Robotic package handling system and method

Abstract

One approach is directed to a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information.

Description

[Technical Field]

[0001] The present invention relates generally to the field of robotics, and more particularly to new and useful systems and methods for planning and adapting object manipulation by robotic systems. More particularly, the present invention relates to robotic systems and methods for managing and handling packages. [Background technology]

[0002] Many industries are adopting forms of automation. Robotic systems and robotic arms are increasingly being used, particularly to assist in the automation of manual tasks. However, the cost and complexity involved in integrating robotic automation has limited this adoption.

[0003] Due to the variety of possible uses, many robotic systems are either highly customized and specifically designed for a specific implementation, or are very general robotic systems. Highly specialized solutions can only be used in limited applications. General systems will often require a large amount of integration work to program and configure for a specific implementation, which can be expensive and time-consuming.

[0004] To further complicate matters, many potential uses for robotic systems have changing conditions. Traditionally, robots have been designed and constructed for a variety of uses in industrial and manufacturing settings. These robotic systems generally perform highly repetitive and well-defined tasks. However, the rise of e-commerce is creating more demands for forms of automation that must handle highly changing or unknown conditions. Many robotic systems are unable to handle a wide variety of objects and / or a constantly changing range of objects, which can make such robotic systems an inadequate solution for product handling tasks resulting from e-commerce. Thus, there is a need in the field of robotics to create new and useful systems and methods for planning and adapting object manipulations by robotic systems. The present invention provides such new and useful systems and methods. Summary of the Invention [Means for solving the problem]

[0005] One embodiment is directed to a system and method for planning and adapting object manipulation by a robotic system functioning to use dynamic planning for control of the robotic system when interacting with an object. The system and method preferably employs robotic grasp planning combined with dynamic tool selection. The system and method may additionally be dynamically configured to the environment, which may allow workstation implementations of the system and method to be rapidly integrated and configured in new environments.

[0006] The present systems and methods are preferably operated to optimize or otherwise improve the throughput of automated object-related task performance. The present problem can alternatively be shaped to increase or maximize the success of grasping and object manipulation tasks per unit task. For example, the present systems and methods may improve the ability of a robotic system to pick an object from a first area (e.g., a container), move the object to a new location or orientation, and place the object in a second area.

[0007] In one particular variation, the present systems and methods employ the use of selectable and / or interchangeable end effectors to leverage dynamic tool selection for improved manipulation of objects. In such multi-tool variations, the present systems and methods may utilize a variety of different end effector heads that may vary in design and capabilities. The present systems and methods may use multi-tools with sets of selectively activated end effectors, such as those shown in FIGS. 7 and 8. In another variation, the present systems and methods may use changeable end effector heads, where the end effectors in use can be changed between sets of compatible end effectors.

[0008] Through optimization throughout, the system and method can enable unique robotic capabilities. The system and method can rapidly plan for various end effector elements and dynamically make decisions regarding when to change end effector heads and / or how to use a selected tool. The system and method preferably considers the time cost of switching tools and the predicted probability of success for different actions of the robotic system.

[0009] The unique robotic capabilities enabled by the present systems and methods may be used to allow a wide variety of tools and more specialized tools to be used as end effectors. These capabilities may also make the robotic system more adaptable and easier to configure for environments or scenarios in which a wide variety of objects are encountered and / or when it is beneficial to use automatic tool selection. In e-commerce applications, there may be many situations in which a robotic system is used to collect different types of objects, such as when sorting returned products or when consolidating products by workers or robots for order fulfillment.

[0010] The present systems and methods are preferably used to grasp an object and perform at least one object manipulation task. One preferred sequence of object manipulation tasks can include grasping the object (e.g., picking the object), moving the object to a new location, and placing the object, with the robotic system of the present systems and methods operating as a pick-and-place system. The present systems and methods may alternatively be applied to a variety of other object handling tasks, such as object inspection, object sorting, performing manufacturing tasks, and / or other suitable tasks. Although the present systems and methods are primarily described in the context of pick-and-place applications, variations of the systems and methods described herein may be applied to any suitable use case and application as well.

[0011] The present systems and methods may be particularly useful in scenarios where a wide variety of objects need to be processed and / or when little or no prior information is available for at least a subset of the objects requiring processing.

[0012] The present system and method may be used in a variety of use cases and scenarios. Robotic pick-and-place implementations of the present system and method may be used in warehouses, product handling facilities, and / or other environments. For example, a warehouse used to fulfill shipping orders may need to process and handle a wide variety of products. Robotic systems that handle these products generally will not have any available 3D CAD or models, will have little or no prior image data, and will not have any explicit information on barcode locations. The present system and method can address such challenges so that a wide variety of products can be handled.

[0013] The present systems and methods may provide several potential benefits. The present systems and methods are not limited to providing such benefits at all times and are presented only as exemplary representations of how the present systems and methods may be utilized. The list of benefits is not intended to be exhaustive, and other benefits may exist in addition or as an alternative.

[0014] One potential benefit is that the present systems and methods may be used to improve the processing power of robotic systems. Grasp planning and dynamic tool selection can be used to automatically modify and leverage the capabilities of different end effectors for specific object selection. The present systems and methods can preferably increase or even maximize the success rate of object manipulation (e.g., successfully grasping an object) while reducing or even minimizing the time spent changing tools.

[0015] Another potential benefit is that the system and method can interact with objects more reliably. Predictive modeling can be used in interacting with objects more successfully. The added flexibility to change tools can also be used to improve the chances of success when performing object tasks such as picking and placing objects.

[0016] A related potential benefit is that the present systems and methods can more efficiently work with products in an automated fashion. Typically, a robotic system will perform some processing of an object as an intermediate step to some other action performed with the grasped object. For example, a product may be grasped, a barcode scanned, and then the product placed in an appropriate box or container based on the barcode identifier. By more reliably selecting an object, the present systems and methods may reduce the number of failed attempts. This may result in faster time to handle the object, thereby increasing efficiency for processing the object.

[0017] Another potential benefit is that the present systems and methods may be adaptable to a variety of environments. In some variations, the present systems and methods can be easily and efficiently configured for use in new environments using the configuration approaches described herein. As another aspect, multi-tool variations may allow a wide variety of objects to be handled. The present systems and methods may not rely on collecting large amounts of data or information prior to being configured for a particular site. In this manner, a pick-and-place robot system using the present systems and methods may be moved into a new warehouse and begin handling products there without a lengthy configuration process. Furthermore, the present systems and methods are capable of handling a wide variety of object types. The present systems and methods are preferably well-suited for situations where there are a wide variety of product species and types that require handling. However, instances of the present systems and methods may be useful in situations where there is less variety in the objects.

[0018] As a related benefit, the system and method may additionally learn and improve performance over time as it learns and adapts to the objects encountered for a particular facility.

[0019] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure positioned in geometric proximity to the distal portion of the robotic arm; a pick structure that contacts one or more packages and is positioned in geometric proximity to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; The system is directed to a robotic package handling system configured to operate a robotic arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release and deposit the targeted package on a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly defining a first inner capture chamber, wherein the step of performing a targeted package grasp is configured to include the step of using the first inner capture chamber to draw into and at least partially envelop a portion of the targeted package when the vacuum load is controllably activated adjacent the targeted package.

[0020] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure positioned in geometric proximity to the distal portion of the robotic arm; a pick structure contacting one or more packages and positioned in geometric proximity to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system is configured to select targeted locations of the one or more packages from the pick structure. and a robotic package handling system configured to operate a robotic arm and end effector to grasp a targeted package and release and place the targeted package on a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing device, the first suction cup assembly defining a first inner chamber, a first outer sealing edge, and a first vacuum-permeable distal wall member collectively configured to prevent excessive protrusion of the surface of the targeted package into the inner chamber of the suction cup assembly, wherein the outer sealing edge can become removably coupled to at least one surface of the targeted package in response to grasping the targeted package with the controllably activated vacuum load.

[0021] Another embodiment is a robotic package handling system including a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure positioned geometrically proximate to the distal portion of the robotic arm; a pick structure that contacts one or more packages and is positioned geometrically proximate to the distal portion of the robotic arm;

[0022] a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, the first computing system configured to operate the robotic arm and an end effector to perform a targeted package grasp of one or more packages from the pick structure, release the targeted package, and place it on a place structure, the end effector coupled to a controllably activated vacuum load operably coupled to the first computing system. A robotic package handling system is provided, the system comprising: suction cup assemblies, wherein a first suction cup assembly is configured such that performing a grasp includes engaging a targeted package when a vacuum load is controllably activated adjacent the targeted package; and prior to performing the grasp, a computing device is configured to analyze a plurality of candidate grasps and select an executing grasp to be performed to remove the targeted package from the pick structure based, at least in part, on runtime use of a neural network operated by the computing device, the neural network being trained using views developed from synthetic data comprising rendered images of three-dimensional models of one or more synthetic packages as received by the synthetic pick structure.

[0023] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure positioned in geometric proximity to the distal portion of the robotic arm; a pick structure that contacts one or more packages and is positioned in geometric proximity to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system controls the pick structure. and operating the robotic arm and end effector to perform a targeted package grasp of one or more packages from the placement structure, and to release and place the targeted package on a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package when the vacuum load is controllably activated adjacent the targeted package, the system further being operably coupled to the first computing system and configured to capture one or more images of the targeted package after the grasp is performed using the end effector, and generate a 3D rectangular prism.a second imaging device positioned and oriented to estimate a position and orientation of the targeted package relative to the end effector using the fitted 3D rectangular prism; and a first computing system configured to operate the robotic arm and end effector to place the targeted package on a place structure in a specific position and orientation relative to the place structure.

[0024] Another embodiment is directed to a system comprising a robotic pick and place machine comprising an actuation system and a configurable end effector system configured to facilitate selection and switching between multiple end effector heads, a sensing system, and a grasp planning processing pipeline used under the control of the robotic pick and place machine.

[0025] Another embodiment is a method for robotic package handling comprising the steps of: providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure positioned in geometric proximity to the distal portion of the robotic arm; a pick structure contacting one or more packages and positioned in geometric proximity to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and to command movement of the robotic arm based at least in part on the image information; a. the pick structure includes a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly defining a first inner capture chamber; and b. utilizing the first computing system, operating the robotic arm and end effector to perform a targeted package grasp of one or more packages from a pick structure, release the targeted package, and deposit it on a place structure, wherein performing the targeted package grasp includes using the first inner capture chamber to draw in and at least partially encapsulate a portion of the targeted package when a vacuum load is controllably activated adjacent the targeted package.

[0026] Another embodiment is a method for robotic package handling, comprising the steps of: a. providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure positioned in geometric proximity to the distal portion of the robotic arm; a pick structure contacting one or more packages and positioned in geometric proximity to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robot arm and the first imaging device, and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information; and b. utilizing the first computing system to retrieve one or more packages from the pick structure. and operating a robotic arm and an end effector to grasp a targeted package of a package and release and place the targeted package on a place structure, wherein the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load that is operably coupled to a first computing device, the first suction cup assembly defining a first inner chamber, a first outer sealing edge, and a first vacuum-permeable distal wall member collectively configured such that, in response to grasping the targeted package using the controllably activated vacuum load, the outer sealing edge can become removably coupled to at least one surface of the targeted package while the vacuum-permeable distal wall member prevents excessive protrusion of the surface of the targeted package into the inner chamber of the suction cup assembly.

[0027] Another embodiment is a method for robotic package handling comprising the steps of: a. providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure positioned in geometric proximity to the distal portion of the robotic arm; a pick structure in contact with one or more packages and positioned in geometric proximity to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robot arm and the first imaging device, configured to receive image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; and b. utilizing the first computing system to perform a targeted package grasp of one or more packages from the pick structure, release the targeted package, and place it on the place structure. and operating the robotic arm and end effector, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing a grasp includes engaging the targeted package when the vacuum load is controllably activated adjacent the targeted package; and prior to performing the grasp, the computing device configured to analyze a plurality of candidate grasps and select an executing grasp to be performed to remove the targeted package from the pick structure based, at least in part, on runtime use of a neural network operated by the computing device, the neural network being trained using views developed from synthetic data comprising rendered images of three-dimensional models of one or more synthetic packages as received by the synthetic pick structure.

[0028] Another embodiment is a method for robotic package handling comprising the steps of: a. providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure positioned in geometric proximity to the distal portion of the robotic arm; a pick structure in contact with one or more packages and positioned in geometric proximity to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information; and b. utilizing the first computing system to perform a targeted package grasp of one or more packages from the pick structure, release the targeted package, and place the package on the place structure. a first suction cup assembly operatively coupled to a first computing system, the first suction cup assembly configured such that performing a grasp includes engaging the targeted package when the vacuum load is controllably activated adjacent the targeted package; c. providing a second imaging device operatively coupled to the first computing system, the second imaging device positioned and oriented to capture one or more images of the targeted package after a grasp is performed using the end effector, estimate an outer dimensional boundary of the targeted package by fitting a 3D rectangular prism around the targeted package and estimating a LWH of the rectangular prism, and estimate a position and orientation of the targeted package relative to the end effector; and d.and utilizing the first computing system to operate the robotic arm and end effector to place the targeted package on the place structure at a specific location and orientation relative to the place structure.

[0029] Another embodiment is directed to a method, the method including: a. collecting image data of an object capture area; b. planning a grasp, the planning comprising: evaluating the image data through a grasp quality model to generate a set of candidate grasp plans, processing the candidate grasp plans, and selecting a grasp plan; c. implementing the selected grasp plan with a robotic system; and d. performing an object interaction task.

[0030] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information, wherein the first computing system performs a targeted package grasp of the one or more packages from the pick structure and releases the targeted package to be at least temporarily coupled to the place structure. and a robotic package handling system configured to operate a robotic arm and end effector to perform a grip on a targeted package, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing a grip includes engaging the targeted package and controllably activating the vacuum load, and prior to performing the grip, the first computing system is configured to analyze a plurality of candidate grips and select an execution grip to be performed to remove the targeted package from the pick structure based, at least in part, on runtime use of a neural network operated by the computing device, the neural network being trained using views developed from synthetic data comprising rendered images of three-dimensional models of one or more synthetic packages as received by the synthetic pick structure.The first computing system may be further configured to analyze the plurality of candidate grasps based on a continuous learning configuration of the neural network, in which data from a set of known and actual experiences is utilized to further train the neural network. The set of known and actual experiences may be based on prior operations of a specific robotic arm of the system. The set of known and actual experiences may be based on prior operations of a different robotic arm similar to the specific robotic arm of the system. The different robotic arm similar to the specific robotic arm of the system may be substantially the same as the specific robotic arm of the system. The first computing system may be configured to analyze the plurality of candidate grasps based on the kinematic reach of the robotic arm and end effector. The first computing system may be configured to analyze the plurality of candidate grasps based on the location of labeling information on the targeted package based on image information from the first imaging device. The first computing system may be configured to analyze the plurality of candidate grasps based on the location of barcode labeling information on the targeted package based on image information from the first imaging device. The first computing system may be configured to analyze a plurality of candidate grasps and select an effective grasp that does not cause the end effector to cover the barcode labeling information based on the location of the labeling information on the targeted package based on the image information from the first imaging device. Each of the above and each below subject system embodiments may also be directed to the following additional features.

[0031] The system may further include a frame structure configured to fixedly couple the robot arm to the placing structure. The pick structure may be removably coupled to the frame structure. The placing structure may include a placement tray. The placement tray may include first and second rotatably coupled members, the first and second rotatably coupled members configured to form a substantially flat tray base surface when in a first rotational configuration relative to each other and to form a lifting fork configuration when in a second rotational configuration relative to each other. The placement tray may be operably coupled to one or more actuators configured to controllably change the orientation of at least a portion of the placement tray, and the one or more actuators may be operably coupled to the first computing system. The pick structure may include an element selected from the group consisting of a container, a tray, a fixed surface, and a movable surface. The pick structure may include a container configured to define a package-receiving volume bounded by a bottom and a plurality of walls, and an open access opening configured to accommodate entry and exit of at least a distal portion of the robotic arm. The first imaging device may be configured to capture image information regarding the pick structure and one or more packages through an open access opening. The first imaging device may include a depth camera. The first imaging device may be configured to capture color image data. The first computing system may include a VLSI computer operably coupled to the frame structure. The first computing system may comprise a network of interconnected computing devices, at least one of which is located remotely relative to the robot arm. The system may further include a second computing system operably coupled to the first computing system. The second computing system may be located remotely relative to the first computing system, and the first and second computing systems are operably coupled via a computer network.The first computing system may be configured such that the step of performing a grasp includes analyzing a plurality of candidate grasps and selecting an execution grasp to be executed to remove the targeted package from the pick structure. Analyzing the plurality of candidate grasps may include scanning locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package. Analyzing the plurality of candidate grasps may include scanning locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package from a plurality of different end effector approach orientations. Analyzing the plurality of candidate grasps may include scanning locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package from a plurality of different end effector approach positions. The first suction cup assembly may include a first outer sealing edge, and the sealing engagement with the surface comprises substantially complete engagement of the first outer sealing edge with the surface. The step of probing locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with the surface of the targeted package may be performed in a purely geometrical manner. The first computing system may be configured to select an actual grasp based on candidate grasp factors selected from the group consisting of an estimated demand time, an estimated demand calculation, and an estimated degree of grasp success. The first suction cup assembly may comprise a bellows structure. The bellows structure may comprise a plurality of wall portions adjacently joined with bent edges. The bellows structure may comprise a material selected from the group consisting of polyethylene, polypropylene, rubber, and thermoplastic elastomers. The first suction cup assembly may comprise an outer housing and an internal structure coupled thereto. The internal structure of the first suction cup assembly may comprise a wall member coupled to a proximal base member. The wall member may have a substantially cylindrical shape having a proximal end and a distal end, the proximal base member forming a substantially circular interface with the proximal end of the wall member.The proximal base member may define one or more inlet openings therethrough, the one or more inlet openings being configured to permit airflow therethrough pursuant to activation of a controllably activated vacuum load. The internal structure may further comprise a distal wall member including a structural opening ring portion configured to define access to the inner capture chamber and one or more transition air channels configured to permit airflow therethrough pursuant to activation of a controllably activated vacuum load. The one or more inlet openings and the one or more transition air channels may be configured to function to permit a predetermined flow of air through the capture chamber to facilitate releasable coupling of the first suction cup assembly with the targeted package. The one or more packages may be selected from the group consisting of bags, "poly bags," "poly," fiber-based bags, fiber-based envelopes, bubble-pack bags, bubble-pack envelopes, "Jiffy" bags, "Jiffy" envelopes, and substantially rigid rectangular structures. The one or more packages may comprise a fiber-based bag including a paper or polymer composite. The one or more packages may comprise a fiber-based envelope including a paper or polymer composite. The one or more packages may comprise a substantially rigid rectangular structure comprising a box. The end effector may comprise a second suction cup assembly coupled to a controllably activated vacuum load. The second suction cup assembly may define a second inner capture chamber configured to draw in and at least partially encase a portion of the targeted package when the vacuum load is controllably activated adjacent the targeted package. The system may further comprise a second imaging device operably coupled to the first computing system and positioned and oriented to capture one or more images of the targeted package after a grasp is performed using the end effector.The first computing system and the second imaging device may be configured to capture one or more images so that the outer dimensional boundaries of the targeted package can be estimated. The first computing system may be configured to determine the dimensional boundaries of the targeted package by utilizing one or more images, fitting a 3D rectangular prism around the targeted package, and estimating the LWH of the rectangular prism. The first computing system may be configured to utilize the fitted 3D rectangular prism to estimate the position and orientation of the targeted package relative to the end effector. The system may further include a third imaging device operably coupled to the first computing system and positioned and oriented to capture one or more images of the targeted package after a grasp is performed using the end effector. The second imaging device and the first computing system may be further configured to capture a sequence of images of the targeted package during movement of the targeted package and estimate whether the targeted package is deformable by analyzing deformation of the targeted package in the sequence of images. The first computing system and the second imaging device may be configured to capture and utilize one or more images after a grasp is made using the end effector and estimate whether multiple packages or zero packages are produced with the made grasp. The first computing system may be configured to abort the grasp in response to determining that multiple packages or zero packages are produced with the made grasp. The end effector may include a tool changer head portion configured to controllably couple to and decouple from the first suction cup assembly using a tool holder mounted in geometric proximity to a distal portion of the robotic arm.The tool holder may be configured to hold and removably couple to one or more additional suction cup assemblies or one or more other package interfacing tools such that the first computing device may be configured to perform tool switching using the tool switching head portion.

