Logistics robot system

Abstract

The various embodiments shown herein disclose a robotic system. The robotic system includes: a movable base, a conveyor system disposed on the movable base, a vertical mount coupled to the movable base via one or more vertical actuation devices, and a plurality of robot manipulators, each robot manipulator having a first end mounted to the vertical mount and a second end having an end effector. The plurality of robot manipulators are mounted above the conveyor system and operate in a vertical position to individually load items into or unload items from a logistics container.

Description

Background Technology

[0001] This disclosure relates generally to robotic systems for handling goods, and more specifically to robotic loading and unloading systems for automating the loading or unloading of logistics containers. Logistics containers loaded with goods move around the world to deliver products to loading and unloading warehouses. Manually unloading items from and / or loading items into logistics containers is laborious, repetitive, and injury-prone, making these tasks notoriously difficult to achieve high turnover rates. Automated robotic alternatives have been used to assist in loading and unloading logistics containers. However, these alternatives are plagued by technical challenges and limitations. Through effort, ingenuity, and innovation, many of these identified problems have been addressed by developed solutions, including those described in the embodiments of this disclosure, many examples of which are detailed herein. Summary of the Invention

[0002] The various implementation schemes described herein relate to methods, apparatus, and systems including logistics robot systems.

[0003] According to various examples of this disclosure, a robot system includes: a movable base; a conveyor system disposed on the movable base; a vertical mount coupled to the movable base via one or more vertical actuation devices; and a plurality of robot manipulators, each robot manipulator having a first end mounted to the vertical mount and a second end having an end effector.

[0004] In some implementations, the conveyor system includes a conveyor surface. A vertical mount is positioned at a threshold distance above the conveyor surface.

[0005] In some implementations, the robot manipulator among the plurality of robot manipulators includes a six-degree-of-freedom robot arm configured to move in a vertical plane.

[0006] In some implementations, the robotic manipulator is configured to transfer items from a container to a corresponding section of a conveyor surface located below the robotic manipulator.

[0007] In some implementations, the vertical mount can move between multiple vertical positions. Each corresponding vertical position is a certain distance from the movable base.

[0008] In some implementations, the conveyor system is capable of moving vertically such that the vertical mount is positioned at a threshold distance above the conveyor surface at each of the plurality of vertical positions.

[0009] In some implementations, the vertical position of the vertical mount is based on the container height or the height of one or more items disposed within the container.

[0010] In some implementations, the one or more vertical actuation devices are operable to adjust the vertical position of the vertical mount in response to: (i) movement of the one or more items within the container or (ii) the arrangement of items within the container.

[0011] In some implementations, the vertical position is at the middle of the container's height.

[0012] In some implementations, the end effector includes a vacuum actuator.

[0013] In some implementations, the conveyor system includes one or more orientation mechanisms operable to adjust the position of items placed on the conveyor surface of the conveyor system.

[0014] In some embodiments, the one or more orientation mechanisms include one or more side actuators configured to apply force to an article placed on a conveyor surface to position the article at the center of the conveyor surface.

[0015] In some implementations, the robotic system also includes a conveyor vision system. The conveyor vision system includes at least one conveyor camera operable to generate conveyor data indicating the arrangement of multiple items on the conveyor surface of the conveyor system.

[0016] In some implementations, the at least one conveyor camera is positioned in a fixed location relative to the conveyor system.

[0017] In some implementations, the robotic system also includes a controller communicatively coupled to the conveyor system and configured to automatically control the conveyor system based on conveyor data. The conveyor system is controlled to arrange the multiple items in separate flows.

[0018] In some implementations, the robotic system also includes a robot manipulator vision system. The robot manipulator vision system includes multiple manipulator cameras operable to generate container data indicating the interior of the container. The robot manipulator vision system differs from a conveyor vision system.

[0019] In some implementations, the number and placement of the plurality of manipulator cameras are based on the number of the plurality of robot manipulators.

[0020] In some implementations, the robot system also includes a controller that is communicatively coupled to the plurality of robot manipulators and configured to automatically control the plurality of manipulators based on container data.

[0021] According to various examples of this disclosure, a method is provided. The method includes: receiving container data indicating the interior of a container; generating vertical orientation commands based on the container data for positioning a plurality of robot manipulators relative to the container; initiating vertical movement of the plurality of robot manipulators based on the vertical orientation commands; and controlling at least one of the plurality of robot manipulators to move an item disposed within the container.

[0022] In some embodiments, the method further includes: receiving conveyor data instructing the arrangement of a plurality of items disposed on a conveyor surface of a conveyor system; generating, based on the conveyor data, arrangement instructions for arranging the plurality of items in separate flows on the conveyor surface; and controlling at least one portion of the conveyor system to move the items disposed on the conveyor surface based on the arrangement instructions. The plurality of robot manipulators and the conveyor system are mounted on a shared movable base.

[0023] The foregoing illustrative description of the invention, as well as other exemplary objects and / or advantages of this disclosure, and the ways in which these objects and / or advantages are achieved, are further explained in the following detailed description and accompanying drawings. Attached Figure Description

[0024] The description of the exemplary embodiments can be read in conjunction with the accompanying drawings. It will be understood that, for the sake of simplicity and clarity of illustration, elements shown in the figures are not necessarily drawn to scale unless otherwise described. For example, unless otherwise described, the dimensions of some elements may be exaggerated relative to others. Sometimes, similar reference numerals are used in several figures. Unless otherwise specified, these similar reference numerals always denote similar parts in those figures. Embodiments incorporating the teachings of this disclosure are shown and described with respect to the drawings presented herein, in which:

[0025] Figure 1 Examples of systems according to various embodiments of this disclosure are shown;

[0026] Figure 2 An exemplary side perspective view of a robotic unloader according to various embodiments of the present disclosure is shown;

[0027] Figure 3 An exemplary top perspective view of a robotic unloader according to various embodiments of the present disclosure is shown;

[0028] Figure 4 An exemplary front perspective view of a robotic unloader in a logistics container according to various embodiments of the present disclosure is shown;

[0029] Figure 5 An exemplary rear perspective view of a robotic unloader and a logistics container according to various embodiments of the present disclosure is shown;

[0030] Figure 6 Exemplary controller components are shown that communicate electronically with various other components of an exemplary robot system according to various embodiments of the present disclosure;

[0031] Figure 7 This is a flowchart illustrating exemplary operation according to various embodiments of the present disclosure; and

[0032] Figure 8 This is a flowchart illustrating exemplary operations according to various embodiments of the present disclosure. Detailed Implementation

[0033] Some embodiments of this disclosure will be described more fully below with reference to the accompanying drawings, which illustrate some, but not all, embodiments of this disclosure. In fact, these disclosures may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to enable this disclosure to meet applicable legal requirements. Throughout this document, similar reference numerals refer to similar elements.

[0034] The components shown in the accompanying drawings represent components that may or may not be present in the various embodiments of this disclosure described herein, such that embodiments may include fewer or more components than those shown in the figures without departing from the scope of this disclosure. Some components may be omitted from one or more figures, or shown in dashed lines to make the components below visible.

