal between the first portion and the object. One or more of the other ridges are configured to define an opening region for guiding vacuum airflow to provide a high-flow-rate vacuum seal between the first portion and the object.

8. The end effector of claim 7, wherein the vacuum source provides a high-flow vacuum at a maximum air flow rate of at least about 100 cubic feet per minute, with a vacuum pressure not exceeding about 25,000 Pascals below atmospheric pressure.

9. The end effector according to any one of claims 7 to 8, wherein the end effector further comprises a coupling for connecting to the end effector connection portion of the programmable motion device. The one or more other ridges include a first ridge and a second ridge. The first ridge is configured to extend through the vacuum opening to provide a first vacuum flow along a first direction of the first ridge to its open end. The second ridge includes at least two ridge portions separated by an opening defined therebetween to provide a second vacuum flow along a second direction passing through the opening in the second ridge, the second direction being orthogonal to the first direction.

10. The end effector according to any one of claims 7 to 9, wherein the second portion includes an anti-slip surface.

11. The end effector according to any one of claims 7 to 10, wherein the second portion includes barbs.

12. The end effector of claim 11, wherein at least one of the barbs is elongated.

13. A programmable motion device for an object processing system, the programmable motion device comprising an end effector, the end effector comprising a body, the body comprising: A first portion defining a vacuum opening, through which a vacuum from a vacuum source is applied to an object, the first portion being configured to contact at least a portion of a cover on the object; And a second portion adapted to engage the object, wherein the first portion is substantially orthogonal to the second portion. The first portion includes a plurality of ridges formed on the surface of the first portion to distribute vacuum to the surface of the object. At least one of the ridges is configured to define a closed region located on a portion of the vacuum opening to provide a vacuum seal between the first portion and the object. One or more of the other ridges are configured to define an opening region for guiding vacuum airflow to provide a high-flow-rate vacuum seal between the first portion and the object.

14. The programmable motion device of claim 13, wherein the vacuum source provides a high-flow vacuum at a maximum air flow rate of at least about 100 cubic feet per minute, with a vacuum pressure not exceeding about 25,000 Pascals below atmospheric pressure.

15. The programmable motion device according to any one of claims 13 to 14, wherein the end effector further comprises a coupling for connecting to the end effector connection portion of the programmable motion device. The one or more of the other ridges include a ridge comprising at least two ridge portions separated by an opening defined therebetween to provide a vacuum flow along the direction through the opening in the ridge.

16. The programmable motion device according to any one of claims 13 to 15, wherein the second part includes an anti-slip surface.

17. The programmable motion device according to any one of claims 13 to 16, wherein the second part includes barbs.

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