[0032] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system performs a targeted package grasp of the one or more packages from the pick structure and moves the targeted package to be at least temporarily coupled to the place structure. and a placing structure configured to operate the robotic arm and end effector to release the targeted package, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing a grasp includes engaging the targeted package and controllably activating the vacuum load; the placing structure comprising at least one substantially planar surface and one or more external dexterity geometric features extending away from the at least one substantially planar surface, the one or more external dexterity geometric features providing a counterload to movement of the targeted package through the robotic arm and end effector and configured to assist the robotic arm and end effector in manipulating the targeted package before it is released at the placing structure. The one or more external dexterity geometric features may be selected from the group consisting of a protruding wall, a protruding ramp, a protruding ramp / wall, a composite ramp, a composite wall, and a composite ramp / wall.The one or more external dexterity geometric features may comprise one or more controllably movable degrees of freedom for changing shape operably coupled to a first computing system. The first imaging device may be configured to provide image information regarding the placement structure, and based at least in part on the image information, the first computing system is configured to utilize a neural network to perform a grasp, operate the robotic arm and end effector while contacting one or more sides of the external dexterity geometric feature, and obtain a desired orientation of the targeted package upon release of the targeted package into the placement structure. The neural network may be trained, at least in part, based on a composite image of the composite package and the composite external dexterity geometric feature.

[0033] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture stereoscopic image information about the pick structure and one or more packages comprising pairs of images related to substantially the same field of capture but with different viewpoints; and a first computing system operatively coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information, wherein the first computing system controls the robot to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package so as to be at least temporarily coupled to the place structure. the first suction cup assembly is configured to operate the bot arm and the end effector, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly being configured such that performing a grasp includes engaging the targeted package and controllably activating the vacuum load; and prior to performing the grasp, the first computing system is configured to geometrically map a three-dimensional volume around the targeted package based at least in part on stereoscopic image information from the first imaging device, analyze a plurality of candidate grasps, and select an execution grasp to be performed to remove the targeted package from the pick structure based at least in part on runtime use of a neural network operated by the computing device and informed by the stereoscopic image information, the neural network comprising, at least in part, a rendered image of a three-dimensional model of the one or more synthetic packages as received by the synthetic pick structure;The present invention is directed to a robotic package handling system trained using views developed from synthetic data. The first imaging device may be configured to provide pairs of images with different viewpoints selected to provide relative depth discrimination, based at least in part on a selected distance between the first imaging device and the targeted package. The neural network is trained using views developed from synthetic data in which noise is modeled in the rendered images. The neural network may also be trained using views from real data selected to match the high-resolution imaging device sensor.

[0034] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; a centralized storage system configured to store event information regarding operation of the robotic arm, the end effector, and the first imaging device; and a user computing system operably coupled to the centralized storage system, The system is directed to a robotic package handling system, the system being configured to operate a robotic arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled with a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly being configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the centralized storage system is configured to enable a user operating the user computing system to view, through a user-configurable user interface, event information related to image information from the first imaging device and data and metadata related to the event information, facilitating sequential event viewing related to operation of the robotic arm and end effector.The centralized storage system may be configured to allow a user operating a user computing system to receive a user interface flag regarding an operational error and to view an operational visual sequence regarding event information associated with the operational error. The centralized storage system may be configured to allow a user operating a user computing system to receive one or more written reports regarding the operation of the package handling system. The one or more written reports may comprise elements selected from the group consisting of operational analysis data, event logging data, sorting frequency data, and integrated facility data.

[0035] Another embodiment is a robotic package handling system including a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robot arm based at least in part on the image information; and an output container configured to receive packages that may be moved away from the place structure after release from the end effector, wherein the output container is configured to receive one or more packages from the pick structure as they are placed thereon by operation of the first computing system, the robotic arm, and the end effector. an output container configured to at least briefly accommodate an excess package; and an output distribution gantry configured to transport packages from the place structure to the output container, the output distribution gantry configured to temporarily couple to targeted packages released by a robotic arm and end effector on the place structure, move the targeted package away from the place structure to a position adjacent to the output container, and drop the targeted package into the output container; a first computing system configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprising a first suction cup assembly operably coupled to the first computing system and coupled to a controllably activated vacuum load, wherein the first suction cup assembly engages the targeted package;The present invention is directed to a robotic package handling system having one or more controllably actuated degrees of freedom, the system being operably coupled to a first computing system such that the first computing system can be configured to coordinate movement between the robot arm, the end effector, and the output distribution gantry. The system may further include an array of output containers arranged in proximity to a place structure, the output distribution gantry configured to be capable of placing a targeted package into each of the output containers of the array through utilization of the one or more controllably actuated degrees of freedom. Each of the output containers of the array may be arranged in a substantially coplanar configuration. The output distribution gantry may include an electromechanical coupler configured to controllably couple to and decouple from a selected output container. The electromechanical coupler may include an output container gripper. The electromechanical coupler may include an electromechanically actuated hook configured to removably couple to a selected output container. The placing structure may be configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially orthogonal to the substantially gravity level orientation of the placing structure. The placing structure may be configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially parallel to the substantially gravity level orientation of the placing structure. The system may further include a barcode scanning device operably coupled to the first computing system and configured to scan one or more indicia that may be present on the targeted package. The placing structure may include a conveyor configured to move the targeted package toward the output distribution gantry once released by the end effector. The output distribution gantry may be configured to controllably exit one or more contained packages utilizing a controllably releasable door arrangement. The output distribution gantry may include:The system may include a rail system. The output distribution gantry may include a conveyor. The output distribution gantry may be configured to controllably grasp multiple targeted packages at a time. The system may further include a second output distribution gantry operably coupled to the first output distribution gantry and configured to receive packages transferred from the first output distribution gantry.

[0036] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a first scanning device operably coupled to the first computing system and configured to scan identifiable information that may pass within a field of view of the first scanning device, wherein the first computing system is configured to scan the pick structure. The robotic package handling system is configured to operate a robotic arm and an end effector to perform a targeted package grasp of one or more packages from a placement structure and release the targeted package to be at least temporarily coupled to the placement structure, the end effector including a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured to perform the grasp including engaging the targeted package and controllably activating the vacuum load, and the first computing system configured to operate a first scanning device to capture identification information about the targeted package by positioning and / or orienting the targeted package relative to the first scanning device such that a field of view of the first scanning device has geometric access to the identifiable information of the targeted package. The identifiable information may include a package indicia. The package indicia may include a barcode readable by the first scanning device.The first computing system may be configured to operate the robotic arm and end effector to pass identifiable information on the targeted package into the field of view of the first scanning device. The first computing system may be configured to identify the location of the identifiable information on the targeted package using image information from the first imaging device. The first computing system may be configured to reorient and probe a side of the targeted package that is not visible with the first imaging device when the first computing system fails to find the identifiable information on the targeted package in an initial orientation relative to the first imaging device. The first computing system may be configured to read one or more sides of the package indicia using optical character recognition.

[0037] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and an unloading module configured to receive packages that may be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing. The present invention is directed to a robotic package handling system, wherein a first computing system is configured to operate a robotic arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled with a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly being configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the unloading module comprising one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate operation between the robotic arm, the end effector and the unloading module and automatically combine the packages for further separate processing.The unloading module may comprise an element selected from the group consisting of a ramp, a chute, a diverter, an external packaging system, a palletizing system, a wheeled cart, and a mobile robot.

[0038] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information, wherein the first computing system performs a targeted package grasp of the one or more packages from the pick structure and releases the targeted package to be at least temporarily coupled to the place structure. a first suction cup assembly coupled to a controllably activated vacuum load that is operably coupled to a first computing system, the first suction cup assembly configured such that performing a grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system configured to release the grasp by controllably deactivating the vacuum load with the end effector at a release position and orientation from the end effector relative to the place structure that is influenced by the position and orientation of the end effector at the time the vacuum load is deactivated; and the first computing system configured to select the release position and orientation to accommodate subsequent repositioning or reorientation of the targeted package away from the place structure.The subsequent repositioning or reorientation may be selected from the group consisting of: pushing into the container, pulling into the container, tip reorientation to cause a roll-down into the container, coupling with movement to another location, and coupling with reorientation to another location. The first computing system may be configured to select the release location and orientation of the targeted package based, at least in part, on additional factors of the targeted package selected from the group consisting of: material properties of the targeted package, moment of inertia of the targeted package, dimensions of the targeted package, and location of labeling information on the targeted package.

[0039] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information, wherein the first computing system retrieves one or more packages from the pick structure. and a robotic package handling system configured to operate a robotic arm and an end effector to perform a grasp of a targeted package of an oversized package and release the targeted package to be at least temporarily coupled with a placing structure, the end effector including a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, the first computing system configured to construct and execute a motion plan to reposition and reorient the targeted package when coupled to the end effector in a manner that minimizes disturbance of the targeted package. The motion plan may be selected to minimize the load of the targeted package. The motion plan may be selected to minimize the angular acceleration of the targeted package. The motion plan may be selected to minimize the linear acceleration of the targeted package. The motion plan may be selected to minimize impact loads as a result of one or more collisions with other objects.The motion plan may be selected to minimize vibration loads on the targeted package. The first computing system may be configured to utilize image information from the first imaging device to identify labeled information present on the targeted package. The labeled information may be selected from the group consisting of bar code information, address information, and shipping label information. The first computing system may be configured to build and execute a motion plan to position and orient the targeted package so that the labeled information is exposed for capture. The system may further include a bar code scanning device, the first computing system being configured to build and execute a motion plan to position and orient the targeted package so that the labeled information is exposed for capture by the bar code scanning device. The first computing system may be configured to utilize optical character recognition to gather information from the labeled information. The first computing system may be configured to select a release position and orientation to accommodate subsequent repositioning or reorientation of the targeted package away from the placement structure. The subsequent repositioning or reorientation may be selected from the group consisting of pushing into the container, reorienting the tip to cause a rolling drop into the container, coupling with movement to another location, and coupling with reorientation to another location.

[0040] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information, wherein the first computing system receives one or more packages from the pick structure. The present invention relates to a robotic package handling system, the system being configured to operate a robotic arm and an end effector to perform a targeted package grasp of a larger number of packages and release the targeted package so that it is at least temporarily coupled to a place structure, the end effector including a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured to engage the targeted package and controllably activate the vacuum load, the first computing system being configured to receive load information from the robotic arm and utilize the load information and image information from a first imaging device to characterize one or more material properties of the targeted package. The load information from the robotic arm may include kinematic data regarding the movement of the robotic arm when the end effector is utilized to perform the targeted package grasp. The system may further include one or more load cells operably coupled to the robotic arm and configured to determine a load associated with the movement of the robotic arm.The one or more material properties of the targeted package may be selected from the group consisting of moment of inertia, stability under acceleration, apparent stiffness of the external structure, and structural modulus of elasticity of the targeted package. The first computing system may be configured to expose the targeted package to a characterization load treatment to assist in characterizing the one or more material properties of the targeted package. The characterization load treatment may comprise application of a relatively high impulse load. The characterization load treatment may comprise acceleration. The acceleration may be rotational. The characterization load treatment may include exposing at least a portion of the targeted package to a high-velocity gas flow. The gas flow may comprise high-velocity air from an opening. The first imaging device may be configured to capture information regarding the behavior of the targeted package during the characterization load treatment. The characterization load treatment may include moving the targeted package relative to another surface. The characterization load treatment may include reorienting the targeted package relative to another surface. During grasping using the robotic arm and end effector, the first computing system may be configured to pass a targeted package through the field of view of the first imaging device, and image information about the targeted package as it passes through the field of view of the first imaging device is utilized by the first computing system to fit a three-dimensional rectangular prism around the targeted package and estimate three lateral dimensions of the three-dimensional rectangular prism. The first computing system may be further configured to utilize the fitted three-dimensional rectangular prism to estimate the position and orientation of the targeted package relative to the end effector. The first computing system may be further configured to estimate the closest possible three-dimensional rectangular prism around the targeted package. The first computing system may be further configured to construct a three-dimensional model of the targeted package. The first computing system may be configured to utilize the image information from the first imaging device to capture barcode information from the targeted package.The barcode information may comprise an estimate of the quality of the captured barcode information from the targeted package.

[0041] Another embodiment is a robotic package handling system including a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a package input module operably coupled to the first computing system and configured to provide a supply of packages to be transferred to the pick structure. and a first computing system configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled to a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the package input module configured to be operated by the first computing system to control dispensing based at least in part on the number of one or more packages temporarily coupled to the pick structure. The package input module may be configured to be operated by the first computing system to control dispensing based at least in part on image information from a first imaging device.The package input module may be configured to automatically eject a targeted package based, at least in part, on an analysis by the first computing system of image information from the first imaging device that the targeted package may be unavoidable. The analysis by the first computing system of image information from the first imaging device that the targeted package may be unavoidable may be based on a neural network. The neural network may be trained, at least in part, based on synthetic package images. The package input module may include a mechanical ejection element configured to controllably eject targeted packages into separate routings for subsequent reprocessing. The mechanical ejection element may be selected from the group consisting of a pusher, a diverter, an arm, and a multi-directional conveyor. The mechanical ejection element may be configured to be pneumatically or electromechanically operated. The first computing system may be configured to utilize image information from the first imaging device to estimate a likely success rate for performing a grasp on a particular targeted package before the particular targeted package reaches the end effector. The first computing system may be configured to utilize image information from the first imaging device and estimate, based on a neural network, a likely success rate for performing a grasp on a specific targeted package before the specific targeted package reaches the end effector. The neural network may be trained, at least in part, based on the synthetic package image. The system may further include a package input module and a second imaging device positioned and oriented to capture image information regarding one or more packages. The first computing system may be configured to utilize image information from the first imaging device and determine whether a package jam has occurred. The first computing system's analysis of the image information from the first imaging device to determine whether a package jam has occurred may be based on the neural network.The neural network may be trained, at least in part, based on the synthetic package image. The first computing system may be configured to send a notification to one or more users in response to determining that a package jam has occurred. The first computing system may be configured to automatically take one or more steps to resolve the package jam in response to determining that a package jam has occurred. The one or more steps to resolve the package jam may be selected from the group consisting of applying mechanical vibration, applying a load to move one or more targeted packages, and reversing movement of one or more targeted packages.

[0042] Another embodiment is a robotic package handling system including a robotic arm having a distal portion and a proximal base portion, an end effector coupled to the distal portion of the robot arm, a place structure geometrically proximate to the distal portion of the robot arm, a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robot arm, a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages, a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robot arm based at least in part on the image information, and an output container configured to receive packages that may be moved away from the place structure after release from the end effector, wherein the output container receives one or more of the packages from the pick structure as they are placed thereon by operation of the first computing system, the robotic arm, and the end effector. and an output container configured to accommodate at least briefly a plurality of packages in excess of the one or more packages, wherein a first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, wherein the first suction cup assembly is configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the first computing system is configured to estimate when the output container is at a desired full load level based at least in part on an aggregate package volume determined at least in part based on image information from a first imaging device obtained before a plurality of the one or more packages enter the output container.The present invention is directed to a robotic package handling system. The computing system may be configured to estimate when an output container is at a desired full level based on additional input selected from the group consisting of an image of the output container, a weight of the output container, and a shape of the output container. The first imaging device may be configured to capture image information about the output container. The computing system may be configured to utilize the image information from the first imaging device in determining whether a jam has occurred. The computing system is configured to utilize a neural network to determine whether a jam has occurred, the neural network may be trained based on images of one or more packages. The images of the one or more packages are based, at least in part, on a composite image. The system may further include a second imaging device operably coupled to the first computing system and configured to capture image information about the output container. The computing system may be configured to utilize the image information from the second imaging device in determining whether a jam has occurred. The computing system is configured to utilize a neural network to determine whether a jam has occurred, the neural network may be trained based on images of one or more packages. The image of one or more packages may be based, at least in part, on a composite image.

[0043] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and an unloading module configured to receive packages that may be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing; the system is configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled with a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the unloading module comprising one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate operation between the robotic arm, the end effector, and the unloading module to automatically place the package into a shipping container in a manner selected to facilitate manual unloading at multiple destinations.The unloading module may comprise an element selected from the group consisting of a ramp, a chute, a diverter, an external packaging system, a palletizing system, a robotic arm, and a mobile robot. The transport container may be a delivery truck comprising a package receptacle, and the unloading module comprises a first transport module configured to controllably place packages within the package receptacle to facilitate a predetermined sequence of manual unloading at multiple destinations. The transport container may be a shipping container, and the unloading module comprises a first transport module configured to controllably place packages within the shipping container to facilitate a predetermined sequence of manual unloading at multiple destinations. The unloading module may comprise a distal portion configured to cantilever into an access door of the transport container. The distal portion of the unloading module may comprise at least one local stability load member configured to be controllably extended away from the distal portion of the unloading module to be removably coupled to a portion of the transport container to stabilize the distal portion of the unloading module relative to the transport container. The stability load member may be configured to be loaded primarily in tension. The stability load member may be configured to be loaded primarily in compression. The stability load member may be configured to be loaded primarily in flexion. The system may further include a second imaging device configured to capture image information about the shipping container. The first computing system may be configured to simultaneously localize and map geometric features of the shipping container. The second imaging device may be coupled to the unloading module. The unloading module may include a robotic arm configured to automatically place the package in the shipping container. The robotic arm may be coupled to a movable base to facilitate movement relative to the shipping container. The movable base may include an element selected from the group consisting of an electromechanical movable base, a manual movable base, and a rail-constrained movable base.The system may further include an output buffer structure coupled between the end effector and the output module, the output buffer structure configured to receive packages output from the robotic arm and associated end effector before the output module can automatically place the packages into the transport container.

[0044] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and an unloading module configured to receive packages that may be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing; the computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled with a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the unloading module comprising a palletizing system having one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate operation between the robotic arm, the end effector, and the unloading module and automatically place the package on a pallet base.The unloading module may further comprise an element selected from the group consisting of a ramp, a chute, a diverter, a robotic arm, and a mobile robot. The unloading module may further comprise a coupling module configured to automatically couple packages placed on the pallet base using applied circumferential strapping members. The unloading module may further comprise a robotic arm configured to automatically place packages on the pallet base. The robotic arm may be coupled to a movable base to facilitate movement relative to the pallet base. The movable base may comprise an element selected from the group consisting of an electromechanical movable base, a manually movable base, and a rail-constrained movable base. The system may further comprise an output buffer structure coupled between the end effector and the unloading module, the output buffer structure configured to receive packages output from the robotic arm and associated end effector before the unloading module can automatically place the packages on the pallet base.

[0045] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information, wherein the first computing system performs a targeted package grasp of the one or more packages from the pick structure and controls the placement structure to be at least temporarily coupled to the placement structure. and a robotic package handling system configured to operate a robotic arm and end effector to release a targeted package as described above, the end effector including a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing a grasp includes engaging the targeted package and controllably activating the vacuum load, the first computing system configured to pass the targeted package through a field of view of a first imaging device while performing the grasp with the robotic arm and end effector, and image information regarding the targeted package as it passes through the field of view of the first imaging device is utilized by the first computing system to fit a three-dimensional rectangular prism around the targeted package and estimate three lateral dimensions of the three-dimensional rectangular prism. The first computing system may be further configured to utilize the fitted three-dimensional rectangular prism to estimate the position and orientation of the targeted package relative to the end effector.The first computing system may be further configured to estimate a closest possible three-dimensional rectangular prism around the targeted package. The first computing system may be further configured to construct a three-dimensional model of the targeted package.