[0035] The phrases “in exemplary embodiments,” “some embodiments,” “various embodiments,” etc., generally refer to a particular feature, structure, or characteristic that follows these phrases and may be included in at least one embodiment of this disclosure, and may be included in more than one embodiment of this disclosure (importantly, such phrases do not necessarily refer to the same embodiment).

[0036] The terms “example” or “exemplary” are used herein to mean “served as an example, instance, or illustration.” Any specific implementation described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other implementations.

[0037] If the specification states that a component or feature “may,” “can,” “should,” “will,” “preferably,” “possibly,” “usually,” “optionally,” “for example,” “often,” or “may” (or other such language) be included or have that characteristic, then the specific component or feature is not necessarily required to be included or have that characteristic. Such components or features may be optionally included in some embodiments or may be excluded.

[0038] The terms “electrically coupled” or “electronic communication” in this disclosure may refer to a circuit of two or more electronic components (e.g., but not limited to exemplary processing circuitry, communication components, input / output module memory) and / or connected via wired means (e.g., but not limited to conductive lines, system buses, wired Ethernet connections or traces) and / or wireless means (e.g., but not limited to wireless networks, electromagnetic fields, Wi-Fi, Bluetooth, Zigbee) such that data and / or information (e.g., electronic indications, signals) can be transmitted to and / or received from the electrically coupled electrical components and / or circuitry.

[0039] Automated robotic loaders and / or unloaders can be used in logistics workflows to load items into and / or unload items from logistics containers. For example, logistics containers may include tractor containers, ocean shipping containers, or any other transport container capable of holding multiple items for transport and / or storage. Current automated robotic systems suffer from several drawbacks in terms of adaptability and throughput, and may utilize manual labor, potentially leading to inefficiencies and inaccuracies in logistics workflows. For instance, automated robotic systems may be designed to handle (e.g., loading / unloading, etc.) structured items (e.g., multiple items arranged in a particular manner), reducing the system's flexibility in unstructured scenarios, such as when one or more items are separated from a wall or stack of items. Furthermore, the performance of these systems degrades depending on the size, dimensions, and arrangement of the items being handled. In some cases, items may move during transport, resulting in unstructured arrangements of items with potentially different sizes that cannot be effectively handled by current automated robotic systems. This leads to reduced throughput, adaptability, and control over item handling in logistics workflows, and may increase inefficiencies and inaccuracies in logistics container handling. Therefore, robotic systems capable of handling individual items of various sizes and arranged in an unstructured manner are advantageous.

[0040] According to various embodiments of this disclosure, exemplary methods, apparatuses, computer program products, and systems are provided. In some examples, these exemplary methods, apparatuses, computer program products, and systems provide robotic systems for handling items within logistics containers. The robotic system may include multiple vertically mounted robotic manipulators that can operate independently of each other to handle individual items in various structured or unstructured arrangements.

[0041] For example, this disclosure provides a robot system including a movable base, a conveyor system disposed on the movable base, a vertical mount coupled to the movable base, and a plurality of robot manipulators. The vertical mount is coupled to the movable base via one or more vertical actuation devices operable to move the vertical mount between one or more vertical positions, each vertical position being a corresponding distance above the movable base. The plurality of robot manipulators are mounted to the vertical mount. For example, each robot manipulator has a first end mounted to the vertical mount and a second end having an end effector. The end effector is operable to connect (e.g., by suction, gripping, etc.) to one or more items within a logistics facility (e.g., in a logistics container).

[0042] Therefore, this disclosure provides a robotic system having a plurality of robotic manipulators mounted in a top-mounted orientation relative to a movable base. The movable base can advance the manipulators into a logistics container to handle items therein. A conveyor system disposed on the movable base may include rollers and / or actuators for orienting and / or positioning the items handled by the robotic manipulators to separate outflowing rollers. In this way, the robotic system can effectively divide functions such as item handling and / or item separation among different components of the robotic system to increase the mobility of the plurality of robotic manipulators.

[0043] Furthermore, by vertically mounting the robot manipulators, the robotic system can accommodate manipulators of reduced size, which further increases the range of motion of each manipulator and allows it to handle items independently. Thus, the manipulators can be configured to handle unstructured loads by processing one item (or a group of items) independently at a time. Additionally, the manipulators can be mounted to movable vertical mounts, allowing them to be positioned relative to logistics containers and / or the items within them. This allows the manipulators to be positioned to shorten the path between items and the conveyor system, further reducing cycle time and increasing throughput.

[0044] Thus, the robotic system described in this paper provides practical improvements over conventional logistics robotic systems, resulting in increased throughput, adaptability, and control over the handling of items in the logistics workflow, and reducing inefficiencies and inaccuracies in logistics container handling.

[0045] Figure 1Schematic diagrams depicting exemplary system 100 according to various embodiments of the present disclosure are provided. As depicted, exemplary system 100 includes robot system 102, one or more computing entities 106 (e.g., servers), one or more databases 104, one or more networks 105, one or more user computing entities 108, etc. In various examples, system 100 is operable to handle items at a logistics facility. For example, as described herein, robot system 102 may be configured to utilize one or more robot manipulators, conveyor systems, and / or other robotic components of robot system 102 to handle objects in a specific location or environment.

[0046] Robot system 102, one or more computing entities 106, one or more databases 104, and / or one or more user computing entities 108 can communicate electronically with each other via one or more networks 105, enabling them to exchange data (e.g., receive and send data) with each other (e.g., periodically and / or in response to requests). Each component of system 100 can communicate with each other via the same or different wireless or wired networks 105 (including, for example, wired or wireless personal area networks (PANs), local area networks (LANs), metropolitan area networks (MANs), wide area networks (WANs), cellular networks, etc.). Although Figure 1 Some system components are shown as separate, independent devices, but various implementations are not limited to this particular architecture.

[0047] like Figure 1 The exemplary system 100 depicted includes one or more computing entities 106. Generally, the terms computing device, entity, device, system, and / or similar terms used interchangeably herein can refer to, for example, one or more computers, computing devices, computing entities, desktop computers, mobile phones, tablets, phablets, laptops, distributed systems, terminals, servers or server networks, blade servers, gateways, switches, processing devices, set-top boxes, relays, routers, network access points, base stations, etc., and / or any combination of devices suitable for performing the functions, operations, and / or processes described herein. Such functions, operations, and / or processes may include, for example, transmitting, receiving, operating, processing, displaying, storing, determining, generating / creating, monitoring, evaluating, comparing, and / or similar terms used interchangeably herein. In one embodiment, these functions, operations, and / or processes may be performed on data, content, information, and / or similar terms used interchangeably herein.

[0048] In some examples, computing entity 106 may also include one or more network and / or communication interfaces for communicating with various computing entities, such as by transmitting data, content, information and / or similar terms that may be used interchangeably herein, which can be transmitted, received, manipulated, processed, displayed, stored, etc.

[0049] In one embodiment, computing entity 106 may further include or communicate with a nonvolatile medium (also referred to as a nonvolatile storage device, memory, memory storage device, memory circuit, and / or similar terms used interchangeably herein). In one embodiment, the nonvolatile storage device or memory may include one or more nonvolatile storage devices or memory media as described above, such as hard disks, ROMs, PROMs, EPROMs, EEPROMs, flash memory, MMC, SD memory cards, memory sticks, CBRAMs, PRAMs, FeRAMs, RRAMs, SONOS, racetrack memory, etc. As will be appreciated, a nonvolatile storage device or memory medium may store databases, database instances, database management system entities, data, applications, programs, program modules, scripts, source code, object code, bytecode, compiled code, interpreted code, machine code, executable instructions, etc. The terms database, database instance, database management system entity, and / or similar terms used interchangeably herein may refer to a structured collection of records or information / data stored in a computer-readable storage medium, such as via a relational database, hierarchical database, and / or web database.

[0050] In one embodiment, computing entity 106 may further include or communicate with volatile media (also referred to as volatile storage device, memory, memory storage device, memory circuitry, and / or similar terms used interchangeably herein). In one embodiment, the volatile storage device or memory may further include one or more volatile storage devices or memory media as described above, such as RAM, DRAM, SRAM, FPM DRAM, EDO DRAM, SDRAM, DDRSDRAM, DDR2 SDRAM, DDR3 SDRAM, RDRAM, RIMM, DIMM, SIMM, VRAM, cache memory, register memory, etc. As will be appreciated, volatile storage devices or memory media can be used to store at least a portion of databases, database instances, database management system entities, data, applications, programs, program modules, scripts, source code, object code, bytecode, compiled code, interpreted code, machine code, executable instructions, etc., executed by, for example, processing elements. Therefore, databases, database instances, database management system entities, data, applications, programs, program modules, scripts, source code, object code, bytecode, compiled code, interpreted code, machine code, executable instructions, etc., can be used to control certain aspects of the operation of computing entity 106 with the help of processing elements and operating systems.

[0051] As noted, in one embodiment, computing entity 106 may also include one or more network and / or communication interfaces for communicating with various computing entities, such as by transmitting data, content, information, and / or similar terms used interchangeably herein, that can be transmitted, received, manipulated, processed, displayed, stored, etc. Such communication may be performed using wired data transmission protocols, such as Fiber Distributed Data Interface (FDDI), Digital Subscriber Line (DSL), Ethernet, Asynchronous Transfer Mode (ATM), Frame Repeater, Cable Service Interface Data Specification (DOCSIS), or any other wired transmission protocol. Similarly, computing entity 106 can be configured to communicate via a wireless external communication network using any of a variety of protocols, such as Embedded SIM (eSIM), Remote SIM Propagation (RSP), General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), Code Division Multiple Access 200 (CDMA200), CDMA200 1X (1xRTT), Wideband Code Division Multiple Access (WCDMA), Global System for Mobile Communications (GSM), Enhanced Data Rate Evolution of GSM (EDGE), Time Division Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Evolved Universal Terrestrial Radio Access Network (E-UTRAN), Evolved Data Optimization (EVDO), High-Speed ​​Packet Access (HSPA), High-Speed ​​Downlink Packet Access (HSDPA), IEEE 802.11 (Wi-Fi), and Wi-Fi. Direct, 802.16 (WiMAX), Ultra Wideband (UWB), IR protocol, NFC protocol, RFID protocol, ZigBee protocol, Z-Wave protocol, 6LoWPAN protocol, Wibree, Bluetooth protocol, Wireless Universal Serial Bus (USB) protocol and / or any other wireless protocol. Computing entity 106 can use such protocols and standards to communicate using: Border Gateway Protocol (BGP), Dynamic Host Configuration Protocol (DHCP), Domain Name System (DNS), File Transfer Protocol (FTP), Hypertext Transfer Protocol (HTTP), TLS / SSL / secure HTTP, Internet Message Access Protocol (IMAP), Network Time Protocol (NTP), Simple Mail Transfer Protocol (SMTP), Remote Login, Transport Layer Security (TLS), Secure Sockets Layer (SSL), Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Datagram Congestion Control Protocol (DCCP), Stream Control Transfer Protocol (SCTP), Hypertext Markup Language (HTML), etc.

[0052] It should be understood that one or more components of computing entity 106 may be located remotely from other components of computing entity 106, such as in a distributed system. Furthermore, one or more of these components may be aggregated, and additional components performing the functions described herein may be included in computing entity 106. Therefore, computing entity 106 can be adapted to various needs and situations, including various components, including various input / output interfaces, as described with reference to a mobile application executing on user computing entity 108.

[0053] like Figure 1The depicted system 100 includes a user computing entity 108. In various embodiments, the user computing entity 108 may be or include one or more mobile devices, wearable computing devices, etc. An exemplary user computing entity 108 may include an antenna, a transmitter (e.g., a radio), a receiver (e.g., a radio), and a processing element that provides signals to the transmitter and receives signals from the receiver, respectively. The signals provided to the transmitter and received from the receiver may include signaling information / data according to the air interface standard of an applicable wireless system for communication with various devices such as a computing entity (e.g., a central server), another user computing entity 108, etc. In one exemplary embodiment, the transmitter and / or receiver are configured to communicate via one or more SRC protocols. For example, the transmitter and / or receiver may be configured to transmit and / or receive information / data, transmissions, etc., from at least one of the following short-range communication protocols: Bluetooth, Bluetooth Low Energy, NFC, RFID, IR, Wi-Fi, ZigBee, Z-Wave, 6LoWPAN, and / or other short-range communication protocols. In various implementations, the antenna, transmitter, and receiver may be configured to communicate via one or more remote protocols such as GPRS, UMTS, CDMA2000, 1xRTT, WCDMA, GSM, EDGE, TD-SCDMA, LTE, E-UTRAN, EVDO, HSPA, HSDPA, Wi-Fi, Wi-Fi Direct, WiMAX, etc. The user computing entity 108 may also include one or more network and / or communication interfaces for communicating with various computing entities, such as by transmitting data, content, information, and / or similar terms used interchangeably herein, that can be transmitted, received, manipulated, processed, displayed, stored, etc. In this regard, the user computing entity 108 may be capable of operating using one or more air interface standards, communication protocols, modulation types, and access types. More specifically, the user computing entity 108 may operate according to any of a plurality of wireless communication standards and protocols. In a particular implementation, the user computing entity 108 may operate in accordance with a number of wireless communication standards and protocols (such as GPRS, UMTS, CDMA200, 1xRTT, WCDMA, TD-SCDMA, LTE, E-UTRAN, EVDO, HSPA, HSDPA, Wi-Fi, WiMAX, UWB, IR protocol, Bluetooth protocol, USB protocol) and / or any other wireless protocol.

[0054] Through these communication standards and protocols, user computing entity 108 can communicate with various other devices using concepts such as Unstructured Supplemental Service Message / Data (USSD), Short Message Service (SMS), Multimedia Messaging Service (MMS), Dual-Tone Multi-Frequency Signaling (DTMF), and / or Subscriber Identity Module Dialer (SIM Dialer)). User computing entity 108 can also download changes, plugins, and updates to, for example, its firmware, software (e.g., including executable instructions, applications, and program modules), and operating system.

[0055] According to one implementation, the user computing entity 108 may include location determination aspects, devices, modules, functions and / or similar terms that may be used interchangeably herein, to acquire location information / data periodically, continuously or in response to certain triggers.