[0046] Another embodiment is a robotic package handling system including a robotic arm having a distal portion and a proximal base portion, an end effector coupled to the distal portion of the robotic arm, a movable place structure geometrically proximate to the distal portion of the robotic arm, a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm, a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages, a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robot arm based at least in part on the image information, and an output container configured to receive packages that may be moved away from the movable place structure after release from the end effector, wherein the output container receives one or more of the packages from the pick structure as they are placed thereon by operation of the first computing system, the robotic arm, and the end effector. and an output container configured to at least briefly accommodate more than one package; and an output distribution gantry coupled to a movable place structure and configured to transport packages from the movable place structure to the output container, the output distribution gantry configured to temporarily couple to targeted packages released by a robotic arm and end effector on the movable place structure, move the targeted package away from the end effector to a position adjacent to the output container, and drop the targeted package into the output container, wherein a first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted package so as to be at least temporarily coupled with the movable place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assemblyThe present invention is directed to a robotic package handling system having two or more controllably actuated degrees of freedom, wherein the gripping step is configured to include engaging a targeted package and controllably activating a vacuum load, and wherein the output distribution gantry is operably coupled to a first computing system such that the first computing system can be configured to coordinate movement between the robot arm, the end effector, and the output distribution gantry. The system may further include an array of output containers organized in proximity to the place structure, wherein the output distribution gantry is configured to be capable of placing the targeted package into each of the output containers of the array through utilization of the two or more controllably actuated degrees of freedom. Each of the output containers of the array may be organized in a substantially coplanar configuration.

[0047] Another embodiment is a robotic package handling system including a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information; and a robotic package handling system operably coupled to the first computing system and configured to mechanically process a plurality of incoming packages from a substantially disordered mechanical organization based, at least in part, on the image information. and a package input module configured to be operated by a first computing system to provide a supply of packages to be transferred to a pick structure where the packages are singulated and to remove any packages that do not become substantially singulated as a result of the mechanical processing, the first computing system configured to operate a robotic arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted packages to be at least temporarily coupled to a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load. The package input module may be configured to be operated by the first computing system to control the supply based, at least in part, on the number of packages temporarily coupled to the pick structure.The package input module may be configured to be operated by the first computing system to control the supply based, at least in part, on image information about the pick structure. The package input module may include one or more mechanical singulation elements configured to mechanically process and direct a supply of substantially singulated packages toward the pick structure. The one or more mechanical singulation elements may be selected from the group consisting of a ramp sequence, a vibration actuator, a belt, coordinated belts, a ball sorter conveyor, a step sequence, a chute with one or more 90-degree turns, a mechanical diverter, a vertical mechanical filter, and a horizontal mechanical filter. The package input module may be configured to be operated by the first computing system to remove certain packages that do not become substantially singulated as a result of mechanical processing using a diversion element configured to selectively divert one or more targeted packages. The diversion element may be a mechanical diverter. The diversion element may be a diversion conveyor. The package input module may be operably coupled to a first computing system and configured to be operated by the first computing system to mechanically process a plurality of incoming packages from a substantially disordered mechanical organization based at least in part on image information, provide a supply of packages to be transferred to a pick structure to be substantially singulated, remove any packages that do not become substantially singulated as a result of the mechanical processing, and move the any packages toward singulation based on the image information. The first computing system may be configured to move the any packages toward singulation using one or more mechanical singulation elements configured to mechanically process the any packages.The one or more mechanical singulation elements are selected from the group consisting of a ramp sequence, a vibration actuator, a belt, coordinated belts, a ball sorter conveyor, a step sequence, a chute with one or more 90 degree turns, a mechanical diverter, a vertical mechanical filter, and a horizontal mechanical filter.

[0048] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a package input module operably coupled to the first computing system and configured to provide a supply of packages to be transferred to the pick structure, The pick structure of the robotic package handling system is configured to operate a robotic arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled to a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the package input module is configured to be operated by the first computing system to control feeding based, at least in part, on a rate at which the robotic arm and end effector are able to perform the grasp from the pick structure and release the targeted package at the place structure.The first computing system may be configured to substantially match the rate at which the robotic arm and end effector can grasp and release targeted packages at the pick structure with the feed rate provided to the pick structure by the package input module. The package input module may be configured to automatically eject targeted packages based, at least in part, on analysis by the first computing system of image information from the first imaging device that the targeted packages may be unavoidable. The analysis by the first computing system of image information from the first imaging device that the targeted packages may be unavoidable may be based on a neural network. The neural network may be trained, at least in part, based on synthetic package images. The package input module may include a mechanical ejection element configured to controllably eject targeted packages into separate routings for subsequent reprocessing. The mechanical ejection element may be selected from the group consisting of a pusher, a diverter, an arm, and a multi-directional conveyor. The mechanical ejection element may be configured to be pneumatically or electromechanically operated. The first computing system may be configured to utilize image information from the first imaging device to estimate a likely success rate for performing a grasp of a specific targeted package before the specific targeted package reaches the end effector. The first computing system may be configured to utilize image information from the first imaging device to estimate a likely success rate for performing a grasp of a specific targeted package before the specific targeted package reaches the end effector based on a neural network. The neural network may be trained, at least in part, based on the synthetic package image. The system may further include a package input module and a second imaging device positioned and oriented to capture image information regarding the one or more packages.The first computing system may be configured to utilize image information from the first imaging device to determine whether a package jam has occurred. The first computing system's analysis of the image information from the first imaging device to determine whether a package jam has occurred may be based on a neural network. The neural network may be trained, at least in part, based on the synthetic package image. The first computing system may be configured to send a notification to one or more users in response to determining that a package jam has occurred. The first computing system may be configured to automatically take one or more steps to resolve the package jam in response to determining that a package jam has occurred. The one or more steps to resolve the package jam may be selected from the group consisting of applying mechanical vibration, applying a load to move one or more targeted packages, and reversing the movement of one or more targeted packages.

[0049] Another embodiment is a robotic package handling system including a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a first computing system operably coupled to the first computing system and configured to receive image information regarding the one or more packages from a second perspective different from a first perspective of the first imaging device. and a second imaging device configured to capture image information from the first and second imaging devices, wherein the first computing system is configured to operate the robot arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted package to be at least temporarily coupled to the place structure, the end effector comprising a first suction cup assembly operably coupled to the first computing system and coupled to a controllably activated vacuum load, wherein the first suction cup assembly is configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the first computing system is configured to utilize image information from the first and second imaging devices in a sensor fusion configuration to estimate the external dimensions of the targeted package. The first and second viewpoints may be substantially orthogonal. The first and second viewpoints may be substantially opposite.The first imaging device may have a measurement error regarding the targeted package that is substantially uncorrelated to the measurement error the second imaging device has regarding the targeted package. The system may further include a third imaging device operably coupled to the first computing system and configured to capture image information regarding the one or more packages from a third perspective different from the first perspective of the first imaging device or the second perspective of the second imaging device. The first computing system may be configured to use the image information from the first imaging device and the second imaging device to construct a three-dimensional model of the one or more packages. The first computing system may be configured to use the image information from the first imaging device and the second imaging device to estimate one or more material properties of the targeted package. The one or more material properties of the targeted package may be selected from the group consisting of package stiffness, package bulk modulus, package hardness, package exterior compliance, and estimated relaxation of the exterior package material. The first computing system may be configured to utilize a neural network to estimate one or more material properties, and the neural network may be trained using images related to a package external training dataset. The images may be based, at least in part, on synthetic images. The first computing system may be configured to utilize image information from the first imaging device and the second imaging device to estimate quality control variables related to one or more targeted packages selected from the group consisting of the presence of package damage, the presence of multiple packages linked together, and whether the end effector successfully performed a grasp. The first computing system may be configured to utilize a neural network to estimate the quality control variables, and the neural network may be trained using images related to a package external training dataset. The images may be based, at least in part, on synthetic images.

[0050] Another embodiment is a robotic package handling system including a package input module configured to move a plurality of incoming packages in a primary forward direction along a transport platform while also selectively moving one or more targeted packages from the plurality away from the transport platform; a first imaging device positioned and oriented to capture image information regarding the transport platform and the plurality of incoming packages; a first computing system operatively coupled to the package input module and the first imaging device and configured to receive image information from the first imaging device and command movement of the package input module based, at least in part, on the image information; and an output container configured to receive packages that may be moved away from the transport platform, the output container configured to receive packages that may be moved away from the transport platform, the output container configured to receive the packages that may be moved away from the transport platform and and an output distribution gantry configured to transport the packages from the transport platform to the output container, the output distribution gantry configured to temporarily couple to a targeted package moved from the transport platform to a position adjacent the output container and drop the targeted package into the output container, the output distribution gantry having one or more controllably actuated degrees of freedom operably coupled to a first computing system such that the first computing system can be configured to coordinate operation between the package input module and the output distribution gantry. The system may further include an array of output containers organized adjacent to the place structure, the output distribution gantry configured to be capable of placing a targeted package into each of the output containers of the array through utilization of the one or more controllably actuated degrees of freedom. Each of the output containers of the array may be organized in a substantially coplanar configuration.The package input module may comprise a bidirectional conveyor. The package input module may comprise an omnidirectional ball sorter conveyor. The package input module may comprise a mechanical diverter configured to selectively move one or more targeted packages from the plurality away from the transport platform. The system may further comprise a guidance structure operably coupled between the package input module and the output distribution gantry, the guidance structure configured to mechanically guide one or more targeted packages from the plurality away from the transport platform and to the output distribution gantry. The guidance structure may comprise an element selected from the group consisting of a chute, a ramp, a funnel, and a conveyor. The output distribution gantry may be configured to be controllably removably coupled to a selected output container and capable of removing the selected output container from the output distribution gantry.

[0051] Another embodiment is a robotic package handling system including a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robot arm based at least in part on the image information; and an output container configured to receive packages that may be moved away from the place structure after release from the end effector, wherein the output container is configured to receive one or more packages from the pick structure as they are placed thereon by operation of the first computing system, the robotic arm, and the end effector. an output container configured to at least briefly accommodate an excess package; and an output distribution gantry configured to transport packages from the place structure to the output container, the output distribution gantry configured to temporarily couple to targeted packages released by a robotic arm and end effector on the place structure, move the targeted package away from the place structure to a position adjacent to the output container, and drop the targeted package into the output container; a first computing system configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprising a first suction cup assembly operably coupled to the first computing system and coupled to a controllably activated vacuum load, wherein the first suction cup assembly engages the targeted package;The present invention is directed to a robotic package handling system, the system being configured to include a step of controllably activating a vacuum load, the output distribution gantry having one or more controllably actuated degrees of freedom operably coupled to a first computing system such that the first computing system can be configured to coordinate movement between the robot arm, the end effector, and the output distribution gantry, the output distribution gantry configured to be controllably and removably coupled to and capable of removing selected output containers from the output distribution gantry. The system may further include an array of output containers organized in proximity to a place structure, the output distribution gantry configured to be capable of placing a targeted package into each of the output containers of the array through utilization of one or more controllably actuated degrees of freedom. Each of the output containers of the array may be organized in a substantially coplanar configuration. The output distribution gantry may include an electromechanical coupler configured to controllably couple to and decouple from the selected output container. The electromechanical coupler may include an output container gripper. The electromechanical coupler may comprise an electromechanically operated hook configured to be removably coupled to a selected output container. The placing structure may be configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially orthogonal to the substantially gravity level orientation of the placing structure. The placing structure may be configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially parallel to the substantially gravity level orientation of the placing structure. The system may further comprise a barcode scanning device operably coupled to the first computing system and configured to scan one or more indicia that may be present on the targeted package. The placing structure, once released by the end effector, is configured to move the targeted package toward the output distribution gantry.The output distribution gantry may be configured to controllably exit one or more contained packages utilizing a controllably releasable door arrangement.

[0052] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system controls the pick structure to perform targeted package grasping of the one or more packages. and operating the robotic arm and end effector to release the targeted package so that it is at least temporarily coupled to the place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing a grasp includes engaging the targeted package and controllably activating the vacuum load, the first suction cup assembly defining a first inner capture chamber, wherein performing a grasp of the targeted package is configured such that performing a grasp of the targeted package includes drawing into and at least partially enveloping a portion of the targeted package with the first inner capture chamber when the vacuum load is controllably activated adjacent the targeted package.

[0053] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information, wherein the first computing system performs a targeted package grasp of one or more packages from the pick structure and the one or more packages targeted to be at least temporarily coupled to the place structure. and a first suction cup assembly coupled to a controllably activated vacuum load, the first suction cup assembly being configured to operate the robotic arm and end effector to release a targeted package, the end effector being operably coupled to a first computing system, the first suction cup assembly being configured such that performing a grip includes engaging the targeted package and controllably activating the vacuum load, the first suction cup assembly defining a first inner chamber, a first outer sealing edge, and a first vacuum-permeable distal wall member collectively configured to prevent excessive protrusion of the surface of the targeted package into the inner chamber of the suction cup assembly, in response to performing a grip of the targeted package with the controllably activated vacuum load.

[0054] Another embodiment is directed to a robotic pick-and-place machine including an actuation system and a configurable end effector system configured to facilitate selection and switching between multiple end effector heads, a sensing system, and a grasp planning processing pipeline used under the control of the robotic pick-and-place machine. The configurable end effector system may include a head selector, a set of end effector heads, and a head retention device integrated into a distal end of the actuation system, where the head selector is mounted together with one of the set of end effector heads on a respective mounting surface. The configurable end effector system may further include at least one magnet surrounding the center of the head selector or one of the end effector heads to provide initial seating and retention of the end effector head. At least one of the head selector or each of the set of end effector heads may include a seal positioned along an outer edge of the respective mounting surface. The head selector and the set of end effector heads may include complementary alignment structures. The head selector and the set of end effector heads may comprise lateral support structure geometries selected to assist in gripping the conformable package. The set of end effector heads may comprise a set of suction end effectors. The actuation system may comprise an articulating arm.

[0055] Another embodiment is a robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information, wherein the first computing system is configured to retrieve one or more packages from the pick structure. A robotic package handling system is configured to operate a robotic arm and an end effector to perform a grip on a targeted package of a rotating package and release the targeted package so that it is at least temporarily coupled to a placing structure, the end effector including a first suction cup assembly operably coupled to a first computing system and coupled to a controllably activated vacuum load, the first suction cup assembly being configured such that performing the grip includes engaging the targeted package and controllably activating the vacuum load, and the end effector is coupled to a distal portion of the robotic arm using a spring-biased end effector coupling assembly including a spring member configured to provide engagement compliance when performing the grip between the end effector and the targeted package. The spring member may be configured to have a defined spring constant selected to provide the engagement compliance. The spring-biased end effector coupling assembly may include an insertion axis constraint member configured to facilitate spring-biased insertion of the spring-biased end effector coupling assembly along an axis defined by the axis constraint member. The axial restraint member may comprise a linear bearing assembly configured to facilitate movement along a single axis of motion.

[0056] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system performs a targeted package grasp of the one or more packages from the pick structure and place the targeted package to be at least temporarily coupled with the place structure. and operating the robotic arm and end effector to release a target package from the pick structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing a grasp includes engaging the targeted package and controllably activating the vacuum load; prior to performing the grasp, the first computing system is configured to analyze a plurality of candidate grasps and select an execution grasp to be performed to remove the targeted package from the pick structure based, at least in part, on runtime use of a neural network operated by the computing device, the neural network being trained using views developed from synthetic data comprising rendered images of three-dimensional models of one or more synthetic packages as received by the synthetic pick structure.The first computing system may be further configured to analyze the plurality of candidate grasps based on a continuous learning configuration of the neural network, in which data from a set of known and actual experiences is utilized to further train the neural network. The set of known and actual experiences may be based on prior operations of a specific robotic arm. The set of known and actual experiences may be based on prior operations of a different robotic arm similar to the specific robotic arm. The different robotic arm similar to the specific robotic arm may be substantially the same as the specific robotic arm. The first computing system may be configured to analyze the plurality of candidate grasps based on the kinematic reach of the robotic arm and end effector. The first computing system may be configured to analyze the plurality of candidate grasps based on the location of labeling information on the targeted package based on image information from the first imaging device. The first computing system may be configured to analyze the plurality of candidate grasps based on the location of barcode labeling information on the targeted package based on image information from the first imaging device. The first computing system may be configured to analyze a plurality of candidate grasps and select an effective grasp that does not cause the end effector to cover the barcode labeling information based on the location of the labeling information on the targeted package based on the image information from the first imaging device. Each of the subject method embodiments above and each below may also be directed to the following additional features.

[0057] The method may further include providing a frame structure configured to fixedly couple the robot arm to the placing structure. The pick structure may be removably coupled to the frame structure. The placing structure may include a placement tray. The placement tray may include first and second rotatably coupled members, the first and second rotatably coupled members configured to form a substantially flat tray base surface when in a first rotational configuration relative to each other and to form a lifting fork configuration when in a second rotational configuration relative to each other. The placement tray may be operably coupled to one or more actuators configured to controllably change the orientation of at least a portion of the placement tray, and the one or more actuators may be operably coupled to the first computing system. The pick structure may include an element selected from the group consisting of a container, a tray, a fixed surface, and a movable surface. The pick structure may include a container configured to define a package-receiving volume bounded by a bottom and a plurality of walls, and an open access opening configured to accommodate entry and exit of at least a distal portion of the robotic arm. The first imaging device may be configured to capture image information regarding the pick structure and one or more packages through an open access opening. The first imaging device may comprise a depth camera. The first imaging device may be configured to capture color image data. The first computing system may comprise a VLSI computer operably coupled to the frame structure. The first computing system may comprise a network of interconnected computing devices, at least one of which is located remotely relative to the robot arm. The method may further comprise a second computing system operably coupled to the first computing system. The second computing system may be located remotely relative to the first computing system, and the first and second computing systems are operably coupled via a computer network.The first computing system may be configured such that the step of performing a grasp includes analyzing a plurality of candidate grasps and selecting an execution grasp to be executed to remove the targeted package from the pick structure. Analyzing the plurality of candidate grasps may include scanning locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package. Analyzing the plurality of candidate grasps may include scanning locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package from a plurality of different end effector approach orientations. Analyzing the plurality of candidate grasps may include scanning locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package from a plurality of different end effector approach positions. The first suction cup assembly may include a first outer sealing edge, and the sealing engagement with the surface comprises substantially complete engagement of the first outer sealing edge with the surface. The step of probing locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with the surface of the targeted package may be performed in a purely geometrical manner. The first computing system may be configured to select an actual grasp based on candidate grasp factors selected from the group consisting of an estimated demand time, an estimated demand calculation, and an estimated degree of grasp success. The first suction cup assembly may comprise a bellows structure. The bellows structure may comprise a plurality of wall portions adjacently joined with bent edges. The bellows structure may comprise a material selected from the group consisting of polyethylene, polypropylene, rubber, and thermoplastic elastomers. The first suction cup assembly may comprise an outer housing and an internal structure coupled thereto. The internal structure of the first suction cup assembly may comprise a wall member coupled to a proximal base member. The wall member may have a substantially cylindrical shape having a proximal end and a distal end, the proximal base member forming a substantially circular interface with the proximal end of the wall member.The proximal base member may define one or more inlet openings therethrough, the one or more inlet openings being configured to permit airflow therethrough pursuant to activation of a controllably activated vacuum load. The internal structure may further comprise a distal wall member including a structural opening ring portion configured to define access to the inner capture chamber and one or more transition air channels configured to permit airflow therethrough pursuant to activation of a controllably activated vacuum load. The one or more inlet openings and the one or more transition air channels may be configured to function to permit a predetermined flow of air through the capture chamber to facilitate releasable coupling of the first suction cup assembly with the targeted package. The one or more packages may be selected from the group consisting of bags, "poly bags," "poly," fiber-based bags, fiber-based envelopes, bubble-pack bags, bubble-pack envelopes, "Jiffy" bags, "Jiffy" envelopes, and substantially rigid rectangular structures. The one or more packages may comprise a fiber-based bag including a paper or polymer composite. The one or more packages may comprise a fiber-based envelope including a paper or polymer composite. The one or more packages may comprise a substantially rigid rectangular structure comprising a box. The end effector may comprise a second suction cup assembly coupled to a controllably activated vacuum load. The second suction cup assembly may define a second inner capture chamber configured to draw in and at least partially encase a portion of the targeted package when the vacuum load is controllably activated adjacent the targeted package. The method may further comprise a second imaging device operably coupled to the first computing system and positioned and oriented to capture one or more images of the targeted package after a grasp is performed using the end effector.The first computing system and the second imaging device may be configured to capture one or more images so that the outer dimensional boundaries of the targeted package can be estimated. The first computing system may be configured to determine the dimensional boundaries of the targeted package by utilizing the one or more images, fitting a 3D rectangular prism around the targeted package, and estimating the LWH of the rectangular prism. The first computing system may be configured to utilize the fitted 3D rectangular prism to estimate the position and orientation of the targeted package relative to the end effector. The method may further include a third imaging device operably coupled to the first computing system and positioned and oriented to capture one or more images of the targeted package after a grasp is performed using the end effector. The second imaging device and the first computing system may be further configured to capture a sequence of images of the targeted package during movement of the targeted package and estimate whether the targeted package is deformable by analyzing deformation of the targeted package in the sequence of images. The first computing system and the second imaging device may be configured to capture and utilize one or more images after a grasp is made using the end effector and estimate whether multiple packages or zero packages are produced with the made grasp. The first computing system may be configured to abort the grasp in response to determining that multiple packages or zero packages are produced with the made grasp. The end effector may include a tool changer head portion configured to controllably couple to and decouple from the first suction cup assembly using a tool holder mounted in geometric proximity to a distal portion of the robotic arm.The tool holder may be configured to hold and removably couple to one or more additional suction cup assemblies or one or more other package interfacing tools such that the first computing device may be configured to perform tool switching using the tool switching head portion.