[0056] User computing entity 108 may include a user interface device, which includes one or more user input / output interfaces (e.g., a display and / or speaker / speaker driver coupled to a processing element, and a touch interface, keyboard, mouse, and / or microphone coupled to a processing element). For example, the user interface may be configured to provide mobile applications, browsers, interactive user interfaces, dashboards, web pages, and / or similar terms used interchangeably herein to execute on and / or be accessible via the user computing entity 108 to display or audibly present information / data, and to facilitate user interaction with such applications via one or more user input interfaces. Furthermore, the user interface may include any of a plurality of devices that allow user computing entity 108 to receive or communicate with information / data, such as a keypad (hard or soft), touch display, sound / voice or motion interface, scanner, reader, or other input device. In embodiments including a keypad, the keypad may include (or cause to be displayed) conventional numbers (0-9) and associated keys (#, *) and other keys for operating user computing entity 108, and may include a full set of alphabetic keys or a set of keys that can be activated to provide a full set of alphanumeric keys. In addition to providing input, the user input interface can also be used to activate or deactivate certain functions, such as screen savers and / or sleep modes. Through these inputs, the user computing entity 108 can capture, collect, and store information / data, user interactions / inputs, etc.

[0057] User computing entity 108 may also include volatile storage devices or memories and / or non-volatile storage devices or memories, which may be embedded and / or removable. For example, non-volatile memory may be ROM, PROM, EPROM, EEPROM, flash memory, MMC, SD memory card, Memory Stick, CBRAM, PRAM, FeRAM, RRAM, SONOS, racetrack memory, etc. Volatile memory may be RAM, DRAM, SRAM, FPM DRAM, EDO DRAM, SDRAM, DDR SDRAM, DDR2 SDRAM, DDR3 SDRAM, RDRAM, RIMM, DIMM, SIMM, VRAM, cache memory, register memory, etc. Volatile and non-volatile storage devices or memories may store databases, database instances, database management system entities, information / data, applications, programs, program modules, scripts, source code, object code, bytecode, compiled code, decoded code, machine code, executable instructions, etc., to implement the functions of user computing entity 108.

[0058] like Figure 1 What is described Figure 1 Any two or more components of the exemplary components of system 100 may be configured to communicate with each other via one or more networks 105. Network 105 may include, but is not limited to, any combination of suitable communication networks of one or more types, such as, for example, cable networks, public networks (e.g., the Internet), private networks (e.g., Frame Relay networks), wireless networks, cellular networks, telephone networks (e.g., the Public Switched Telephone Network), or any other suitable private and / or public networks. Furthermore, network 105 may have any suitable communication range associated with it and may include, for example, a global network (e.g., the Internet), MAN, WAN, LAN, or PAN. Additionally, network 105 may include any type of medium capable of carrying network traffic, including but not limited to coaxial cable, twisted pair, optical fiber, hybrid fiber-coaxial (HFC) media, microwave terrestrial transceivers, radio frequency communication media, satellite communication media, or any combination thereof, as well as various network devices and computing platforms provided by network providers or other entities.

[0059] Although Figure 1 An exemplary system 100 is provided, but it should be noted that the scope of this disclosure is not limited to... Figure 1 The example shown. In some examples, system 100 may include one or more additional and / or alternative elements, and / or may differ from those shown. Figure 1 The components shown.

[0060] Figure 2An exemplary side perspective view 200 of a robot system 205 according to various embodiments of the present disclosure is shown. The robot system 205 may include a movable base 210, a conveyor system 215 disposed on the movable base 210, a vertical mount 220 coupled to the movable base 210, and a plurality of robot manipulators 230.

[0061] The movable base 210 may include a plurality of wheels (e.g., such as wheels 235), continuous tracks, mechanical outriggers, and / or any other mechanism for moving the movable base 210 on horizontal and / or uneven surfaces. As an example, the movable base 210 may include a plurality of wheels 235 coupled thereto. The plurality of wheels 235 may be controllable to move the movable base 210 on a surface. In some embodiments, the plurality of wheels may be controllable to move the movable base 210 relative to a logistics container. By way of example, the plurality of wheels may be controllable to move at least a portion of the movable base 210 within a logistics container.

[0062] The movable base 210 can be configured in one or more different sizes. In some embodiments, the movable base 210 may include a threshold width that is at least partially smaller than the width of the logistics container. In this way, the robotic system 205 can move undisturbed within the logistics container.

[0063] The vertical mount 220 can be coupled to the movable base 210 via one or more vertical actuation devices 225. The vertical actuation devices 225 may include one or more electro-pneumatic and / or mechanical actuation devices operable to linearly move the vertical mount 220 in a direction perpendicular to the surface of the movable base 210. As described herein, the one or more vertical actuation devices 225 are operable to adjust the position of the vertical mount 220 between a plurality of vertical positions, each vertical position being at a corresponding distance above the movable base 210.

[0064] Multiple robot manipulators 230 may include at least two robot manipulators 230. The number of robot manipulators 230 may be reconfigurable. For example, the number of robot manipulators 230 may be based on the size of the logistics container, the orientation of the items relative to the logistics container, and / or any other factors that may affect the throughput that the robot system 205 can achieve. In some embodiments, the robot system 205 may include four robot manipulators 230; however, any number of robot manipulators 230 is within the scope of this disclosure.

[0065] Each of the plurality of robot manipulators 230 may have a first end 240 and a second end 245 opposite to the first end 240. The robot manipulator 230 may be mounted to a vertical mount 220 at the first end 240, and the second end 245 may include an end effector 250.

[0066] The robot manipulator 230 may include a robot arm. The robot arm may include any robot arm design, such as a Cartesian robot arm, a cylindrical robot arm, a polar / spherical robot arm, a pneumatic robot arm, etc. As an example, the robot manipulator 230 may include a six-degree-of-freedom robot arm. Additionally or alternatively, the robot manipulator 230 may include a Cartesian robot arm and / or a pneumatic robot arm. In some embodiments, the robot manipulator 230 may be removably mounted to the vertical mount 220 and may be reconfigured based on one or more load characteristics associated with loading and / or unloading activities (e.g., item size, arrangement, fragility, etc.).

[0067] End effector 250 may include any gripping mechanism operable to grasp, pull, drag, and / or otherwise move an item. As an example, end effector 250 may include one or more vacuum actuators. Additionally or alternatively, end effector 250 may include mechanical grippers, pneumatic grippers, and / or any other robotic gripping mechanism. In some embodiments, end effector 250 may be removably coupled to the arm of robot manipulator 230 and may be reconfigured based on one or more load characteristics associated with loading and / or unloading activities.

[0068] Figure 3 An exemplary top perspective view 300 of a robot system 205 according to various embodiments of the present disclosure is shown. As described herein, the robot system 205 may include a conveyor system 215 and a plurality of robot manipulators. The robot system 205 may be configured to move items 360 from one location (e.g., a logistics container, pallet, etc.) to another location in a controlled manner. To efficiently handle items 360, the robot system 205 may arrange items 360 in a single row. This separation of the outflow (or inflow during loading activities) of items 360 improves item tracking and inventory management.

[0069] In some implementations, robot system 205 may be divided into the following functions: (i) loading / unloading items, and (ii) separating the outflow of items between one or more different components of robot system 205. By way of example, a robot manipulator may be configured to load and / or unload item 360. Conveyor system 215 may be configured to cause the separation of item 360 outflow. As described herein, dividing the functions of robot system 205 can improve the mobility of the robot manipulator.