[0058] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system performs a targeted package grasp of the one or more packages from the pick structure and places the targeted packages at least temporarily coupled to the place structure. The present invention is directed to a robotic package handling method, the method comprising: operating a robotic arm and end effector to release a cage, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system; the first suction cup assembly configured such that the step of performing a grasp includes engaging the targeted package and controllably activating the vacuum load; and the place structure comprising at least one substantially planar surface and one or more external dexterity geometric features extending away from the at least one substantially planar surface, the one or more external dexterity geometric features providing a counterload against movement of the targeted package via the robotic arm and end effector and configured to assist the robotic arm and end effector in manipulating the targeted package before the targeted package is released at the place structure. The one or more external dexterity geometric features may be selected from the group consisting of a protruding wall, a protruding ramp, a protruding ramp / wall, a compound ramp, a compound wall, and a compound ramp / wall.The one or more external dexterity geometric features may comprise one or more controllably movable degrees of freedom for changing shape operably coupled to a first computing system. The first imaging device may be configured to provide image information regarding the placement structure, and based at least in part on the image information, the first computing system is configured to utilize a neural network to perform a grasp, operate the robotic arm and end effector while contacting one or more sides of the external dexterity geometric feature, and obtain a desired orientation of the targeted package upon release of the targeted package into the placement structure. The neural network may be trained, at least in part, based on a composite image of the composite package and the composite external dexterity geometric feature.

[0059] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture stereoscopic image information regarding the pick structure and the one or more packages comprising pairs of images related to substantially the same field of capture but with different viewpoints; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system performs a targeted package grasp of the one or more packages from the pick structure and at least one package from the place structure. and operating the robotic arm and end effector to release the targeted package so that the package is also temporarily coupled to the pick structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly being configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; and prior to performing the grasp, the first computing system is configured to geometrically map a three-dimensional volume around the targeted package based at least in part on stereo image information from the first imaging device, analyze a plurality of candidate grasps, and select an execution grasp to be performed to remove the targeted package from the pick structure based at least in part on runtime use of a neural network operated by the computing device and informed by the stereo image information, the neural network being configured to, at least in part,The present invention is directed to a robotic package handling method trained using views developed from synthetic data comprising rendered images of a three-dimensional model of one or more synthetic packages as received by a synthetic pick structure. A first imaging device may be configured to provide pairs of images with different viewpoints selected to provide relative depth discrimination, based at least in part on a selected distance between the first imaging device and the targeted package. A neural network is trained using views developed from synthetic data in which noise is modeled in the rendered images. The neural network may also be trained using views from real data selected to match a high-resolution imaging device sensor.

[0060] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion, an end effector coupled to the distal portion of the robotic arm, a place structure geometrically proximate to the distal portion of the robotic arm, a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm, a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages, a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, a centralized storage system configured to store event information regarding operation of the robotic arm, the end effector, and the first imaging device, and a user computing system operably coupled to the centralized storage system; and a centralized storage system configured to enable a user operating the user computing system to view, through a user-configurable user interface, event information related to image information from the first imaging device and data and metadata related to the event information, and to facilitate sequential event viewing related to the operation of the robotic arm and end effector.The centralized storage system may be configured to allow a user operating a user computing system to receive a user interface flag regarding an operational error and to view an operational visual sequence regarding event information associated with the operational error. The centralized storage system may be configured to allow a user operating a user computing system to receive one or more written reports regarding the operation of the package handling system. The one or more written reports may comprise elements selected from the group consisting of operational analysis data, event logging data, sorting frequency data, and integrated facility data.

[0061] Another embodiment is a robotic package handling method including: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operatively coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robot arm based at least in part on the image information; and an output container configured to receive packages that may be moved away from the place structure after release from the end effector, wherein the output container receives a plurality of the one or more packages from the pick structure as they are placed thereon by operation of the first computing system, the robotic arm, and the end effector. and an output container configured to at least briefly accommodate packages; and an output distribution gantry configured to transport packages from the place structure to the output container, the output distribution gantry configured to temporarily couple to targeted packages released by the robotic arm and end effector on the place structure, move the targeted package away from the place structure to a position adjacent to the output container, and drop the targeted package into the output container, wherein a first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure, the end effector comprising a first suction cup assembly operably coupled to the first computing system and coupled to a controllably activated vacuum load, wherein the first suction cup assembly engages the targeted package;The present invention is directed to a robotic package handling method, the method including the step of controllably activating a vacuum load, the output distribution gantry having one or more controllably actuated degrees of freedom, and the first computing system being operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robot arm, the end effector, and the output distribution gantry. The method may further include providing an array of output containers arranged in proximity to a place structure, the output distribution gantry being configured to be capable of placing a targeted package into each of the output containers of the array through utilization of the one or more controllably actuated degrees of freedom. Each of the output containers of the array may be arranged in a substantially coplanar configuration. The output distribution gantry may include an electromechanical coupler configured to controllably couple to and decouple from a selected output container. The electromechanical coupler may include an output container gripper. The electromechanical coupler may include an electromechanically actuated hook configured to removably couple to a selected output container. The placing structure may be configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially perpendicular to the substantially gravity level orientation of the placing structure. The placing structure may be configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially parallel to the substantially gravity level orientation of the placing structure. The method may further include providing a barcode scanning device operably coupled to the first computing system and configured to scan one or more indicia that may be present on the targeted package. The placing structure may include a conveyor configured to move the targeted package toward the output distribution gantry once released by the end effector. The output distribution gantry utilizes a controllably releasable door arrangement toThe output distribution gantry may be configured to controllably exit one or more contained packages. The output distribution gantry may comprise a rail system. The output distribution gantry may comprise a conveyor. The output distribution gantry may be configured to controllably grasp multiple targeted packages at a time. The method may further include providing a second output distribution gantry operably coupled to the first output distribution gantry and configured to receive packages transferred from the first output distribution gantry.

[0062] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a first scanning device operably coupled to the first computing system and configured to scan identifiable information that may pass within a field of view of the first scanning device, wherein the first computing system and a robotic package handling method configured to operate a robot arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled to a place structure, the end effector including a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the first computing system configured to operate a first scanning device to capture identification information about the targeted package by positioning and / or orienting the targeted package relative to the first scanning device such that a field of view of the first scanning device has geometric access to the identifiable information of the targeted package. The identifiable information may include a package indicia. The package indicia may include a barcode readable by the first scanning device.The first computing system may be configured to operate the robotic arm and end effector to pass identifiable information on the targeted package into the field of view of the first scanning device. The first computing system may be configured to identify the location of the identifiable information on the targeted package using image information from the first imaging device. The first computing system may be configured to reorient and probe a side of the targeted package that is not visible with the first imaging device when the first computing system fails to find the identifiable information on the targeted package in an initial orientation relative to the first imaging device. The first computing system may be configured to read one or more sides of the package indicia using optical character recognition.

[0063] Another embodiment is a robotic package handling method providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operatively coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and an unloading module configured to receive packages that may be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing. a first computing system configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled with a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the unloading module comprising one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate operation between the robotic arm, the end effector, and the unloading module and automatically couple the packages for further separate processing.The unloading module may comprise an element selected from the group consisting of a ramp, a chute, a diverter, an external packaging system, a palletizing system, a wheeled cart, and a mobile robot.

[0064] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system performs a targeted package grasp of one or more packages from the pick structure and place the targeted package to be at least temporarily coupled with the place structure. and a robotic arm and end effector configured to operate the robotic arm and end effector to release a targeted package, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing a grip includes engaging the targeted package and controllably activating the vacuum load, the first computing system configured to release the grip by controllably deactivating the vacuum load with the end effector at a release position and orientation from the end effector relative to the place structure that is influenced by the position and orientation of the end effector at the time of deactivating the vacuum load, and the first computing system configured to select the release position and orientation to accommodate subsequent repositioning or reorientation of the targeted package away from the place structure.The subsequent repositioning or reorientation may be selected from the group consisting of: pushing into the container, pulling into the container, tip reorientation to cause a roll-down into the container, coupling with movement to another location, and coupling with reorientation to another location. The first computing system may be configured to select the release location and orientation of the targeted package based, at least in part, on additional factors of the targeted package selected from the group consisting of: material properties of the targeted package, moment of inertia of the targeted package, dimensions of the targeted package, and location of labeling information on the targeted package.

[0065] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system receives one or more packages from the pick structure. and a robotic arm and end effector configured to operate the robot arm and end effector to perform a grasp of a targeted package of a package exceeding the grasp and release the targeted package to be at least temporarily coupled with a placing structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, the first computing system configured to construct and execute a motion plan to reposition and reorient the targeted package when coupled to the end effector in a manner that minimizes disturbance of the targeted package. The motion plan may be selected to minimize a load on the targeted package. The motion plan may be selected to minimize an angular acceleration of the targeted package. The motion plan may be selected to minimize a linear acceleration of the targeted package. The motion plan may be selected to minimize an impact load as a result of one or more collisions with other objects.The motion plan may be selected to minimize vibration loads on the targeted package. The first computing system may be configured to utilize image information from the first imaging device to identify labeled information present on the targeted package. The labeled information may be selected from the group consisting of bar code information, address information, and shipping label information. The first computing system may be configured to construct and execute a motion plan to position and orient the targeted package so that the labeled information is exposed for capture. The method may further include providing a bar code scanning device, wherein the first computing system is configured to construct and execute a motion plan to position and orient the targeted package so that the labeled information is exposed for capture by the bar code scanning device. The first computing system may be configured to utilize optical character recognition to gather information from the labeled information. The first computing system may be configured to select a release position and orientation to accommodate subsequent repositioning or reorientation of the targeted package away from the placement structure. The subsequent repositioning or reorientation may be selected from the group consisting of pushing into the container, reorienting the tip to cause a rolling drop into the container, coupling with movement to another location, and coupling with reorientation to another location.

[0066] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information, wherein the first computing system receives image information from the pick structure. The present invention is directed to a robotic package handling method, the method comprising: operating a robot arm and an end effector to perform a targeted package grasp of one or more packages and release the targeted package to be at least temporarily coupled with a place structure, the end effector including a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system; the first suction cup assembly configured to perform the grasp includes engaging the targeted package and controllably activating the vacuum load; and the first computing system configured to receive load information from the robot arm and utilize the load information and image information from a first imaging device to characterize one or more material properties of the targeted package. The load information from the robot arm may comprise kinematic data regarding the movement of the robot arm when the end effector is utilized to perform the grasp of the targeted package. The method may further include providing one or more load cells operably coupled to the robot arm and configured to determine a load associated with the movement of the robot arm.The one or more material properties of the targeted package may be selected from the group consisting of moment of inertia, stability under acceleration, apparent stiffness of the external structure, and structural modulus of elasticity of the targeted package. The first computing system may be configured to expose the targeted package to a characterization load treatment to assist in characterizing the one or more material properties of the targeted package. The characterization load treatment may comprise application of a relatively high impulse load. The characterization load treatment may comprise acceleration. The acceleration may be rotational. The characterization load treatment may include exposing at least a portion of the targeted package to a high-velocity gas flow. The gas flow may comprise high-velocity air from an opening. The first imaging device may be configured to capture information regarding the behavior of the targeted package during the characterization load treatment. The characterization load treatment may include moving the targeted package relative to another surface. The characterization load treatment may include reorienting the targeted package relative to another surface. During grasping using the robotic arm and end effector, the first computing system may be configured to pass a targeted package through the field of view of the first imaging device, and image information about the targeted package as it passes through the field of view of the first imaging device is utilized by the first computing system to fit a three-dimensional rectangular prism around the targeted package and estimate three lateral dimensions of the three-dimensional rectangular prism. The first computing system may be further configured to utilize the fitted three-dimensional rectangular prism to estimate the position and orientation of the targeted package relative to the end effector. The first computing system may be further configured to estimate the closest possible three-dimensional rectangular prism around the targeted package. The first computing system may be further configured to construct a three-dimensional model of the targeted package. The first computing system may be configured to utilize the image information from the first imaging device to capture barcode information from the targeted package.The barcode information may comprise an estimate of the quality of the captured barcode information from the targeted package.

[0067] Another embodiment is a robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a package input module operably coupled to the first computing system and configured to provide a supply of packages to be transferred to the pick structure. providing a robotic package handling method, the method comprising: providing a first computing system configured to operate a robot arm and an end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted packages to be at least temporarily coupled to a place structure; the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system; the first suction cup assembly configured such that performing the grasp includes engaging the targeted packages and controllably activating the vacuum load; and a package input module configured to be operated by the first computing system to control dispensing based at least in part on the number of packages temporarily coupled to the pick structure. The package input module may be configured to be operated by the first computing system to control dispensing based at least in part on image information from a first imaging device.The package input module may be configured to automatically eject a targeted package based, at least in part, on an analysis by the first computing system of image information from the first imaging device that the targeted package may be unavoidable. The analysis by the first computing system of image information from the first imaging device that the targeted package may be unavoidable may be based on a neural network. The neural network may be trained, at least in part, based on synthetic package images. The package input module may include a mechanical ejection element configured to controllably eject targeted packages into separate routings for subsequent reprocessing. The mechanical ejection element may be selected from the group consisting of a pusher, a diverter, an arm, and a multi-directional conveyor. The mechanical ejection element may be configured to be pneumatically or electromechanically operated. The first computing system may be configured to utilize image information from the first imaging device to estimate a likely success rate for performing a grasp on a particular targeted package before the particular targeted package reaches the end effector. The first computing system may be configured to utilize image information from the first imaging device and estimate, based on a neural network, a likely success rate for performing a grasp on a specific targeted package before the specific targeted package reaches the end effector. The neural network may be trained, at least in part, based on the synthetic package image. The method may further include providing a package input module and a second imaging device positioned and oriented to capture image information regarding the one or more packages. The first computing system may be configured to utilize image information from the first imaging device and determine whether a package jam has occurred. Analysis by the first computing system of the image information from the first imaging device of whether a package jam has occurred may be based on the neural network.The neural network may be trained, at least in part, based on the synthetic package image. The first computing system may be configured to send a notification to one or more users in response to determining that a package jam has occurred. The first computing system may be configured to automatically take one or more steps to resolve the package jam in response to determining that a package jam has occurred. The one or more steps to resolve the package jam may be selected from the group consisting of applying mechanical vibration, applying a load to move one or more targeted packages, and reversing movement of one or more targeted packages.

[0068] Another embodiment is a robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robot arm based at least in part on the image information; and an output container configured to receive packages that may be moved away from the place structure after release from the end effector, wherein the output container receives a plurality of one or more packages from the pick structure as they are placed thereon by operation of the first computing system, the robotic arm, and the end effector. and an output container configured to at least briefly accommodate a package to be placed in the output container, wherein a first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, wherein the first suction cup assembly is configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the first computing system is configured to estimate when the output container is at a desired full load level based at least in part on an aggregate package volume determined at least in part based on image information from a first imaging device obtained before the plurality of one or more packages enter the output container.The present invention is directed to a robotic package handling method. The computing system may be configured to estimate when an output container is at a desired full level based on additional input selected from the group consisting of an image of the output container, a weight of the output container, and a shape of the output container. The first imaging device may be configured to capture image information about the output container. The computing system may be configured to utilize the image information from the first imaging device in determining whether a jam has occurred. The computing system is configured to utilize a neural network to determine whether a jam has occurred, the neural network may be trained based on images of one or more packages. The images of the one or more packages are based, at least in part, on a composite image. The method may further include providing a second imaging device operably coupled to the first computing system and configured to capture image information about the output container. The computing system may be configured to utilize the image information from the second imaging device in determining whether a jam has occurred. The computing system is configured to utilize a neural network to determine whether a jam has occurred, the neural network may be trained based on images of one or more packages. The image of one or more packages may be based, at least in part, on a composite image.

[0069] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and an unloading module configured to receive packages that may be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing; the pick structure is configured to operate a robotic arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled with a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load, and the unloading module comprising one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate operation between the robotic arm, the end effector, and the unloading module to automatically place the package into a shipping container in a manner selected to facilitate manual unloading at multiple destinations.The unloading module may comprise an element selected from the group consisting of a ramp, a chute, a diverter, an external packaging system, a palletizing system, a robotic arm, and a mobile robot. The transport container may be a delivery truck comprising a package receptacle, and the unloading module comprises a first transport module configured to controllably place packages within the package receptacle to facilitate a predetermined sequence of manual unloading at multiple destinations. The transport container may be a shipping container, and the unloading module comprises a first transport module configured to controllably place packages within the shipping container to facilitate a predetermined sequence of manual unloading at multiple destinations. The unloading module may comprise a distal portion configured to cantilever into an access door of the transport container. The distal portion of the unloading module may comprise at least one local stability load member configured to be controllably extended away from the distal portion of the unloading module to be removably coupled to a portion of the transport container to stabilize the distal portion of the unloading module relative to the transport container. The stability load member may be configured to be loaded primarily in tension. The stability load member may be configured to be loaded primarily in compression. The stability load member may be configured to be loaded primarily in flexion. The method may further include providing a second imaging device configured to capture image information about the shipping container. The first computing system may be configured to simultaneously localize and map geometric features of the shipping container. The second imaging device may be coupled to the unloading module. The unloading module may comprise a robotic arm configured to automatically place the package in the shipping container. The robotic arm may be coupled to a mobile base to facilitate movement relative to the shipping container. The mobile base may comprise an element selected from the group consisting of an electromechanical mobile base, a manual mobile base, and a rail-constrained mobile base.The system may further include an output buffer structure coupled between the end effector and the output module, the output buffer structure configured to receive packages output from the robotic arm and associated end effector before the output module can automatically place the packages into the transport container.