[0070] For example, robot system 205 may include a first robot manipulator 305, a second robot manipulator 310, a third robot manipulator 315, and / or a fourth robot manipulator 320. The robot manipulators may be mounted horizontally (relative to each other) across a vertical mount 220. The vertical mount 220 may be positioned at a threshold distance above the conveyor system 215 such that at least a portion of each robot manipulator is located at a threshold distance above the conveyor system 215. For example, the vertical mount 220 may be positioned at an angle greater than ninety degrees to the ground normal, thereby allowing the robot manipulators to operate with vertical movement.

[0071] The robotic manipulators can be configured to move in a vertical plane. For example, each robotic manipulator can be mounted at a suitable location on a vertical mount 220 to load and / or unload items in a corresponding portion of the environment. For example, each robotic manipulator can be configured to operate in a vertical slice of the environment (e.g., a shipping container, loading facility, etc.) in front of the respective robotic manipulator. For example, the environment in front of the robotic system 205 can be divided into one or more processing zones and assigned to each robotic manipulator. Items 360 in the environment can be assigned to at least one processing zone for pickup / dropping by the robotic manipulator corresponding to that at least one processing zone.

[0072] By way of example, a first robot manipulator 305 may be configured to operate in a first processing area 325, a second robot manipulator 310 may be configured to operate in a second processing area 330, a third robot manipulator 315 may be configured to operate in a third processing area 335, and / or a fourth robot manipulator 320 may be configured to operate in a fourth processing area 340. Figure 3 Four robot manipulators and four processing areas are shown for illustrative purposes only. Robot system 205 may include any number of robot manipulators and is not limited to them. Figure 3 The number shown. Furthermore, this environment can be divided into any number of processing zones, and is not limited to this. Figure 3 The number shown. For example, in some implementations, one or more robot manipulators may share a processing area, or a robot manipulator may be assigned to multiple processing areas.

[0073] Each robotic manipulator can independently handle items within its corresponding processing area (or multiple areas). For example, a robotic manipulator can independently move a single item or multiple items. Each robotic manipulator can be configured to operate independently to handle multiple items 360 in each processing area simultaneously.

[0074] By separating the robot manipulators, the robot system 205 allows each robot manipulator to independently approach a specific item (and / or multiple items). This allows the robot manipulators to make specific adjustments to a particular item, thereby enabling greater control over the loading and / or unloading of the logistics container. Thus, the robot system 205 described herein allows for the unloading of unstructured items 375 from within the logistics container and enables the loading of different loading arrangements and / or partial filling of the logistics container.

[0075] In some implementations, the increased flexibility of the robotic manipulators allows two or more of a plurality of robotic manipulators to coordinate their movement to collaboratively handle objects. For example, Figure 3 An exemplary collaborative scenario 380 is illustrated, in which a second robotic manipulator 310 and a third robotic manipulator 315 can collaboratively move items within a third processing area 335. The robotic manipulators can collaborate to move one or more items within each processing area to accommodate different item sizes, dimensions, weights, etc. In some embodiments, end effectors for each of the plurality of robotic manipulators can be configured to improve collaboration efficiency. Thus, two, three, or more of the plurality of robotic manipulators can collaboratively move one or more items within and / or between the plurality of processing areas.

[0076] Robot system 205 may include one or more vision systems (not shown) configured to capture sensor data indicating the environment of the robot system. As described herein, these vision systems may include robot manipulator vision systems. Robot manipulator vision systems may include one or more sensors (e.g., depth sensors, color sensors (e.g., RGB) and other spectral sensors) for recording sensor data indicating the proximity of a corresponding area to the robot system. By way of example, the sensor data may include container data representing the current (or past) state of each processing area. The container data may be used by robot system 205 to identify items within the processing area and / or automatically actuate the plurality of robot manipulators to process items within the corresponding processing area of ​​each robot manipulator.

[0077] Robotic manipulators can move items 360 from a processing area (e.g., inside a logistics container, etc.) to the conveyor system 215 of the robotic system 205, either individually or collaboratively. In some embodiments, the robotic manipulators can place corresponding items on the conveyor system 215 directly (and / or indirectly) below the robotic manipulator, such that each robotic manipulator can operate simultaneously to move items without interfering with adjacent robotic manipulators. For example, a first robotic manipulator 305 can be configured to convey corresponding items from a first processing area 325 (e.g., inside a logistics container, etc.) to a corresponding portion 345 on a conveyor surface located below the first robotic manipulator 305. In this way, the first robotic manipulator 305 can independently process multiple items without interfering with adjacent robotic manipulators (e.g., a second robotic manipulator 310).

[0078] Conveyor system 215 can be configured to move items 360 from an inflow location to an outflow location. An inflow location may include, for example, a front location of robot system 205, such as section 345, where items are placed on conveyor system 215 by robotic manipulators (such as a first robotic manipulator 305). An outflow location may include a rear location of robot system 205, where items are unloaded from conveyor system 215 and / or otherwise processed by a logistics handling facility.

[0079] The following description of the conveyor system refers to the inflow location as the location where items are placed on the conveyor system 215 by a robotic manipulator, and the outflow location as the location where items are unloaded from the conveyor system 215. However, it should be noted that reverse configurations for loading logistics containers are also within the scope of this disclosure. For example, the inflow location may include a rear location of the robotic system 205, where items are placed on the conveyor system 215 from a logistics processing facility, and the outflow location may include a front location of the robotic system 205, where items are placed in the processing area by a robotic manipulator.

[0080] Conveyor system 215 may include one or more orientation mechanisms operable to adjust the position of articles placed on a conveyor surface of conveyor system 215. The one or more orientation mechanisms may include one or more actuators, rollers, and / or any other mechanisms for moving and / or otherwise reorienting articles on the conveyor surface. As an example, the one or more orientation mechanisms may include one or more side actuators (e.g., display sliders, etc.) configured to apply force to articles placed on the conveyor surface to position the articles at a central portion 390 of the conveyor surface. Alternatively, conveyor system 215 may include multiple individual self-driven rollers operable to cooperatively reposition articles. For example, such as... Figure 3For illustrative purposes, the orientation mechanism may include multiple units 350, each including a separate self-driving roller 355. The units 350 may cooperate to move items to a central portion 390 of the conveyor surface. In this way, the conveyor system 215 can provide separation of the outflow of items 360.

[0081] Separating processes can advantageously improve logistics handling functions, such as scanning, tracking, and inventory management of items 360°. For example, reducing the feeding of items to a single production line can improve the efficiency of logistics mechanisms such as scanners. Logistics mechanisms may include item scanners (e.g., barcode scanners, CCD scanners, etc.). In some embodiments, robot system 205 may include an item scanner. By way of example, the item scanner may be positioned relative to conveyor system 215 such that robot system 205 can scan items while loading them into and / or unloading them from logistics containers.

[0082] Figure 4 An exemplary front perspective view 400 of a robotic unloader 205 in a logistics container 450 according to various embodiments of the present disclosure is shown. As described herein, the robotic system 205 may include a conveyor system 215 and a plurality of robotic manipulators 230. The robotic system 205 may be configured to move items 360 from the logistics container 450 to the conveyor surface 415 of the conveyor system 215.