[0070] Another embodiment is a robotic package handling method comprising providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and an unloading module configured to receive packages that may be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing; The present invention is directed to a robotic package handling method comprising: a first computing system configured to operate a robotic arm and an end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled with a place structure; the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system; the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; and an unloading module having one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate operation between the robotic arm, the end effector, and the unloading module and automatically place the package on a pallet base.The unloading module may further comprise an element selected from the group consisting of a ramp, a chute, a diverter, a robotic arm, and a mobile robot. The unloading module may further comprise a coupling module configured to automatically couple packages placed on the pallet base using applied circumferential strapping members. The unloading module may further comprise a robotic arm configured to automatically place packages on the pallet base. The robotic arm may be coupled to a movable base to facilitate movement relative to the pallet base. The movable base may comprise an element selected from the group consisting of an electromechanical movable base, a manually movable base, and a rail-constrained movable base. The method may further include providing an output buffer structure coupled between the end effector and the unloading module, the output buffer structure configured to receive packages output from the robotic arm and associated end effector before the unloading module can automatically place the packages on the pallet base.

[0071] Another embodiment is a robotic package handling method comprising providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system performs a targeted package grasp of one or more packages from the pick structure and at least temporarily coupled to the place structure. and operating a robotic arm and end effector to release a targeted package to be grasped, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly being configured such that performing a grasp includes engaging the targeted package and controllably activating the vacuum load; while performing the grasp with the robotic arm and end effector, the first computing system is configured to pass the targeted package through a field of view of a first imaging device, and image information regarding the targeted package as it passes through the field of view of the first imaging device is utilized by the first computing system to fit a three-dimensional rectangular prism around the targeted package and estimate three lateral dimensions of the three-dimensional rectangular prism. The first computing system may be further configured to utilize the fitted three-dimensional rectangular prism to estimate a position and orientation of the targeted package relative to the end effector.The first computing system may be further configured to estimate a closest possible three-dimensional rectangular prism around the targeted package. The first computing system may be further configured to construct a three-dimensional model of the targeted package.

[0072] Another embodiment is a robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a movable place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robot arm based at least in part on the image information; and an output container configured to receive packages that may be moved away from the movable place structure after release from the end effector, wherein the output container receives one or more packages from the pick structure as they are placed thereon by operation of the first computing system, the robotic arm, and the end effector. and an output container configured to at least briefly accommodate packages in excess of the one or more packages; and an output distribution gantry coupled to a movable place structure and configured to transport packages from the movable place structure to the output container, the output distribution gantry configured to temporarily couple to targeted packages released by a robotic arm and end effector on the movable place structure, move the targeted package away from the end effector to a position adjacent to the output container, and drop the targeted package into the output container; a first computing system configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted package so as to be at least temporarily coupled with the movable place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system;The present invention is directed to a robotic package handling method, wherein the first suction cup assembly is configured such that performing a grip includes engaging a targeted package and controllably activating a vacuum load, and the output distribution gantry has two or more controllably actuated degrees of freedom, and the first computing system is operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robot arm, the end effector, and the output distribution gantry. The method may further include providing an array of output containers organized in proximity to a place structure, the output distribution gantry configured to be capable of placing the targeted package into each of the output containers of the array through utilization of the two or more controllably actuated degrees of freedom. Each of the output containers of the array may be organized in a substantially coplanar configuration.

[0073] Another embodiment is a robotic package handling method including: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information; and a computer operably coupled to the first computing system and configured, at least in part, to mechanically process a plurality of incoming packages from a substantially disordered mechanical organization based, at least in part, on the image information, to substantially singulate the plurality of incoming packages. and a package input module configured to be operated by a first computing system to provide a supply of packages to be transferred to a pick structure to be placed in a robotic package handling system and to remove any packages that are not substantially singulated as a result of the mechanical processing, the first computing system configured to operate a robot arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted package to be at least temporarily coupled to a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load. The package input module may be configured to control the supply based, at least in part, on the number of packages temporarily coupled to the pick structure.The package input module may be configured to be operated by the first computing system to control the supply based, at least in part, on image information about the pick structure. The package input module may include one or more mechanical singulation elements configured to mechanically process and direct a supply of substantially singulated packages toward the pick structure. The one or more mechanical singulation elements may be selected from the group consisting of a ramp sequence, a vibration actuator, a belt, coordinated belts, a ball sorter conveyor, a step sequence, a chute with one or more 90-degree turns, a mechanical diverter, a vertical mechanical filter, and a horizontal mechanical filter. The package input module may be configured to be operated by the first computing system to remove certain packages that do not become substantially singulated as a result of mechanical processing using a diversion element configured to selectively divert one or more targeted packages. The diversion element may be a mechanical diverter. The diversion element may be a diversion conveyor. The package input module may be operably coupled to a first computing system and configured to be operated by the first computing system to mechanically process a plurality of incoming packages from a substantially disordered mechanical organization based at least in part on image information, provide a supply of packages to be transferred to a pick structure to be substantially singulated, remove any packages that do not become substantially singulated as a result of the mechanical processing, and move the any packages toward singulation based on the image information. The first computing system may be configured to move the any packages toward singulation using one or more mechanical singulation elements configured to mechanically process the any packages.The one or more mechanical singulation elements are selected from the group consisting of a ramp sequence, a vibration actuator, a belt, coordinated belts, a ball sorter conveyor, a step sequence, a chute with one or more 90 degree turns, a mechanical diverter, a vertical mechanical filter, and a horizontal mechanical filter.

[0074] Another embodiment is a robotic package handling method comprising providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a package input module operably coupled to the first computing system and configured to provide a supply of packages to be transferred to the pick structure; the pick structure includes a first suction cup assembly coupled to a controllably activated vacuum load, the first suction cup assembly being operably coupled to a first computing system, the first suction cup assembly being configured such that the gripping step includes engaging the targeted package and controllably activating the vacuum load; and the package input module is configured to control feeding based, at least in part, on a rate at which the robotic arm and end effector are able to grip from the pick structure and release the targeted package at the place structure.The first computing system may be configured to substantially match the rate at which the robotic arm and end effector can grasp and release targeted packages at the pick structure with the feed rate provided to the pick structure by the package input module. The package input module may be configured to automatically eject targeted packages based, at least in part, on analysis by the first computing system of image information from the first imaging device that the targeted packages may be unavoidable. The analysis by the first computing system of image information from the first imaging device that the targeted packages may be unavoidable may be based on a neural network. The neural network may be trained, at least in part, based on synthetic package images. The package input module may include a mechanical ejection element configured to controllably eject targeted packages into separate routings for subsequent reprocessing. The mechanical ejection element may be selected from the group consisting of a pusher, a diverter, an arm, and a multi-directional conveyor. The mechanical ejection element may be configured to be pneumatically or electromechanically operated. The first computing system may be configured to utilize image information from the first imaging device to estimate a likely success rate for performing a grasp of a specific targeted package before the specific targeted package reaches the end effector. The first computing system may be configured to utilize image information from the first imaging device to estimate a likely success rate for performing a grasp of a specific targeted package before the specific targeted package reaches the end effector based on a neural network. The neural network may be trained, at least in part, based on the synthetic package image. The method may further include a package input module and a second imaging device positioned and oriented to capture image information regarding the one or more packages.The first computing system may be configured to utilize image information from the first imaging device to determine whether a package jam has occurred. The first computing system's analysis of the image information from the first imaging device to determine whether a package jam has occurred may be based on a neural network. The neural network may be trained, at least in part, based on the synthetic package image. The first computing system may be configured to send a notification to one or more users in response to determining that a package jam has occurred. The first computing system may be configured to automatically take one or more steps to resolve the package jam in response to determining that a package jam has occurred. The one or more steps to resolve the package jam may be selected from the group consisting of applying mechanical vibration, applying a load to move one or more targeted packages, and reversing the movement of one or more targeted packages.

[0075] Another embodiment is a robotic package handling method including a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a computing system operably coupled to the first computing system and configured to capture image information regarding the one or more packages from a second perspective different from a first perspective of the first imaging device. and a second imaging device configured to capture and place one or more packages from a pick structure; a first computing system configured to operate the robot arm and end effector to perform a targeted package grasp of one or more packages from a pick structure and release the targeted package to be at least temporarily coupled to a place structure; the end effector includes a first suction cup assembly operably coupled to the first computing system and coupled to a controllably activated vacuum load; the first suction cup assembly is configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; and the first computing system is configured to utilize image information from the first imaging device and the second imaging device in a sensor fusion configuration to estimate external dimensions of the targeted package. The first and second viewpoints may be substantially orthogonal. The first and second viewpoints may be substantially opposite.The first imaging device may have a measurement error regarding the targeted package that is substantially uncorrelated to the measurement error the second imaging device has regarding the targeted package. The method may further include providing a third imaging device operably coupled to the first computing system and configured to capture image information regarding the one or more packages from a third perspective different from the first perspective of the first imaging device or the second perspective of the second imaging device. The first computing system may be configured to use the image information from the first imaging device and the second imaging device to construct a three-dimensional model of the one or more packages. The first computing system may be configured to use the image information from the first imaging device and the second imaging device to estimate one or more material properties of the targeted package. The one or more material properties of the targeted package may be selected from the group consisting of package stiffness, package bulk modulus, package hardness, package exterior compliance, and estimated relaxation of the exterior package material. The first computing system may be configured to utilize a neural network to estimate one or more material properties, and the neural network may be trained using images related to a package external training dataset. The images may be based, at least in part, on synthetic images. The first computing system may be configured to utilize image information from the first imaging device and the second imaging device to estimate quality control variables related to one or more targeted packages selected from the group consisting of the presence of package damage, the presence of multiple packages linked together, and whether the end effector successfully performed a grasp. The first computing system may be configured to utilize a neural network to estimate the quality control variables, and the neural network may be trained using images related to a package external training dataset. The images may be based, at least in part, on synthetic images.

[0076] Another embodiment is a robotic package handling method comprising: a package input module configured to move a plurality of incoming packages in a primary forward direction along a transport platform while also configured to selectively move one or more targeted packages from the plurality away from the transport platform; a first imaging device positioned and oriented to capture image information regarding the transport platform and the plurality of incoming packages; a first computing system operatively coupled to the package input module and the first imaging device and configured to receive image information from the first imaging device and command movement of the package input module based, at least in part, on the image information; and an output container configured to receive packages that may be moved away from the transport platform, the first computing system and an output distribution gantry configured to transport the packages from the transport platform to the output container, the output distribution gantry configured to temporarily couple to a targeted package moved from the transport platform to a position adjacent the output container and drop the targeted package into the output container, the output distribution gantry having one or more controllably actuated degrees of freedom operably coupled to a first computing system such that the first computing system can be configured to coordinate operation between the package input module and the output distribution gantry. The method may further include providing an array of output containers organized adjacent to a place structure, the output distribution gantry configured to be capable of placing a targeted package into each of the output containers of the array through utilization of the one or more controllably actuated degrees of freedom.Each of the output containers of the array may be organized in a substantially coplanar configuration. The package input module may comprise a bidirectional conveyor. The package input module may comprise an omnidirectional ball sorter conveyor. The package input module may comprise a mechanical diverter configured to selectively move one or more targeted packages from the plurality away from the transport platform. The method may further include providing a guidance structure operably coupled between the package input module and the output distribution gantry, the guidance structure configured to mechanically guide one or more targeted packages from the plurality away from the transport platform and to the output distribution gantry. The guidance structure may comprise an element selected from the group consisting of a chute, a ramp, a funnel, and a conveyor. The output distribution gantry may be configured to be controllably and removably coupled to a selected output container and capable of removing the selected output container from the output distribution gantry.

[0077] Another embodiment is a robotic package handling method including: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; a first computing system operatively coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robot arm based at least in part on the image information; and an output container configured to receive packages that may be moved away from the place structure after release from the end effector, wherein the output container receives a plurality of the one or more packages from the pick structure as they are placed thereon by operation of the first computing system, the robotic arm, and the end effector. and an output container configured to at least briefly accommodate packages; and an output distribution gantry configured to transport packages from the place structure to the output container, the output distribution gantry configured to temporarily couple to targeted packages released by the robotic arm and end effector on the place structure, move the targeted package away from the place structure to a position adjacent to the output container, and drop the targeted package into the output container, wherein a first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure, the end effector comprising a first suction cup assembly operably coupled to the first computing system and coupled to a controllably activated vacuum load, wherein the first suction cup assembly engages the targeted package;The present invention is directed to a robotic package handling method, the method including the step of controllably activating a vacuum load, the output distribution gantry having one or more controllably actuated degrees of freedom operably coupled to a first computing system such that the first computing system can be configured to coordinate movement between the robot arm, the end effector, and the output distribution gantry, the output distribution gantry configured to be controllably and removably coupled to and capable of removing selected output containers from the output distribution gantry. The method may further include providing an array of output containers organized in proximity to a place structure, the output distribution gantry configured to be capable of placing a targeted package into each of the output containers of the array through utilization of one or more controllably actuated degrees of freedom. Each of the output containers of the array may be organized in a substantially coplanar configuration. The output distribution gantry may include an electromechanical coupler configured to controllably couple to and decouple from the selected output container. The electromechanical coupler may include an output container gripper. The electromechanical coupler may comprise an electromechanically operated hook configured to removably couple to a selected output container. The placing structure may be configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially orthogonal to the substantially gravity level orientation of the placing structure. The placing structure may be configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially parallel to the substantially gravity level orientation of the placing structure. The method may further comprise a barcode scanning device operably coupled to the first computing system and configured to scan one or more indicia that may be present on the targeted package. The placing structure, once released by the end effector, is configured to move the targeted package toward the output distribution gantry.The output distribution gantry may be configured to controllably exit one or more contained packages utilizing a controllably releasable door arrangement.

[0078] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system selects targeted packages of the one or more packages from the pick structure. and operating a robotic arm and end effector to perform a grasp of the targeted package and release the targeted package so that it is at least temporarily coupled to a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing a grasp includes engaging the targeted package and controllably activating the vacuum load, the first suction cup assembly defining a first inner capture chamber, wherein performing a grasp of the targeted package is configured such that performing a grasp of the targeted package includes drawing into and at least partially enveloping a portion of the targeted package with the first inner capture chamber when the vacuum load is controllably activated adjacent the targeted package.

[0079] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system performs a targeted package grasp of the one or more packages from the pick structure and is configured to at least temporarily be coupled to the place structure. The present invention is directed to a robotic package handling method, the method comprising: operating a robotic arm and an end effector to release a targeted package; the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system; the first suction cup assembly configured such that the step of performing a grip includes engaging the targeted package and controllably activating the vacuum load; and the first suction cup assembly defining a first inner chamber, a first outer sealing edge, and a first vacuum-permeable distal wall member collectively configured to prevent excessive protrusion of the surface of the targeted package into the inner chamber of the suction cup assembly, wherein the outer sealing edge can become removably coupled to at least one surface of the targeted package in response to performing a grip of the targeted package using the controllably activated vacuum load.

[0080] Another embodiment is directed to a method including providing a robotic pick-and-place machine including an actuation system and a configurable end effector system configured to facilitate selection and switching between multiple end effector heads, a sensing system, and a grasp planning processing pipeline used under the control of the robotic pick-and-place machine. The configurable end effector system may include a head selector, a set of end effector heads, and a head retention device integrated into a distal end of the actuation system, the head selector mounted together with one of the set of end effector heads on a respective mounting surface. The configurable end effector method may further include providing at least one magnet surrounding a center of the head selector or one of the end effector heads to provide initial seating and retention of the end effector head. At least one of the head selector or each of the set of end effector heads may include a seal positioned along an outer edge of the respective mounting surface. The head selector and the set of end effector heads may include complementary alignment structures. The head selector and the set of end effector heads may comprise lateral support structure geometries selected to assist in gripping the conformable package. The set of end effector heads may comprise a set of suction end effectors. The actuation system may comprise an articulating arm.

[0081] Another embodiment is a robotic package handling method including providing a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages; and a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the first computing system receives one or more packages from the pick structure. The present invention relates to a robotic package handling method, the method comprising: operating a robot arm and an end effector to perform a grasp of a targeted package exceeding the target package and release the targeted package to be at least temporarily coupled with a placing structure; the end effector includes a first suction cup assembly operably coupled to a first computing system and coupled to a controllably activated vacuum load; the first suction cup assembly is configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; and the end effector is coupled to a distal portion of the robot arm using a spring-biased end effector coupling assembly including a spring member configured to provide engagement compliance when performing the grasp between the end effector and the targeted package. The spring member may be configured to have a defined spring constant selected to provide the engagement compliance. The spring-biased end effector coupling assembly may include an insertion axis constraint member configured to facilitate spring-biased insertion of the spring-biased end effector coupling assembly along an axis defined by the axis constraint member. The axial restraint member may comprise a linear bearing assembly configured to facilitate movement along a single axis of motion. [Brief explanation of the drawings]

[0082] [Figure 1] FIG. 1 illustrates a schematic diagram of a robotic package handling system configuration.

[0083] [Figure 2] FIG. 2 illustrates one embodiment of an alterable end effector configuration.

[0084] [Figure 3] FIG. 3 illustrates one embodiment of a head selector engaged with an end effector head.

[0085] [Figure 4] FIG. 4 illustrates one embodiment of a head selector engaged with an end effector head having lateral supports.

[0086] [Figure 5] FIG. 5 illustrates an embodiment of an end effector head having multiple selectable end effectors.

[0087] [Figure 6] FIG. 6 illustrates an embodiment of an end effector head having multiple selectable end effectors.

[0088] [Figure 7A] 7A-7G illustrate various aspects of an embodiment of a robotic package handling configuration. [Figure 7B] 7A-7G illustrate various aspects of an embodiment of a robotic package handling configuration. [Figure 7C] 7A-7G illustrate various aspects of an embodiment of a robotic package handling configuration. [Figure 7D] 7A-7G illustrate various aspects of an embodiment of a robotic package handling configuration. [Figure 7E]7A-7G illustrate various aspects of an embodiment of a robotic package handling configuration. [Figure 7F] 7A-7G illustrate various aspects of an embodiment of a robotic package handling configuration. [Figure 7G] 7A-7G illustrate various aspects of an embodiment of a robotic package handling configuration.

[0089] [Figure 8A] 8A-8B illustrate various aspects of a suction cup assembly end effector. [Figure 8B] 8A-8B illustrate various aspects of a suction cup assembly end effector.

[0090] [Figure 9A] 9A-9B illustrate various aspects of a suction cup assembly end effector. [Figure 9B] 9A-9B illustrate various aspects of a suction cup assembly end effector.

[0091] [Figure 10A] 10A-10F illustrate various aspects of an embodiment of a place structure configuration. [Figure 10B] 10A-10F illustrate various aspects of an embodiment of a place structure configuration. [Figure 10C] 10A-10F illustrate various aspects of an embodiment of a place structure configuration. [Figure 10D] 10A-10F illustrate various aspects of an embodiment of a place structure configuration. [Figure 10E] 10A-10F illustrate various aspects of an embodiment of a place structure configuration. [Figure 10F] 10A-10F illustrate various aspects of an embodiment of a place structure configuration.

[0092] [Figure 11A]11A-11C illustrate various aspects of an embodiment of a robotic package handling configuration featuring one or more interconnected computing systems. [Figure 11B] 11A-11C illustrate various aspects of an embodiment of a robotic package handling configuration featuring one or more interconnected computing systems. [Figure 11C] 11A-11C illustrate various aspects of an embodiment of a robotic package handling configuration featuring one or more interconnected computing systems.

[0093] [Figure 12] FIG. 12 illustrates one embodiment of a computing architecture that may be utilized in implementing aspects of the subject arrangement.

[0094] [Figure 13] 13-19 illustrate various embodiments of the method. [Figure 14] 13-19 illustrate various embodiments of the method. [Figure 15] 13-19 illustrate various embodiments of the method. [Figure 16] 13-19 illustrate various embodiments of the method. [Figure 17] 13-19 illustrate various embodiments of the method. [Figure 18] 13-19 illustrate various embodiments of the method. [Figure 19] 13-19 illustrate various embodiments of the method.

[0095] [Figure 20A] 20A and 20B illustrate images of the composite data. [Figure 20B] 20A and 20B illustrate images of the composite data.

[0096] [Figure 21A] 21A and 21B illustrate a package handling configuration featuring robotic sorting. [Figure 21B] 21A and 21B illustrate a package handling configuration featuring robotic sorting.

[0097] [Figure 22A] 22A-22C illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 22B] 22A-22C illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 22C] 22A-22C illustrate aspects of a baggage handling configuration featuring robotic sorting.

[0098] [Figure 23] FIG. 23 illustrates various aspects of the guidance configurations by which packages or loads can be transferred to the primary guidance buffer area.

[0099] [Figure 24A] 24A-24B illustrate various aspects of the primary induction process and loading into the primary induction buffer. [Figure 24B] 24A-24B illustrate various aspects of the primary induction process and loading into the primary induction buffer.

[0100] [Figure 25] FIG. 25 illustrates an aspect of the baggage handling configuration, featuring singulating, scanning, and sorting conveyors.

[0101] [Figure 26A] 26A-26C illustrate aspects of a baggage handling configuration featuring vision-based robotic singulation and sorting. [Figure 26B] 26A-26C illustrate aspects of a baggage handling configuration featuring vision-based robotic singulation and sorting. [Figure 26C]26A-26C illustrate aspects of a baggage handling configuration featuring vision-based robotic singulation and sorting.

[0102] [Figure 27] FIG. 27 illustrates aspects of a package handling configuration in which sorting is followed by outbound processing.

[0103] [Figure 28A] 28A-28E illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 28B] 28A-28E illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 28C] 28A-28E illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 28D] 28A-28E illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 28E] 28A-28E illustrate aspects of a baggage handling configuration featuring robotic sorting.

[0104] [Figure 29A] 29A-29H illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 29B] 29A-29H illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 29C] 29A-29H illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 29D] 29A-29H illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 29E] 29A-29H illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 29F] 29A-29H illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 29G] 29A-29H illustrate aspects of a baggage handling configuration featuring robotic sorting. [Figure 29H] 29A-29H illustrate aspects of a baggage handling configuration featuring robotic sorting.

[0105] [Figure 30] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 31] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 32A] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 32B] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 32C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 32D] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 32F] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 32G] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 33A] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 33B] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 33C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 34A] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 34B] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 34C]30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 34D] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 34E] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 34F] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 35A] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 35B] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 35C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 35D] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 35E] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 37F] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 37G] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 37H] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 37I] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 37J] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 37K] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 38A]30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 38B] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 38C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 38D] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 38E] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 38F] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 39A] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 39B-1] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 39B-2] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 39C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 39D] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 40A] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 40B] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 40C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 41A] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 41B]30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 41C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 41D] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 41E] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 41F] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 41G] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 41H] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 42A] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 42B] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 42C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 42D] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 43A] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 43B] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 43C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 43D] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44A]30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44B] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44D] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44E] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44F] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44G] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44H] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44I] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44J] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44K] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44L] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 44M] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 45] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 46A] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 46B]30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 46C] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 46D] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 46E] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 47] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 48] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 49] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 50] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 51] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 52] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 53] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 54] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 55] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 56] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 57] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 58]30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 59] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 60] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 61] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 62] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 63] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 64] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 65] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 66] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 67] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 68] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 69] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 70] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 71] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 72] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 73]30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 74] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 75] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 76] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 77] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 78] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 79] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 80] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 81] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 82] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 83] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 84] 30-85 illustrate various aspects of systems and methods for controllable sorting. [Figure 85] 30-85 illustrate various aspects of systems and methods for controllable sorting. DETAILED DESCRIPTION OF THE INVENTION

[0106] Detailed Description Referring to Figure 1, a system for planning and adapting object manipulations may include a robotic pick-and-place machine (2) with an actuation system (8) and a configurable end-effector system (4), a sensing system, and a grasp planning processing pipeline (6) used under the control of the robotic pick-and-place machine. The system and method may additionally include a workstation configuration module used in dynamically defining the environmental configuration of the robotic system. The system is preferably used in situations where a set of objects in an area needs to be processed or manipulated in a certain way.

[0107] In many pick-and-place type applications, the system is used when a set of objects (e.g., products) is presented in a manner within an environment. The objects may be stored and presented in bins, totes, bags, boxes, and / or other storage elements. The objects may also be presented through some material supply system, such as a conveyor belt. The system may additionally need to manipulate the objects to place them in such storage elements, such as by moving the object from a bin into a box specific to that object. Similarly, the system may be used to move objects into a bagger system or to another object handling system, such as a conveyor belt.

[0108] The system may be implemented in an integrated workstation, which is a single unit in which various elements are physically integrated. However, some portions of the computing infrastructure and resources may be remote and accessed via a communications network. In one example, the integrated workstation includes a robotic pick-and-place machine (2) with a physically coupled sensing system. In this manner, the integrated workstation can be moved and secured into position and begin operating on objects in the environment. The system may alternatively be implemented as a collection of discrete components operating cooperatively. For example, the sensing system in one implementation may be physically removed from the robotic pick-and-place machine. The workstation configuration module described below may be used in customized configuration and setup of such a workstation.

[0109] A robotic pick-and-place machine functions as an automated system used to interact with objects. The robotic pick-and-place machine (2) preferably includes an actuation system (8) and an end effector (4) used to briefly physically couple (e.g., grasp or attach) to an object and perform some manipulation of that object. The actuation system moves the end effector, which, when coupled to one or more objects, is used to move and orient the object in space. Preferably, the robotic pick-and-place machine is used to pick up an object, manipulate (move and / or reorient) the object, and then place the object when finished. In this specification, a robotic pick-and-place machine is more generally referred to as a robotic system. A variety of robotic systems may be used. In one preferred implementation, the robotic system is an articulating arm that uses a pressure-based suction cup end effector. The robotic system may include a variety of features or designs.

[0110] The actuation system (8) functions to translate the end effector through space. The actuation system will preferably move the end effector to various locations for interaction with various objects. The actuation system may additionally or alternatively be used to move the end effector and grasped object along a particular path, orient the end effector and / or grasped object, and / or provide any suitable manipulation of the end effector. Generally, the actuation system is used for general movement of the end effector.

[0111] The actuation system (8) may be one of various types of machines used to facilitate movement of the end effector. In one preferred version, the actuation system is a robotic articulated arm including multiple actuated degrees of freedom coupled through interconnected arm sections. One preferred version of an actuated robotic arm is a six-axis robotic arm including six degrees of freedom, as shown in FIG. 1. The actuation system may alternatively be a robotic arm with fewer degrees of freedom, such as a four-axis or five-axis robotic arm, or one with additional articulated degrees of freedom, such as a seven-axis robotic arm.

[0112] In other variations, the actuation system may be any of a variety of robotic systems, such as a Cartesian robot, a cylindrical robot, a polar robot, a parallel robot such as a SCARA robot, a delta robot, and / or any other variation of a robotic system for controlled actuation.

[0113] The actuation system (8) preferably includes an end arm section. The end arm section is preferably a rigid structure extending from the last actuated degree of freedom of the actuation system. In an articulating robotic arm, the last arm section couples to the end effector (4). As described below, the end of the end arm section can include a head selector, which is part of the configurable end effector system.

[0114] In one variation, the end arm section may additionally include or be connected to at least one compliant joint.

[0115] The compliant joint preferably functions as at least one additional degree of freedom located near the end effector. The compliant joint is preferably located at the distal end of the end arm section of the actuation system, and the compliant joint can function as a "wrist" joint. The compliant joint preferably provides an additional amount of dexterity near where the end effector interacts with an object, which can be useful during a variety of situations when interacting with an object.

[0116] In multi-tool conversion variations of the present system, the compliant joint preferably precedes the head selector component so that each attachable end effector head can be used with controllable compliance. Alternatively, one or more end effectors may have a compliant joint.

[0117] In multi-head tool variations, a compliant joint may be integrated into a shared attachment point of a multi-head end effector. In this manner, the use of connected end effectors can share a common degree of freedom at the compliant joint. Alternatively, one or more end effectors of a multi-head end effector may include a compliant joint. In this manner, each individual end effector can have independent compliance.

[0118] The compliant joint is preferably a controllable compliant joint, which means that the joint can be selectively made to move at least partially in a compliant manner. When moving in a compliant manner, the compliant joint can preferably actuate in response to an external force. Preferably, the compliant joint has a controllable rotational degree of freedom so that the compliant joint can rotate in response to an external force. The compliant joint can additionally, preferably, be selectively made to actuate in a controlled manner. In one preferred variation, the controllable compliant joint has one rotational degree of freedom that rotates freely (at least within a certain angle range) when engaged in a compliant mode and can be actuated to rotate in a controlled manner when engaged in a controlled mode. Compliant linear actuation may additionally or alternatively be designed into the compliant joint. The compliant joint may additionally, or alternatively, be controlled for variable or partially compliant actuation, where the compliant joint can be actuated but is compliant to forces above a certain threshold.

[0119] The end effector (4) functions to facilitate direct interaction with an object. Preferably, the system is used to grasp an object, where grasping describes the step of physically coupling with an object for physical manipulation. Controllable grasping preferably allows the end effector to selectively connect / couple with an object ("grasping" or "picking") and selectively disconnect / detach from the object ("dropping" or "placing"). The end effector may controllably "grasp" an object through suction, clamping an object, applying a magnetic field, and / or any suitable force. While the system is primarily described herein with respect to suction-based grasping of objects, the variations described herein are not necessarily limited to suction-based end effectors.

[0120] In one preferred variation, the end effector (4) includes a suction end effector head (24, which may be more simply referred to as a suction head) connected to a pressure system. The suction head preferably includes one or more suction cups (26, 28, 30, 32). The suction cups can come in a variety of sizes, stiffness, shapes, and other configurations. Some examples of suction head configurations can include a single suction cup configuration, a four-suction cup configuration, and / or other variations. The size, material, and geometry of the suction head can also be varied to target different applications. The pressure system will generally include at least one vacuum pump connected to the suction head through one or more hoses.

[0121] In one preferred variation, the end effector of the system includes a multi-head end effector tool including multiple selectable end effector heads, as shown in the exemplary variations of Figures 5 (34) and 6 (24). Each end effector head can be connected to an individually controlled pressure system. The system can selectively activate one or more pressure systems to grasp using one or more end effectors of the multi-head end effector tool. The end effector heads are preferably selected and used based on dynamic control input from a grasp planning model. The pressure system may alternatively use controllable valves to redirect airflow. The different end effectors are preferably spaced apart. They may be angled in substantially the same direction, although the end effectors may alternatively be directed outward in non-parallel directions from the end arm section.

[0122] One exemplary variation of a multi-head end effector tool can be a two-head grasper (34), as shown in cross section in FIG. 5. This variation can be specialized to reach into the corners of deep bins or containers and pick up small objects (e.g., small items like pencils) and larger objects (such as boxes). In one variation, each grasper head end effector can be capable of linear sliding movement on a spring mechanism. The end effector heads can be coupled to a hose that connects to a pressure system. The hose can be spirally coiled around a central shaft and connect (and allow movement for) the suction head to a vacuum generator.

[0123] Another exemplary variation of the multi-head end effector tool (24) can be a multiple 4-head gripper, as shown in FIG. 6. As shown in this variation, various sensors, such as cameras or barcode readers, can be integrated into the multi-head end effector tool, shown here in the palm of your hand. Collectively, the suction cup end effector heads can be selected to have a wide range of applications (e.g., one for small boxes, one for large boxes, one for loose plastic bags, one for more rigid plastic bags). Multiple gripper combinations can pick objects of different sizes. In some variations, this multi-head end effector tool can be connected to the robot by a spring plunger to allow for positioning errors.

[0124] Another preferred variation of the present system includes a configurable end effector system that functions to allow the end effector to be changed. The configurable end effector system preferably includes a head selector (36), a set of end effector heads, and a head holding device (38) or tool holder for so-called "tool switching," which are integrated into the distal end of the actuation system (e.g., end-arm section). The end effector head is preferably selected and used based on dynamic control input from a grasp planning model. The head selector and end effector head are preferably mounted together at a selector and head mounting site. One or more end effector heads can be stored in the head holding device (38) when not in use. The head holding device can additionally orient the stored end effector head during storage for easier selection. The head holding device may additionally partially restrict the movement of the end effector head in at least one direction to facilitate attachment to or detachment from the head selector.

[0125] The head selector system functions to selectably attach and detach multiple end effector heads. The end effector heads serve as physical locations for engaging an object. The end effectors can be specifically configured for different situations. In some variations, the head selector system may be used in combination with a multi-head end effector tool. For example, one or more end effector heads may be removable and changed through the head selector system.

[0126] The changeable end effector system may use a variety of designs to allow the end effector to be changed. In one variation, the changeable end effector is a passive variation in which the end effector head is attached to and detached from the robotic system without the use of a controlled mechanism. In a passive variation, the actuation and / or pneumatic control capabilities of the robotic system may be used to engage and disengage different end effector heads. Static magnets (44, 46), physical fasteners (48) (threads, delivery / alignment structures, friction-fit or snap-fit ​​fasteners), and / or other static mechanisms may also be used to temporarily attach the end effector heads and head selectors.

[0127] In another variation, the changeable end effector is an active system that uses some activated mechanism (e.g., mechanical, electromechanical, electromagnetic, etc.) to engage and disengage the selected end effector head. Although passive variations are primarily used in the description herein, variations of the present systems and methods may be used in conjunction with active or alternative variations as well.

[0128] One preferred variation of the convertible end effector system is designed for use with a robotic system that uses a pressure system in conjunction with a suction head end effector. The head selector can further function to direct pressure to the end effector head. The head selector can include an internal through-hole defined therein so that the pressure system can be coupled to the end effector head. The end effector head will generally be a suction head. The set of suction end effector heads can have a variety of designs, as shown in FIG. 2.

[0129] The head selector and / or end effector head may include a seal (40, 42) element surrounding the defined through-hole. The seal may allow a pressure system to reinforce the attachment of the head selector and end effector head. This force is activated when the end effector is used to pick up an object and should help the end effector head remain attached when an outer object is loaded.

[0130] The seals (40, 42) are preferably integrated into the mounting surface of the head selector, although seals may additionally or alternatively be integrated into the end effector head. The seals may be O-rings, gaskets, or other sealing elements. Preferably, the seals are positioned along the outer edge of the mounting surface. The outer edge is preferably a location along the mounting surface where more of the mounting surface surface is present on the inner portion compared to the outer portion. For example, in one implementation, the seals may be positioned such that more than 75% of their surface area is within the inner portion. This can increase the surface area across which the pressure system can exert force.

[0131] Magnets (44, 46) may be used in the modifiable end effector system to facilitate passive attachment. The magnets are preferably integrated into the head selector and / or the set of end effector heads. In a preferred variation, the magnets are integrated into both the head selector and the end effector heads. Alternatively, the magnets may be integrated into one of the head selector or the end effector head, with the other having a ferromagnetic metal piece instead of a magnet.

[0132] In one implementation, the magnets have single magnetic poles aligned in the direction of attachment (e.g., the north face of a magnet oriented upward on the head selector and the south face of a second magnet oriented outward on each end effector head). The use of opposite poles within the head selector and end effector heads can increase the attractive force.

[0133] The magnets can be centered or aligned around the center of the attachment site. In one implementation, the magnets can surround a center and a defined cavity through which air can flow for a pressure-based end effector. In another variation, multiple magnets may be positioned around the center of the attachment point, which can be used to promote some degree of alignment between the head selector and the end effector head. In one variation, the magnets can be asymmetrical off-center and / or used to modify magnetic pole alignment to further promote the desired alignment between the head selector and the end effector head.

[0134] In one implementation, the magnet can provide initial seating and retention of the end effector head when not engaged with an object (e.g., not under pressure), and the seal and / or pressure system can provide the primary attractive force when retaining an object.

[0135] The modifiable end effector system can include various structural elements that function in a variety of ways, including providing reinforcement during loading, promoting better physical coupling when installed, aligning the end effector head when installed (and / or in the head-holding device), or providing other features to the system.

[0136] In one structural element variation, the head selector and end effector head can include complementary alignment structures, as shown in FIG. 3 . The alignment structures can be protruding or recessed features on the mounting surfaces of the head selector and / or end effector. In one variation, the alignment structures are grooves or teeth. The alignment structures can be used to restrict how the head selector and end effector head are attached. A head selector and end effector head set can include one set of alignment structures or multiple alignment structure pairs. The alignment structures can additionally or alternatively prevent rotation of the end effector head. In a similar manner, the alignment structures can allow torque to be transmitted through the coupling of the head selector and end effector head.

[0137] In another structural element variation, the configurable end effector system can include lateral support structures (50) integrated into one or both of the head selector and the end effector head. The lateral support structures provide structural support and function to limit rotation (e.g., rotation about an axis perpendicular to the defined central axis of the end arm section). The lateral support structures preferably provide support when the end effector is positioned horizontally and holding an object. The lateral support structures can prevent or mitigate situations in which torque applied when gripping an object causes the end effector heads to pull apart.

[0138] The lateral support structures (50) may be elongated structural pieces configured to engage surfaces of the head selector and / or end arm section. The lateral support structures may be on one or both of the head selector and end effector head (4). Preferably, the complementary lateral support structures are part of the body of the head selector and end effector arm. In one variation, the complementary lateral support structures of the end effector and head selector engage in a complementary manner when connected, as shown in FIG. 4.

[0139] There can be a single lateral support structure. With a single lateral support structure, the robotic system can actively position the lateral support structure along the major axis to benefit from the lateral support when moving an object. The robotic system in this variation can include position tracking and planning configurations to properly pick up objects and orient the end effector head so that the lateral supports are properly positioned to provide the desired support. In some cases, this may be used only to select objects (e.g., large and / or heavy objects). In another variation, there can be a set of lateral support structures. The set of lateral support structures can be positioned around the periphery so that some degree of lateral support is provided regardless of the rotational orientation of the end effector head. For example, there can be three or four lateral support structures evenly distributed around the periphery. In another variation, there can be a continuous support structure surrounding the edge of the end effector piece.

[0140] A head retainer or tool retainer (38) device functions to hold the end effector head when not in use. In one variation, the retainer is a rack with a set of defined open slots that can hold multiple end effector heads. In one implementation, the retainer includes slots that open so that an end effector head can be slid into the slots. The retainer slots can additionally engage around a reduced diameter portion of the end effector head so that the robotic system can pull the head selector orthogonally to disengage it from the current end effector head. Conversely, when selecting a new end effector head, the actuation system can move the head selector to an approximate position around the opening of the end effector head, slide the end effector head out of the retainer slots, and a magnetic element can pull the end effector head onto the head selector.

[0141] The head holder device may include a delivery structure that, when engaged, moves the end effector head to a desired position. This can be used when the features of the variable end effector system require the orientation of the end effector to be in a known position.

[0142] The sensing system functions to collect data of objects and the environment. The sensing system preferably includes an imaging system that functions to collect image data. The imaging system preferably includes at least one imaging device (10) with a field of view within a first region. The first region may be a location where object interaction is expected. The imaging system may additionally include multiple imaging devices (12, 14, 16, 18), such as digital camera sensors, used to collect image data from multiple perspectives of distinct regions, overlapping regions, and / or distinct non-overlapping regions. The set of imaging devices (e.g., one imaging device or multiple imaging devices) may include a visual imaging device (e.g., a camera). The set of imaging devices may additionally or alternatively include other types of imaging devices, such as depth cameras. Other suitable types of imaging devices may also be used additionally or alternatively.

[0143] The imaging system preferably captures an overhead or aerial view of the location where the object will initially be positioned and moved to. More typically, the collected image data is from the general direction from which the robotic system will approach and grasp the object. In one variation, the collection of objects presented for processing is presented in a substantially unorganized collection. For example, a collection of various objects may be briefly stored in a box or tote (in a stack and / or in an unorganized bundle). In other variations, the objects may be presented in a substantially organized or systematic manner. In one variation, the objects may be placed on a structured conveyor that is moved within the robotic system. In this variation, the objects may be substantially separate from adjacent objects so that each object can be handled individually.