[0083] As described herein, a plurality of robot manipulators 230 may be positioned above the conveyor surface 415 to allow vertical movement of the plurality of robot manipulators 230. For example, the plurality of robot manipulators 230 may be mounted to a vertical mount 220. The vertical mount 220 may be positioned at a threshold distance above the conveyor surface 415. In some embodiments, the vertical mount 220 may be movable between a plurality of vertical positions. At each respective vertical position, the vertical mount 220 may be spaced a corresponding distance from the movable base 210.

[0084] The vertical position of the vertical mount 220 may be based on the container height of the logistics container 450 and / or the height of one or more items 360 (e.g., item walls, etc.) arranged within the logistics container 450. For example, in some embodiments, the vertical mount 220 may be placed at a vertical position midway between the height of the logistics container 450 and / or the height of one or more items 360 (e.g., item walls, etc.) arranged within the logistics container 450.

[0085] To increase throughput, the vertical position of the vertical mount 220 (and / or conveyor system 215) can be altered to reduce the distance between the multiple robot manipulators 230 and the items 360. In some embodiments, the vertical position of the vertical mount 220 (and / or conveyor system 215) can be changed during unloading and / or loading tasks. For example, one or more vertical actuators 225 can be operated to adjust the vertical position of the vertical mount 220 in response to: (i) movement of one or more items within a logistics container and / or (ii) the arrangement of items within the logistics container. Additionally or alternatively, one or more vertical actuators 225 (and / or a separate set of vertical conveyor actuators) can be operated to adjust the vertical position of the conveyor system 215 in response to: (i) movement of one or more items within a logistics container and / or (ii) the arrangement of items within the logistics container. The vertical positions of the vertical mount 220 and the conveyor system 215 can move together and / or separately to increase the throughput achieved by the robot system 205.

[0086] By way of example, the vertical mount 220 (and / or conveyor system 215) can be repositioned to minimize the distance between the plurality of robotic manipulators 230 and one or more items queued for processing. The queued items may, for example, include a subset of items 360 assigned for an upcoming processing cycle. After one or more items have been processed, the vertical mount 220 can be dynamically repositioned (e.g., by extending and / or retracting the vertical actuator 225, etc.) to continuously minimize the distance between the plurality of robotic manipulators 230 and newly queued items.

[0087] Robot system 205 can use sensor data indicating the environment of robot system 205 (such as the interior of logistics container 450) to identify items for handling (e.g., queued items). For example, as described herein, robot system 205 may include a robot manipulator vision system. The robot manipulator vision system may include one or more manipulator sensors 405 operable to generate sensor data indicating the surrounding environment of robot system 205. Manipulator sensors 405 may include one or more cameras (e.g., RGB cameras), one or more depth sensors (e.g., LiDAR sensors, etc.), and / or any other sensors capable of recording environmental properties. The environment may include an area facing the front portion of the robot system. For example, robot system 205 may face the interior of logistics container 450. Sensor data may include container data indicating the interior of logistics container 450.

[0088] The robot manipulator vision system can be configured to capture every segment of the interior of the logistics container 450 (e.g., Figure 3The processing area (of the container) contains container data. The robot manipulator vision system may include one or more manipulator sensors for capturing each segment from one or more different perspectives. In some embodiments, the number and placement of the plurality of manipulator sensors (e.g., cameras, etc.) may be based on the number and / or placement of the plurality of robot manipulators 230. By way of example, the plurality of manipulator sensors may be positioned relative to each of the plurality of robot manipulators 230 to provide a continuous feed of container data for each segment of the logistics container 450, taking into account the independent movement of each of the plurality of robot manipulators 230.

[0089] The robot system 205 may include a controller communicatively coupled to a plurality of robot manipulators 230 and a robot manipulator vision system. The controller may be configured to automatically control the plurality of robot manipulators 230 based on container data. The controller may, for example, include one or more processors and / or memory devices. The memory devices may include computer-readable instructions for interpreting the container data and initiating movement of each of the plurality of robot manipulators 230 based on the container data. These computer-readable instructions may, for example, implement one or more motion planning and / or trajectory generation functions for operating the plurality of robot manipulators 230.

[0090] In some embodiments, robot system 205 may include a conveyor vision system. The robot manipulator vision system may differ from the conveyor vision system. For example, the conveyor vision system may include one or more conveyor sensors 410 that are different from manipulator sensor 405. Conveyor sensor 410 is operable to generate conveyor data indicating the arrangement of multiple items disposed on conveyor surface 415 of conveyor system 215. Conveyor sensor 410 may include one or more cameras (e.g., RGB cameras), one or more depth sensors (e.g., LiDAR sensors, etc.), and / or any other sensors capable of recording properties of conveyor system 215.

[0091] The conveyor sensor 410 may be positioned relative to the conveyor surface 415. For example, the conveyor sensor 410 may be positioned above the conveyor surface 415. For example, the at least one conveyor sensor (e.g., a camera) may be positioned at a fixed position 420 relative to the conveyor system 215. As an example, the conveyor sensor 410 may include two sensors positioned at a fixed distance 420 directly above the conveyor surface 415. The conveyor sensor 410 may be positioned at a fixed distance 420 from the conveyor surface 415, such that the fixed distance 420 is maintained as the conveyor system 215 moves.

[0092] Robot system 205 may include a controller communicatively coupled to multiple conveyor systems 215 and a conveyor vision system. The controller may be configured to automatically control the conveyor systems 215 based on conveyor data. For example, the controller may control the conveyor systems 215 to arrange multiple items in separate outflows based on the conveyor data. The controller may include, for example, one or more processors and / or memory devices. The memory devices may include computer-readable instructions for interpreting the conveyor data and initiating actuation of one or more orientation mechanisms of the conveyor systems 215 to rearrange one or more items on the conveyor surface 415. The computer-readable instructions may, for example, implement one or more conveyor actuation functions for operating the conveyor systems 215.

[0093] Figure 5 An exemplary rear perspective view 500 of a robot system 205 and a logistics container 450 according to various embodiments of the present disclosure is shown. As described herein, the robot system 205 may include a conveyor system 215 and a plurality of robot manipulators 230. The robot system 205 may be configured to move items 360 from the logistics container 450 to the conveyor surface 415 of the conveyor system 215.

[0094] Conveyor system 215 and multiple robot manipulators 230 may be configured and / or coupled to movable base 210. Movable base 210 is operable to move conveyor system 215 and multiple robot manipulators 230 relative to logistics equipment and / or logistics container 450. For example, movable base 210 is operable to move conveyor system 215 and multiple robot manipulators 230 within logistics container 450. By way of example, movable base 210 may include a width less than the width of logistics container 450, such that robot system 205 can operate within logistics container 450.

[0095] Figure 6 An exemplary controller component 600, in electronic communication with various other components of an exemplary robot system 602 according to various embodiments of the present disclosure, is shown. As shown, the controller component 600 includes processing circuitry 601, communication element 603, input / output element 605, memory 605, and / or other components configured to perform the various operations, programs, functions, etc., described herein.