[0144] The system preferably includes a grasp plan processing pipeline (6) that is used to determine how to grasp an object from a set of objects and, optionally, the type of tool to use to grasp the object. The processing pipeline can utilize heuristic models, conditional checking, statistical models, machine learning or other data-based modeling, and / or other processes. In one preferred variation, the pipeline includes an image data segmenter and a grasp quality model is used to generate an initial set of candidate grasp plans, followed by a grasp plan selection process or processes that use the set of candidate grasp plans.

[0145] The image data segmenter can segment the image data and generate one or more image masks. The set of image masks can include an object mask, an object collection mask (e.g., to segment multiple bins, totes, shelves, etc.), an object feature mask (e.g., a barcode mask), and / or other suitable types of masks. The image masks can be used within the grasp quality model and / or the grasp plan selection process.

[0146] The grasp quality model functions to convert the image data and optionally other input data into an output of a set of candidate grasp plans. The grasp quality model may include parameters of a deep neural network, a support vector machine, a random forest, and / or other machine learning model. In one variation, training the grasp quality model includes or can be a convolutional neural network (CNN). The parameters of the grasp quality model will generally be optimized to substantially maximize (or otherwise improve) performance on a training dataset, which can include a set of images, grasp plans for a set of points on the images, and grasp outcomes (e.g., success or failure) for those grasp plans.

[0147] In one exemplary implementation, the grasp quality CNN is a model that is trained such that, given input image data (e.g., vision or depth), the model can output tensors / vectors that characterize a particular tool, pose (position and / or orientation for centering the grasp), and success probability. The grasp planning model and / or additive processing model may additionally integrate modeling for object selection order, material-based tool selection, and / or other determinants.

[0148] The training dataset may include real or synthetic images that are manually or automatically labeled. In one variation, simulated reality transfer learning can be used to train the grasp quality model. Synthetic images may be created by generating a virtual scene in a simulation using a database of thousands of 3D object models with randomized textures and rendering a virtual image of the scene using techniques from graphics.

[0149] The grasp plan selection process preferably evaluates a set of candidate grasp plans from the grasp quality model and selects a grasp plan for execution. Preferably, a single grasp plan is selected, but in some variations, such as when there are multiple robotic systems operating simultaneously, multiple grasp plans can be selected and executed in coordination to avoid interference. The grasp plan selection process can assess the success probability of the top candidate grasp plans and evaluate the time impact for changing tools if several top candidate grasp plans are for tools other than the currently attached tool.

[0150] In some variations, the system may include a work station configuration module, which may be software implemented as machine-interpretable instructions stored on a data storage medium that, when executed by one or more computer processors, causes the work station configuration to output a user interface prompting the definition of environmental conditions. A configuration tool may be attached as an end effector and used to mark and locate coordinates of key features of various environmental objects.

[0151] The system may additionally include API interfaces to various environmentally mounted systems. The system may include API interfaces to external systems, such as a warehouse management system (WMS), warehouse control system (WCS), warehouse execution system (WES), and / or any suitable system, that may be used in receiving commands and / or information regarding the location and identification of objects. In another variation, there may be API interfaces to various order requests that may be used in determining how to pack collections of products into boxes for different orders.

[0152] 7A-7F, various aspects of a robotic package handling configuration are illustrated. Referring to FIG. 7A, a central frame (64) with multiple elements may be utilized to connect various components, such as the robotic arm (54), place structure (56), pick structure (62), and computing enclosure (60). As described in the above-mentioned incorporated references, a movable component (58) of the place structure may be utilized to retrieve items from the place structure (56) and deliver them to various other locations within the system (52). FIG. 7B illustrates a closer view of a system (52) embodiment in which the illustrated pick structure (62) comprises a container defining a package-receiving volume bounded by a bottom and multiple walls, and may define an open access opening for accommodating the entry and exit of a portion of the robotic arm, as well as viewing by an imaging device (66). In other embodiments, the pick structure may comprise a fixed surface, such as a platform, a movable surface, such as a conveyor belt system, or a tray. Referring to FIG. 7C, the system may include multiple imaging devices configured to capture images of various aspects of the operation. Such imaging devices may include monochrome, grayscale, or color devices, and may include depth camera devices such as those sold by Intel Corporation under the trademark RealSense (RTM). A first imaging device (66) may be fixedly coupled to an element of the frame (64) as shown in FIG. 7C and positioned and oriented to capture images with its field of view (80) oriented downward into the pick structure (62). A second imaging device (66) may be coupled to an element of the frame (64) and positioned and oriented to capture image information regarding the end effector (4) of the robot arm (54) and, after a successful grip, the captured or grasped package, which may be removably coupled to the end effector (4). Such image information may be utilized to estimate the outer dimensional boundaries of the grasped item or package, such as by fitting a 3D rectangular prism around the targeted package and estimating the length-width-height (LWH) of the rectangular prism.The 3D rectangular prism is for estimating the position and orientation of the targeted package relative to the end effector. The imaging devices may be automatically triggered by an interconnected computing system (60). The computing system may be configured to estimate whether the targeted package is deformable by capturing a sequence of images of the targeted package during movement at the targeted package and analyzing the deformation of the targeted package in the sequence of images, such as by observing the movement within regions of the package images during movement or acceleration of the package by the robotic arm (i.e., rigid packages generally have regions that move in unison, while compliant packages may have regions that do not move in unison with acceleration and movement). As shown in Figures 7C and 7D, various additional imaging devices (74, 76, 78) may be positioned and oriented to provide fields of view (84, 86, 88) that may be useful in observing the activity of the robotic arm (54) and associated packages.

[0153] Referring to FIG. 7E, a vacuum load source (90), such as a pressurized air or gas source, may be controllably circulated through a venturi arrangement (e.g., by an electromechanically controllable input valve operably coupled to a computing system with integrated pressure and / or velocity sensors for closed-loop control) and operably coupled to the end effector assembly (e.g., via a conduit) to produce a controlled vacuum load for the suction cup assembly and suction-based end effector (4).

[0154] 7F illustrates a closer view of a robotic arm (54) with an end effector assembly (24) including two suction cup assemblies (26, 28) configured to assist in gripping a package, as further described in the aforementioned incorporated references. Referring to FIGS. 8A, 8B, and 7G, one embodiment of a suction cup assembly (26) is illustrated showing a vacuum coupling (104) coupled to an outer housing (92), which may include a bellows structure including multiple foldable wall portions joined at bent edges, where such a bellows structure may comprise a material selected from the group consisting of polyethylene, polypropylene, rubber, and thermoplastic elastomers. The interconnected inner internal structure (94) may include a proximal base member (112) that may define a wall member (114) and a plurality of inlet openings (102) therethrough, such as a generally cylindrically shaped wall member as shown, and may further include a distal wall member (116) that defines an inner structural opening ring portion, a plurality of transition air channels (108), and an outer seal edge member (96), which may further define the inner chamber (100). A gap (106) may be defined between portions of the outer housing member (92) and the inner structure (94) such that vacuum from a vacuum source draws air through the inner chamber (100) and associated inlet openings (102) and transition air channels using a defined path configured to aid gripping, while also generally tending to prevent excessive protrusion of certain package surfaces with non-compliant packaging.

[0155] Referring to Figures 9A and 9B, as described in the above-incorporated references, using a conformable package or portion thereof, the system may be configured to ensure a relatively reliable grip with the conformable package, pulling conformable portion (122) up into inner chamber (100) to the extent that package portion (122) at least partially envelops package portion (122) as shown in Figure 9B.

[0156] 10A-10F, as described above, the place structure (56) may include a component (58) that is rotatably and / or removably coupled to the remainder of the place structure (56) and may assist in dispensing articles from the place structure (56). As shown in FIG. 10C, the place structure (56) may include a gridiron-like or interrupted surface configuration (128) with retaining ramps (132) configured to accommodate rotatable and / or removable engagement of a complementary component (58), such as that shown in FIG. 10D, which may have a bifurcated or interrupted configuration (126) for engaging another place structure component (56). FIG. 10F diagrammatically illustrates aspects of the movable and rotatable engagement between the structures (56, 58), as described in the aforementioned incorporated references.

[0157] Referring to the system (52) configuration of Figure 11A, as described above, a computing system, such as a VLSI computer, may be housed within a computing system housing structure (60). Figure 11B illustrates a view of the system of Figure 11A, but the housing is shown as transparent to illustrate the computing system (134) coupled thereto. Referring to Figure 11C, in other embodiments, additional computing resources may be operatively coupled (142, 144, 146) (e.g., via fixed network connectivity or wireless connectivity, such as in an IEEE 802.11 configuration); for example, the system may include additional VLSI computers (136) and / or certain cloud-computing-based computer resources (138) that may be located at one or more remote / non-local (148) locations.

[0158] Referring to Figure 12, an exemplary computer architecture diagram of one implementation of the present system is shown. In some implementations, the present system is implemented in multiple devices that communicate over a communication channel and / or network. In some implementations, elements of the present system are implemented in separate computing devices. In some implementations, two or more of the system elements are implemented in the same device. The present system and portions of the present system may be integrated into a computing device or system that may function as or in a system.

[0159] The communication channel 1001 interfaces with the processors 1002A-1002N, memory (e.g., random access memory (RAM)) 1003, read-only memory (ROM) 1004, processor-readable storage media 1005, display device 1006, user input device 1007, and network device 1008. As shown, a computer infrastructure may be used in connecting the robotic system 1101, sensor system 1102, grasp planning pipeline 1103, and / or other suitable computing devices.

[0160] The processors 1002A-1002N may take many forms, such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, an ML / DL (Machine Learning / Deep Learning) processing unit such as a tensor processing unit, an FPGA (Field Programmable Gate Array), a custom processor, and / or any suitable type of processor.

[0161] The processors 1002A-1002N and main memory 1003 (or some subcombination) may form a processing unit 1010. In some embodiments, the processing unit includes one or more processors communicatively coupled to one or more of RAM, ROM, and machine-readable storage media, where the one or more processors of the processing unit receive instructions stored by the one or more of RAM, ROM, and machine-readable storage media via a bus, and the one or more processors execute the received instructions. In some embodiments, the processing unit is an ASIC (application-specific integrated circuit). In some embodiments, the processing unit is a SoC (system-on-chip). In some embodiments, the processing unit includes one or more of the elements of the system.

[0162] The network device 1008 may provide one or more wired or wireless interfaces for exchanging data and commands between other devices, such as devices in the system and / or external systems. Such wired and wireless interfaces include, for example, a Universal Serial Bus (USB) interface, a Bluetooth interface, a Wi-Fi interface, an Ethernet interface, a Near Field Communication (NFC) interface, and the like.

[0163] Computer and / or machine-readable executable instructions comprising configuration for software programs (such as operating systems, application programs, and device drivers) can be stored in memory 1003 from a processor-readable storage medium 1005, a ROM 1004, or any other data storage system.

[0164] When executed by one or more computer processors, individual machine-executable instructions may be accessed by at least one of the processors 1002A-1002N (of the processing unit 1010) via communication channel 1001 and then executed by at least one of the processors 1002A-1002N. Data, databases, data records, or other stored forms of data created or used by the software programs may also be stored in memory 1003, and such data is accessed by at least one of the processors 1002A-1002N during execution of the machine-executable instructions of the software programs.

[0165] The processor-readable storage medium 1005 is one (or a combination of two or more) of a hard drive, a flash drive, a DVD, a CD, an optical disk, a floppy disk, a flash storage device, a solid-state drive, a ROM, an EEPROM, an electronic circuit, a semiconductor memory device, and the like. The processor-readable storage medium 1005 may include an operating system, software programs, device drivers, and / or other suitable subsystems or software.

[0166] As used herein, terms such as "first," "second," "third," and the like are used to characterize and distinguish various elements, components, regions, layers, and / or sections. These elements, components, regions, layers, and / or sections should not be limited by these terms. The use of numerical terms may be used to distinguish one element, component, region, layer, and / or section from another element, component, region, layer, and / or section. The use of such numerical terms does not imply a sequence or order unless clearly indicated by context. Such numerical references may be used interchangeably without departing from the teachings of the embodiments and variations herein.

[0167] 13 , a method for planning and adapting object manipulation by a robotic system can include steps of: collecting image data of an object capture region (S110); evaluating the image data through a grasp quality model to generate a set of candidate grasp plans (S210); processing the candidate grasp plans and selecting a grasp plan (S220); implementing the selected grasp plan with the robotic system (S310); and performing an object interaction task (S320). The grasp quality model preferably integrates grasp quality across a set of different robot tools, so that the selection of a grasp plan can trigger a tool change. For a pick-and-place robot, this can include changing the end effector head based on the selected grasp plan.

[0168] In a more detailed implementation shown in FIG. 14, the method can include training a grasp quality model (S120), configuring a robotic system work station (S130), receiving an object interaction task request (S140), triggering collecting image data of an object capture region (S110), segmenting the image data into a region of interest mask (S202), evaluating the image data through the grasp quality model and generating a set of candidate grasp plans (S210), processing the candidate grasp plans and selecting a grasp plan (S220), planning a grasp (S200), including implementing the selected grasp plan with the robotic system (S310), and implementing the object interaction task (S320).

[0169] The method may be implemented by a system such as those described herein, although the method may alternatively be implemented by any suitable system.

[0170] In one variation, the method can include training (S120) a grasp quality convolutional neural network that functions to build a data-based model for scoring different grasp strategies for a given set of image data.

[0171] The grasp quality model may include parameters of a deep neural network, a support vector machine, a random forest, and / or other machine learning model. In one variation, training the grasp quality model can include or is a convolutional neural network (CNN). The parameters of the grasp quality model will generally be optimized to substantially maximize (or otherwise improve) performance on a training dataset, which may include a set of images, grasp plans for a set of points on the images, and grasp outcomes (e.g., success or failure) for those grasp plans.

[0172] In one exemplary implementation, the grasp quality CNN is trained such that, given an input of image data (e.g., vision or depth), the model can output a tensor / vector that characterizes a specific tool, pose (position and / or orientation for centering the grasp), and success probability.

[0173] The training dataset may include real or synthetic images that are manually or automatically labeled. In one variation, simulated reality transfer learning can be used to train the grasp quality model. Synthetic images may be created by generating a virtual scene in a simulation using a database of thousands of 3D object models with randomized textures and rendering a virtual image of the scene using techniques from graphics.

[0174] The grasp quality model may additionally integrate other features or grasp planning scoring into the model. In one variation, the grasp quality model integrates object selection order into the model. For example, a CNN can be trained using the metrics described above, but can also be trained to prioritize the selection of large objects to reveal smaller objects underneath, potentially revealing other higher probability grasp points. In other variations, various algorithmic heuristics or processes can be integrated to consider object size, object material, object features such as barcodes, or other features.

[0175] During execution of the method, the grasp quality model may additionally be updated and refined as image data of the object is collected, grasp plans are executed, and object interaction results are determined. In some variations, a grasp quality model may be provided in which training and / or updating of the grasp quality model may not be performed by the entity executing the method.

[0176] In one variation, the method can include a step of configuring a robotic system work station (S130), which functions to set up the robotic system work station for operation. Configuring the robotic system work station preferably involves configuring the installation of environmental features for the robotic system. For example, in a warehouse embodiment, configuring the robotic system work station involves setting coordinate positions for the location of a loading wall, set of shelves, bins, output baggers, conveyor belts, or other areas where objects may be located or will be installed.

[0177] In one variation, configuring the robotic system can include the robotic system receiving manual manipulation of a construction tool used as an end effector to define various geometric shapes. A user interface can preferably guide the user through the process. For example, within the user interface, a set of standard environmental objects can be presented in a menu. After selection of an object, instructions can be presented that guide the user through a set of measurements to be made with the construction end effector.

[0178] The configuration may also define the nature of defined objects in the environment. This may provide useful information for avoiding collisions, defining how to plan movement in different areas, and interacting with objects based on related environmental objects. An environmental object may be defined as static to indicate that the environmental object does not move. An environmental object may be defined as mobile. For some mobile environmental objects, the area within which the mobile environmental object is expected may also be defined. For example, a robotic system work station can be configured to understand the general area within which an object's box may appear and the expected box dimensions. Various object-specific features, such as the size and dimensions of moving parts (e.g., doors, box flaps), can also be configured. For example, the conveyor path, as well as the position of the conveyor, can be configured. The robotic system may additionally be integrated with a suitable API to have data regarding conveyor status.

[0179] In one variation, the method can include a step of receiving an object interaction task request (S140), which functions to have some signal-initiated object interaction by the robotic system. The request may specify where an object is located, more typically, where a collection of objects is located. The request may additionally provide instructions or otherwise specify an action to be taken on the object. The object interaction task request may be received through an API. In one implementation, an external system, such as a warehouse management system (WMS), a warehouse control system (WCS), a warehouse execution system (WES), and / or any suitable system, may be used to direct the interaction, such as specifying a bin to be used for picking the object.

[0180] In one variation, the method may include receiving one or more requests. The request may be formed around an intended use case. In one example, the request may be an order request specifying a grouping of a set of objects. The objects specified in the order request will generally need to be bound, packed, or otherwise grouped together for further order processing. The selection of objects may be based, at least in part, on the set of requests, the priority of the requests, and the planned fulfillment of those orders. For example, an order with two objects that can be selected from one or more bins with high reliability may be selected for picking and placement by the system before objects from order requests where no objects have been identified or have lower reliability of picking capability at this time.

[0181] Block S110, which includes collecting image data of an object capture area, functions to observe and sense objects to be handled by the robotic system for processing. In some use cases, the set of objects will include one or more types of products. Collecting image data preferably includes collecting visual image data using a camera system. In one variation, a single camera may be used. In another variation, multiple cameras may be used. Collecting image data may additionally or alternatively include collecting depth image data or other forms of 2D or 3D data from a particular area.

[0182] In one preferred implementation, collecting image data includes capturing image data from an overhead or aerial perspective. More generally, the image data is collected from a general direction from which the robotic system will approach and grasp the object. The image data is preferably collected in response to a signal, such as an object interaction task request. The image data may alternatively be processed continuously or periodically to automatically detect when an action should be taken.

[0183] Block S200, which includes planning a grasp, functions to determine an object to grasp, a method for grasping the object, and optionally, a tool to use. Planning a grasp can utilize a grasp planning model to densely generate different grasp options and score them based on reliability and / or other metrics. In one variation, planning a grasp can include segmenting the image data into a region-of-interest mask (S202), evaluating the image data through a neural network architecture to generate a set of candidate grasp plans (S210), and processing the candidate grasp plans and selecting a grasp plan (S220). Preferably, the modeling used in planning a grasp attempts to increase object interaction throughput. This can function to address the challenge of weighing the probability of success using a current tool against the time cost of switching to a tool with a higher probability of success.

[0184] Block S202, which includes segmenting the image data into region of interest masks, functions to generate masks used in evaluating the image data in block S210. Preferably, one or more segmentation masks are generated from the provided image data input. Segmenting the image data may include segmenting the image data into object masks. Segmenting the image data may additionally or alternatively include segmenting the image data into object collections (e.g., segmenting the tops of totes, containers, shelves, etc.). Segmenting the image data may additionally or alternatively include segmenting the image data into object feature masks. The object feature masks may be used in segmenting detected or predicted object features, such as barcodes or other object elements. There are several use cases where it is desirable to avoid grasping or strive to grasp certain features.

[0185] Block S210, which includes evaluating the image data through a grasp quality model to generate a set of candidate grasp plans, functions to output a set of grasp options from a set of input data. The image data is preferably input to the grasp quality model. One or more segmentation masks from block S202 may additionally be provided as inputs. Alternatively, the segmentation masks may be used to eliminate or select sections of the image data for which candidate grasps should be evaluated.