[0096] In some implementations, controller component 600 may be or include a printed circuit board (PCB). In some examples, controller component 600 (e.g., PCB) may also include one or more of the following: a full-bridge motor driver, a Hall sensor, one or more thermal sensors, one or more user interfaces, one or more protection circuits, configuration management circuitry, a wireless interface, sensing element circuitry (e.g., image sensor circuitry), an interface connector, power control circuitry, gate driver circuitry, etc.

[0097] Processing circuitry 601 may be embodied as an apparatus comprising one or more microprocessors having an accompanying digital signal processor, one or more processors without an accompanying digital signal processor, one or more coprocessors, one or more multi-core processors, one or more controllers, processing circuitry, one or more computers, various other processing elements (including integrated circuits, such as, but not limited to, application-specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs)) or some combination thereof. Therefore, although in Figure 6 While illustrated as a single processor, in embodiments, processing circuitry 601 may include multiple processors and signal processing modules. These multiple processors may be embodied on a single electronic device or distributed across multiple electronic devices collectively configured to serve as circuitry for robot system 602. The multiple processors may be operatively communicable to each other and may be collectively configured to perform one or more functions of the circuitry for the robot system as described herein. In an exemplary embodiment, processing circuitry 601 may be configured to execute instructions stored in memory 607 or otherwise accessible to processing circuitry 601. These instructions, when executed by processing circuitry 601, may cause the circuitry for robot system 602 to perform one or more functions as described herein.

[0098] Regardless of whether the processing circuitry 601 is configured by a hardware method, a firmware / software method, or a combination thereof, the processing circuitry may include an entity capable of performing operations and being configured accordingly according to embodiments of this disclosure. Thus, for example, when the processing circuitry 601 is implemented as an ASIC, FPGA, etc., the processing circuitry 601 may include hardware specifically configured to perform one or more of the operations described herein. Additionally or alternatively, when the processing circuitry 601 is embodied as an instruction executor (such as that which may be stored in memory 607), these instructions may specifically configure the processing circuitry 601 to perform one or more algorithms and operations described herein.

[0099] Therefore, the processing circuitry 601 used herein may refer to a programmable microprocessor, microcomputer, or one or more multiprocessor chips that can be configured by software instructions (application programs) to perform functions including those described in the various embodiments above. In some devices, multiple processors may be provided dedicated to wireless communication functions and one processor dedicated to running other applications. The software application may be stored in internal memory before being accessed and loaded into the processor. The processor may include sufficient internal memory to store the application software instructions. In many devices, the internal memory may be volatile memory, or non-volatile memory such as flash memory, or a combination of both. The memory may also be located within another computing resource (e.g., enabling computer-readable instructions to be downloaded via the Internet or another wired or wireless connection).

[0100] Memory 607 may include suitable logic, circuitry, and / or interfaces adapted to store a set of instructions executable by processing circuitry 601 to perform predetermined operations. Additionally or alternatively, memory 607 may be configured to store data / information, application programs, instructions, etc., enabling controller component 600 to perform various functions according to embodiments of the present disclosure. For example, in at least some embodiments, memory 607 is configured to cache input data for processing by processing circuitry 601. Therefore, in at least some embodiments, memory 607 is configured to store program instructions for execution by processing circuitry 601. Memory 607 may store information in the form of static and / or dynamic information. When performing functions, the stored information may be stored and / or used by controller component 600. Exemplary memory implementations may include, but are not limited to, hard disks, random access memory, cache memory, read-only memory (ROM), erasable programmable read-only memory (EPROM) and electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic tape cassettes, magnetic tape, disk storage devices or other magnetic storage devices, optical disc read-only memory (CD-ROM), digital versatile optical disc read-only memory (DVD-ROM), optical discs, circuitry configured to store information, or some combination thereof. In an exemplary implementation, without departing from the scope of this disclosure, memory 607 may be integrated with processing circuitry 601 on a single chip.

[0101] Communication element 603 may be implemented as any device including circuitry, hardware, computer program products, or combinations thereof, configured to receive data from and / or transmit data to another component or device. The computer program product includes computer-readable program instructions stored on a computer-readable medium (e.g., memory 607) and executed by processing component 600 (e.g., processing circuitry 601). In some embodiments, communication element 603 (like the other components discussed herein) may be at least partially implemented as or otherwise controlled by processing circuitry 601. In this regard, communication element 603 may communicate with processing circuitry 601, for example, via a bus. Communication element 603 may include, for example, an antenna, transmitter, receiver, transceiver, network interface card, and / or supporting hardware and / or firmware / software, and is used to establish communication with another device. Communication element 603 may be configured to receive and / or transmit any data that may be stored in memory 607 using any protocol that can be used for communication between devices. The communication element 603 may additionally or alternatively communicate with the memory 607, the input / output element 605 and / or any other component of the processing unit 600, for example via a bus.

[0102] In some embodiments, processing unit 600 may include input / output element 605. Input / output element 605 may communicate with processing circuitry 601 to receive instructions input by a user and / or provide auditory, visual, mechanical, or other outputs to the user. Therefore, input / output element 605 may include supporting devices such as a keyboard, mouse, display, touchscreen display, and / or other input / output mechanisms. Alternatively, at least some aspects of input / output element 605 may be implemented on a user-used device to communicate with processing unit 600. Input / output element 605 may communicate, for example, via a bus with memory 607, communication element 603, and / or any other components. One or more input / output modules and / or other components may be included in processing unit 600.

[0103] Figure 7 This is a flowchart illustrating exemplary operation 700 according to various embodiments of the present disclosure. In some examples, exemplary operation 700 may be performed by various system components of the robotic system described herein. In some examples, these system components may include processing circuitry that may be electrically coupled to and / or electronically communicate with other circuitry, such as, but not limited to, the combinations described above. Figure 1-6 The robot system 205.

[0104] Exemplary operation 700 may include operation 705. At operation 705, the operation may include receiving container data indicating the interior of a logistics container. For example, a computing system (e.g., robot system 205 and / or its processing circuitry) may receive container data indicating the interior of a logistics container from a robot manipulator vision system. The container data may include sensor data recorded by one or more front sensors of the robot system.

[0105] Exemplary operation 700 may include operation 710. At operation 710, the operation may include generating vertical orientation commands for positioning a plurality of robot manipulators relative to the container, based on container data. For example, a computing system may generate vertical orientation commands for positioning the plurality of robot manipulators relative to the container based on the container data. The vertical orientation commands may initiate movement of one or more vertical actuator devices of the robot system. Thus, the computing system may initiate a change in the vertical position of the vertical mount of the robot system to reposition the plurality of robot manipulators relative to the container.

[0106] Exemplary operation 700 may include operation 715. At operation 715, the operation may include initiating vertical movement of the plurality of robot manipulators based on vertical orientation instructions. For example, the computing system may initiate vertical movement of the plurality of robot manipulators based on vertical orientation instructions, specifically by executing vertical orientation instructions and / or providing one or more actuation commands to a vertical actuation device based on vertical orientation instructions.

[0107] Exemplary operation 700 may include operation 720. At operation 720, the operation may include controlling at least one of the plurality of robotic manipulators to move items disposed within the container. For example, a computing system may control at least one of the plurality of robotic manipulators to move items disposed within the container. To this end, the computing system may identify one or more items disposed within the container. The computing system may divide the container into multiple processing zones and assign corresponding robotic manipulators to corresponding processing zones. The computing system may independently control each robotic manipulator to move a corresponding item within its corresponding processing zone.

[0108] Figure 8 This is a flowchart illustrating exemplary operation 800 according to various embodiments of the present disclosure. In some examples, exemplary operation 800 may be performed by various system components of the robotic system described herein. In some examples, these system components may include processing circuitry that may be electrically coupled to and / or electronically communicate with other circuitry, such as, but not limited to, the combinations described above. Figure 1-6 The robot system 205.

[0109] In some implementations, exemplary operation 800 may include Figure 7One or more operations following operation 720, wherein at least one of the plurality of robot manipulators is controlled to move items set inside the container.

[0110] Exemplary operation 800 may include operation 805. At 805, the operation may include receiving conveyor data indicating the arrangement of multiple items disposed on a conveyor surface of a conveyor system. For example, a computing system may receive conveyor data indicating the arrangement of multiple items disposed on a conveyor surface of a conveyor system. The multiple robot manipulators and the conveyor system may be disposed on a shared movable base.

[0111] Exemplary operation 800 may include operation 810. At 810, the operation may include generating arrangement instructions for arranging the plurality of items in separate streams on a conveyor surface based on conveyor data. For example, a computing system may generate arrangement instructions for arranging the plurality of items in separate outflows on a conveyor surface based on conveyor data.

[0112] Exemplary operation 800 may include operation 815. At 815, the operation may include controlling at least one part of the conveyor system to move an article disposed on a conveyor surface based on arrangement instructions. For example, a computing system may control at least one part of the conveyor system to move an article disposed on a conveyor surface based on arrangement instructions.

[0113] Those skilled in the art to which these embodiments pertain will, having benefited from the teachings presented in the foregoing description and related drawings, conceive of numerous modifications and other embodiments of the present disclosure set forth herein. Therefore, it should be understood that the present disclosure is not limited to the specific embodiments disclosed, and that modifications and other embodiments are intended to be included within the scope of the appended claims. Furthermore, although the foregoing description and related drawings describe exemplary embodiments in the context of certain example combinations of elements and / or functions, it should be understood that different combinations of elements and / or functions may be provided by alternative embodiments without departing from the scope of the appended claims. In this regard, for example, combinations of elements and / or functions different from those explicitly described above, as shown in some of the appended claims, may also be contemplated. Although specific terminology is used herein, it is used only in a general and descriptive sense and not for limiting purposes.

Claims

1. A robot system, the robot system comprising: Movable base; A conveyor system is installed on the movable base; A vertical mounting component, coupled to the movable base via one or more vertical actuation devices, wherein the vertical mounting component is movable between multiple vertical positions; and A plurality of robot manipulators are configured to operate independently in multiple processing zones, each of the plurality of robot manipulators having a first end mounted to the vertical mount and a second end having an end effector. Each of the plurality of robot manipulators comprises a six-degree-of-freedom robotic arm. The plurality of robot manipulators include: A first robot manipulator is configured to independently transfer items from a first processing zone of the plurality of processing zones to a portion of a conveyor surface located below the first robot manipulator; A second robot manipulator is configured to independently transfer another item from a second processing zone of the plurality of processing zones to another portion of a conveyor surface located below the second robot manipulator; and The third robot manipulator is configured to independently transfer additional items from the third processing zone of the plurality of processing zones to another part of the conveyor surface located below the third robot manipulator.

2. The robot system according to claim 1, wherein the vertical mount is disposed at a threshold distance above the surface of the conveyor.

3. The robot system of claim 2, wherein each corresponding vertical position is at a corresponding distance from the movable base.

4. The robot system of claim 3, wherein the conveyor system is movable in a vertical direction such that the vertical mount is positioned at a threshold distance above the conveyor surface at each of the plurality of vertical positions.

5. The robot system of claim 3, wherein the vertical position of the vertical mount is based on the container height of the container or the item height of one or more items disposed within the container.

6. The robot system of claim 5, wherein the one or more vertical actuation devices are operable to adjust the vertical position of the vertical mount in response to: (i) movement of the one or more items within the container or (ii) arrangement of items within the container.

7. The robot system of claim 5, wherein the vertical position is at the midpoint of the container height.

8. The robot system of claim 1, wherein the end effector comprises a vacuum actuator.

9. The robot system of claim 1, wherein the conveyor system includes one or more orientation mechanisms operable to adjust the position of one or more items placed on the conveyor surface of the conveyor system.

10. The robot system of claim 9, wherein the one or more orientation mechanisms include one or more side actuators configured to apply force to an article placed on a conveyor surface to position the article at a central portion of the conveyor surface.

11. The robot system according to claim 1, further comprising: A conveyor vision system includes at least one conveyor camera operable to generate conveyor data indicating the arrangement of multiple items on a conveyor surface of the conveyor system.

12. The robot system of claim 11, wherein the at least one conveyor camera is positioned at a fixed location relative to the conveyor system.

13. The robot system of claim 12, further comprising: A controller, communicatively coupled to the conveyor system and configured to automatically control the conveyor system based on the conveyor data, wherein the conveyor system is controlled to arrange the plurality of items in separate flows.

14. The robotic system of claim 11, further comprising: A robot manipulator vision system comprising a plurality of manipulator cameras operable to generate container data indicating the interior of a container, wherein the robot manipulator vision system is distinct from the conveyor vision system.

15. The robot system of claim 14, wherein the number and placement of the plurality of manipulator cameras are based on the number of the plurality of robot manipulators.

16. The robot system of claim 14, further comprising: A controller, communicatively coupled to the plurality of robot manipulators and configured to automatically control the plurality of robot manipulators based on the container data.

17. A method, the method comprising: Receive container data indicating the interior of the container; Based on the container data, vertical orientation commands are generated for positioning a plurality of robot manipulators relative to the container, each of the plurality of robot manipulators comprising a six-degree-of-freedom robot arm, wherein the plurality of robot manipulators comprises at least: First robot controller, Second robot manipulator, and Third robot manipulator; The vertical movement of the plurality of robot manipulators is initiated based on the vertical orientation command, wherein one or more vertical actuation devices are used to actuate the vertical mount to a vertical position among a plurality of vertical positions, wherein each of the plurality of robot manipulators has a first end mounted to the vertical mount and a second end having an end effector; and Controlling the plurality of robotic manipulators to move one or more items disposed within the container in a single-row manner on a conveyor system, wherein controlling the plurality of robotic manipulators includes: This allows the first robot manipulator to independently transfer items from the first processing area to a portion of the conveyor surface located below the first robot manipulator; This allows the second robot manipulator to independently transfer another item from the second processing area to another portion of the conveyor surface located below the second robot manipulator; and This allows the third robot manipulator to independently transfer additional items from the third processing area to another part of the conveyor surface located below the third robot manipulator.

18. The method of claim 17, further comprising: Receive conveyor data indicating the arrangement of multiple items set on the conveyor surface of the conveyor system, wherein the multiple robot manipulators and the conveyor system are set on a shared movable base; Based on the conveyor data, arrangement instructions are generated for arranging the plurality of items on the conveyor surface in a separate flow. as well as Based on the arrangement instructions, at least one part of the conveyor system is controlled to move one or more items disposed on the conveyor surface.

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