[0186] Preferably, evaluating the image data through a grasp quality model includes evaluating the image data through a grasp quality CNN architecture. The grasp quality CNN can densely predict, for multiple locations within the image data, what the grasp quality will be for each tool and what the probability of success will be if a grasp is to be performed. The output is preferably a map of tensors / vectors characterizing the tool, pose (position and / or orientation for centering the grasp), and success probability.

[0187] As mentioned above, the grasp quality CNN may model the object selection order, and therefore the output may also score the grasp plan according to the training data reflecting the object order. In another variation, object material planning can be integrated into the grasp quality CNN or as an additional planning model used in determining the grasp. The material planning process may classify image data as a map for handling a collection of objects of different materials. Processing of the image data with the material planning process may be used in selecting a new tool. For example, if the material planning model indicates an object packaged in multiple plastic bags, a tool change may be triggered based on the classified material properties from the material model.

[0188] Block S220, which includes the steps of processing candidate grasp plans and selecting a grasp plan, functions to prioritize the candidate grasp plans and / or apply various heuristics and / or modeling in selecting a candidate grasp plan. The output of the grasp quality model is preferably fed into a subsequent processing stage that weighs different factors. A subset of the candidate grasp plans with a high probability of success may be evaluated. Alternatively, all grasp plans may be processed in S220.

[0189] Part of the step of selecting a candidate grasp plan is selecting a grasp plan based, in part, on the time cost of changing tools and the change in grasp success probability. This can be considered with respect to the current state of the object, but can also be considered across previous and potential future actions. In one preferred variation, the current tool state and grasp history (e.g., grasp success history for a given tool) can be provided as input. For example, if there have been multiple failures with a given tool, this may inform the selection of a grasp plan using a different tool. When processing candidate grasp plans, there may be a bias to keep the same tool. Changing tools takes time, so the change in grasp success probability is weighed against the time cost of changing tools.

[0190] Several additional heuristics, such as collision checking, feature avoidance, and other grasp heuristics, can additionally be assessed when planning a grasp. In multi-head end effector tool variations, collision checking may additionally consider collisions and obstacles potentially considered by unused end effector heads.

[0191] Block S310, which includes implementing the selected grasp plan with the robotic system, functions to control the robotic system to grasp the object in a manner defined within the selected grasp plan.

[0192] Since the grasp plans are preferably associated with different tools, implementing the selected grasp plan using the indicated tool of the grasp plan may include selecting and / or changing the tool.

[0193] In multi-head end effector tool variations, the indicated tool (or tools) may be suitably activated or used as a target point for alignment with the object. Because the end effector head may be offset from the central axis of the end-arm section, the motion planning of the actuation system preferably modifies the actuation to properly align the correct head with the desired position.

[0194] In the changeable tool variant, if the current tool is different from the tool in the selected grasp plan, the robotic system uses the tool change system to change the tool and then execute the grasp plan. If the current tool is the same as the tool indicated in the selected grasp plan, the robotic system moves directly to execute the grasp plan.

[0195] When executing a grasping plan, an actuation system moves a tool (e.g., an end effector suction head) into position and performs the grasping action. In the case of a pressure-based pick-and-place machine, performing the grasping action includes activating the pressure system. During grasping, the tool (i.e., end effector) of the robotic system will engage with the object. The object can then be moved and manipulated for subsequent interaction. Depending on the type of robotic system and end effector, grasping may be performed through various grasping mechanisms and / or end effectors.

[0196] If no suitable grasp plan exists as identified in block S200, the method may include grasping and reorienting the object and presenting other grasp plan options. After reorientation, the object scene can be re-evaluated to detect a suitable grasp plan. In some cases, multiple objects may be reoriented. Additionally or alternatively, the robotic system may be configured to perturb a collection of objects to perturb the positions of the multiple objects with the goal of revealing a suitable grasp point.

[0197] Once an object is grasped, it is preferably extracted from the set of objects and then translated to another position and / or orientation, which serves to move and orient the object for the next stage.

[0198] If, after executing a grasp plan (e.g., when grasping an object or while performing an object interaction task), the object is dropped or otherwise becomes disengaged from the robotic system, a failure can be recorded. This data can further be used in updating the system, and the method can include re-evaluating the collection of objects for a new grasp plan. Similarly, data records regarding grasp success can also be used in updating the system and grasp quality modeling and other grasp planning processes.

[0199] Block S320, which includes performing an object interaction task, functions to perform any object manipulation using the robotic system with a grasped object. The object interaction task may involve placing the object in a target destination (e.g., placing it in another container or box), changing the object's orientation prior to placing the object, moving the object for an object action (e.g., barcode scanning, etc.), and / or performing any suitable action or set of actions. In one example, performing the object interaction task may involve scanning a barcode or other identification marker on the object to detect an object identifier, and then placing the object in a destination location based on the object identifier. When used in a facility used to fulfill shipping orders, a product ID obtained using barcode information can be used to look up a corresponding order and then determine a container that maps to that order, and the object can then be placed in that container. When performed repeatedly, multiple products for an order can be packed in the same container. In other applications, other suitable subsequent steps may be performed. A failed grasp during an object interaction task can result in re-grasping the object and / or returning it to the collection of objects for planning and executing a new object interaction. Re-grasping the object may involve a modified grasp planning process focused on the single object at the site where the dropped object landed.

[0200] 15-19, various method configurations are illustrated. Referring to FIG. 15, one embodiment includes the steps of providing a robotic arm having a distal portion and a proximal base portion, an end effector coupled to the distal portion of the robotic arm, a place structure positioned in geometric proximity to the distal portion of the robotic arm, a pick structure in contact with one or more packages and positioned in geometric proximity to the distal portion of the robotic arm, a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages, and a first computing system operably coupled to the robot arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information, wherein the end effector The method includes step (402), comprising: a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a computing system; the first suction cup assembly defining a first inner capture chamber; and step (404), utilizing the first computing system, operating the robot arm and end effector to grasp one or more targeted packages from a pick structure, release the targeted packages, and place them on a place structure, wherein grasping the targeted packages includes using the first inner capture chamber to draw in and at least partially encapsulate a portion of the targeted package when the vacuum load is controllably activated adjacent the targeted package.

[0201] Referring to FIG. 16 , one embodiment includes providing (408) a robotic arm comprising a distal portion and a proximal base portion, an end effector coupled to the distal portion of the robotic arm, a place structure positioned geometrically proximate to the distal portion of the robotic arm, a pick structure contacting one or more packages and positioned geometrically proximate to the distal portion of the robotic arm, a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages, and a first computing system operably coupled to the robot arm and the first imaging device, configured to receive image information from the first imaging device and to command movement of the robotic arm based at least in part on the image information; and utilizing the first computing system to retrieve the one or more packages from the pick structure. and operating the robotic arm and end effector to grasp a targeted package of the package and release and place the targeted package on a place structure, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing device, the first suction cup assembly defining a first inner chamber, a first outer seal edge, and a first vacuum-permeable distal wall member collectively configured such that, in response to grasping the targeted package using the controllably activated vacuum load, the outer seal edge can become removably coupled to at least one surface of the targeted package while the vacuum-permeable distal wall member prevents excessive protrusion of the surface of the targeted package into the inner chamber of the suction cup assembly.

[0202] 17 , one embodiment includes a step (414) of providing a robotic arm having a distal portion and a proximal base portion, an end effector coupled to the distal portion of the robotic arm, a place structure positioned geometrically proximate to the distal portion of the robotic arm, a pick structure contacting one or more packages and positioned geometrically proximate to the distal portion of the robotic arm, a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages, and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a step (415) of providing a robotic arm utilizing the first computing system to perform a targeted package grasp of one or more packages from the pick structure, release the targeted package, and place it on the place structure. and (416) operating the pick arm and end effector, the end effector comprising a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to a first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package when the vacuum load is controllably activated adjacent to the targeted package, and prior to performing the grasp, the computing device configured to analyze a plurality of candidate grasps and select an executing grasp to be performed to remove the targeted package from the pick structure based, at least in part, on runtime use of a neural network operated by the computing device, the neural network being trained using views developed from synthetic data comprising rendered images of three-dimensional models of one or more synthetic packages as received by the synthetic pick structure.

[0203] 18 , one embodiment includes providing (420) a robotic arm having a distal portion and a proximal base portion, an end effector coupled to the distal portion of the robotic arm, a place structure positioned geometrically proximate to the distal portion of the robotic arm, a pick structure in contact with one or more packages and positioned geometrically proximate to the distal portion of the robotic arm, a first imaging device positioned and oriented to capture image information regarding the pick structure and the one or more packages, and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and operating the robotic arm and end effector utilizing the first computing system to perform a targeted package grasp of one or more packages from the pick structure, release the targeted package, and place it on the place structure, wherein the end effector The method includes: (422) providing a first suction cup assembly operably coupled to a first computing system and coupled to a controllably activated vacuum load, the first suction cup assembly configured such that performing a grasp includes engaging the targeted package when the vacuum load is controllably activated adjacent the targeted package; (424) providing a second imaging device operably coupled to the first computing system and positioned and oriented to capture one or more images of the targeted package after the grasp is performed using the end effector, estimate an outer dimensional boundary of the targeted package by fitting a 3D rectangular prism around the targeted package and estimating a LWH of the rectangular prism, and estimate a position and orientation of the targeted package relative to the end effector using the fitted 3D rectangular prism; and (424) utilizing the first computing system to place the targeted package on a place structure in a specific position and orientation relative to the place structure.and operating (426) the robot arm and end effector.

[0204] Referring to FIG. 19, one embodiment includes a step of collecting image data (430) for a capture region, a step of planning a grasp (432) comprising the steps of evaluating the image data through a grasp quality model to generate a set of candidate grasp plans, processing the candidate grasp plans and selecting a grasp plan, a step of implementing the selected grasp plan using a robotic system (434), and a step of performing an object interaction task (436).

[0205] 20A and 20B, two synthetic training images (152, 154) are shown, each featuring a synthetic pick structure receptacle (156, 158) containing multiple synthetic packages (160, 162). Synthetic volumes may be created and utilized to generate multiple synthetic image data, such as those shown in FIGS. 20A and 20B, to rapidly train a neural network to facilitate the automated operation of a robotic arm in picking targeted packages from the pick structure and placing them on the place structure. Views may be created from multiple view vectors and positions, and the synthetic volume may be similarly varied. For example, a neural network may be trained using views developed from synthetic data comprising rendered color images of three-dimensional models of one or more synthetic packages as housed by the synthetic pick structure, which may also be trained using views developed from synthetic data comprising rendered depth images of three-dimensional models of one or more synthetic packages as housed by the synthetic pick structure, which may also be trained using views developed from synthetic data comprising rendered images of three-dimensional models of one or more randomized synthetic packages as housed by the synthetic pick structure, which may also be trained using synthetic data in which the synthetic packages are randomized by color texture, which may also be trained using synthetic data in which the synthetic packages are randomized by physically based rendering mapping selected from the group consisting of reflectivity, diffusion, translucency, transparency, metallicity, and microsurface scattering, and which may also be trained using views developed from synthetic data in which the three-dimensional models of one or more synthetic packages are in random positions and orientations as housed by the synthetic pick structure.

[0206] The first computing system may be configured such that the step of performing a grasp includes analyzing a plurality of candidate grasps and selecting an execution grasp to be executed to remove the targeted package from the pick structure. Analyzing the plurality of candidate grasps may include scanning locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package. Analyzing the plurality of candidate grasps may include scanning locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package from a plurality of different end effector approach orientations. Analyzing the plurality of candidate grasps includes scanning locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package from a plurality of different end effector approach positions. The first suction cup assembly may include a first outer sealing edge, and the sealing engagement with the surface comprises substantially complete engagement of the first outer sealing edge with the surface. The step of probing locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package may be performed in a purely geometric manner. The first computing system may be configured to select the performed grasp based on candidate grasp factors selected from the group consisting of an estimated demand time, an estimated demand calculation, and an estimated degree of success of the grasp.

[0207] The system may be configured such that a single neural network is capable of predicting grasps for multiple types of end effectors or tool configurations (i.e., various combinations of several suction cup assemblies, and also various vectors of approach). The system may be configured to not analyze torque and load on a robotic arm or other member, etc., relative to a targeted package, specifically for system processing speed (i.e., in various embodiments, it may be desirable to prioritize speed over torque or load-based analysis for packages destined for mailing).

[0208] As described above, in various embodiments, to randomize the visual appearance of an article within synthesized / simulated training data, the system may be configured to randomize several properties used to construct the visual representation (including, but not limited to, color textures, which may comprise base red / green / blue values ​​that may be applied to a three-dimensional model; physically based rendering maps may be utilized that may be applied to surfaces, including, but not limited to, reflectivity, diffusion, translucency, transparency, metallicity, and / or microsurface scattering).

[0209] Referring to FIG. 21A, from a general perspective, many distribution and / ...

Claims

1. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; Prior to performing the grasp, the first computing system is configured to analyze a plurality of candidate grasps and select an execution grasp to be performed to remove the targeted package from the pick structure based, at least in part, on runtime usage of a neural network operated by the computing device, the neural network being trained using views developed from synthetic data comprising rendered images of three-dimensional models of one or more synthetic packages as housed by a synthetic pick structure. Robotic package handling system.

2. 10. The system of claim 1, wherein the first computing system is further configured to analyze the plurality of candidate grasps based on a continuous learning configuration of the neural network in which data from a set of known and actual experiences is utilized to further train the neural network.

3. The system of claim 2 , wherein the set of known and actual experiences is based on prior operations of a particular robotic arm of the system.

4. The system of claim 2 , wherein the set of known and actual experiences is based on prior operations of different robotic arms similar to the particular robotic arm of the system.

5. The system of claim 4 , wherein a different robot arm similar to a particular robot arm of the system is substantially the same as the particular robot arm of the system.

6. The system of claim 1 , wherein the first computing system is configured to analyze the plurality of candidate grasps based on a kinematic reach of the robotic arm and end effector.

7. 2. The system of claim 1, wherein the first computing system is configured to analyze the plurality of candidate grasps based on a location of labeling information on the targeted package based on the image information from the first imaging device.

8. 8. The system of claim 7, wherein the first computing system is configured to analyze the plurality of candidate grasps based on a location of barcode labeled information on the targeted package based on the image information from the first imaging device.

9. 9. The system of claim 8, wherein the first computing system is configured to analyze the plurality of candidate grasps based on a location of labeling information on the targeted package based on the image information from the first imaging device, and select an execution grasp that does not cause the end effector to cover the barcode labeling information.

10. The system of claim 1 , further comprising a frame structure configured to fixedly couple the robotic arm to the place structure.

11. The system of claim 10 , wherein the pick structure is removably coupled to the frame structure.

12. The system of claim 1 , wherein the place structure comprises a mounting tray.

13. 13. The system of claim 12, wherein the mounting tray comprises first and second rotatably coupled members configured to form a substantially flat tray base surface when in a first rotational configuration relative to one another and to form a lifting fork configuration when in a second rotational configuration relative to one another.

14. 13. The system of claim 12, wherein the installation tray is operably coupled to one or more actuators configured to controllably change the orientation of at least a portion of the installation tray, the one or more actuators being operably coupled to the first computing system.

15. The system of claim 1 , wherein the pick structure comprises an element selected from the group consisting of a container, a tray, a fixed surface, and a movable surface.

16. 16. The system of claim 15, wherein the pick structure comprises a container configured to define a package receiving volume bounded by a bottom and a plurality of walls, and an open access opening configured to accommodate entry and exit of at least a distal portion of the robotic arm.

17. 17. The system of claim 16, wherein the first imaging device is configured to capture the image information regarding the pick structure and one or more packages through the open access opening.

18. The system of claim 16 , wherein the first imaging device comprises a depth camera.

19. The system of claim 1 , wherein the first imaging device is configured to capture color image data.

20. The system of claim 10 , wherein the first computing system comprises a VLSI computer operably coupled to the frame structure.

21. The system of claim 1 , wherein the first computing system comprises a network of interconnected computing devices, at least one of which is located remotely relative to the robotic arm.

22. The system of claim 1 , further comprising a second computing system operably coupled to the first computing system.

23. 23. The system of claim 22, wherein the second computing system is located remotely relative to the first computing system, and the first and second computing systems are operably coupled via a computer network.

24. 2. The system of claim 1, wherein the first computing system is configured such that performing the grasp includes analyzing a plurality of candidate grasps and selecting an execution grasp to be performed to remove the targeted package from the pick structure.

25. 25. The system of claim 24, wherein analyzing a plurality of candidate grasps includes probing locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package.

26. 26. The system of claim 25, wherein analyzing a plurality of candidate grasps includes probing locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package from a plurality of different end effector approach orientations.

27. 26. The system of claim 25, wherein analyzing the plurality of candidate grasps includes probing locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package from a plurality of different end effector approach positions.

28. 26. The system of claim 25, wherein the first suction cup assembly comprises a first outer sealing edge, and wherein the sealing engagement with the surface comprises substantially complete engagement of the first outer sealing edge with the surface.

29. 26. The system of claim 25, wherein probing locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package is performed in a purely geometric manner.

30. 25. The system of claim 24, wherein the first computing system is configured to select the performed grasp based on candidate grasp factors selected from the group consisting of an estimated demand time, an estimated demand calculation, and an estimated success of the grasp.

31. The system of claim 1 , wherein the first suction cup assembly comprises a bellows structure.

32. 32. The system of claim 31, wherein the bellows structure comprises a plurality of wall portions adjacently joined with bent edges.

33. 33. The system of claim 32, wherein the bellows structure comprises a material selected from the group consisting of polyethylene, polypropylene, rubber, and a thermoplastic elastomer.

34. The system of claim 1 , wherein the first suction cup assembly comprises an outer housing and an internal structure coupled thereto.

35. 35. The system of claim 34, wherein the internal structure of the first suction cup assembly comprises a wall member coupled to a proximal base member.

36. 36. The system of claim 35, wherein the wall member comprises a substantially cylindrical shape having a proximal end and a distal end, and the proximal base member forms a substantially circular interface with the wall member proximal end.

37. 36. The system of claim 35, wherein the proximal base member defines one or more inlet openings therethrough, the one or more inlet openings configured to allow airflow therethrough pursuant to activation of the controllably activated vacuum load.

38. 38. The system of claim 37, wherein the internal structure further comprises a structural opening ring portion configured to define access to the inner capture chamber and a distal wall member comprising one or more transition air channels configured to allow air flow therethrough pursuant to activation of the controllably activated vacuum load.

39. 39. The system of claim 38, wherein the one or more inlet openings and the one or more transition air channels function to allow a defined flow of air through the capture chamber to facilitate releasable coupling of the first suction cup assembly with the targeted package.

40. 10. The system of claim 1, wherein the one or more packages are selected from the group consisting of bags, "poly bags," "poly," fiber bags, fiber envelopes, bubble wrap bags, bubble wrap envelopes, "Jiffy" bags, "Jiffy" envelopes, and substantially rigid rectangular structures.

41. 41. The system of claim 40, wherein the one or more packages comprise a fiber-based bag including a paper composite or a polymer composite.

42. 41. The system of claim 40, wherein the one or more packages comprise a fiber-based envelope comprising a paper composite or a polymer composite.

43. 41. The system of claim 40, wherein the one or more packages comprise a substantially rigid rectangular parallelepiped structure that forms a box.

44. The system of claim 1 , wherein the end effector comprises a second suction cup assembly coupled to the controllably activated vacuum load.

45. 45. The system of claim 44, wherein the second suction cup assembly defines a second inner capture chamber configured to draw in and at least partially encapsulate a portion of the targeted package when the vacuum load is controllably activated adjacent the targeted package.

46. 10. The system of claim 1, further comprising a second imaging device operably coupled to the first computing system and positioned and oriented to capture one or more images of the targeted package after the grasp is performed using the end effector.

47. 47. The system of claim 46, wherein the first computing system and second imaging device are configured to capture the one or more images such that an outer dimensional boundary of the targeted package can be estimated.

48. 48. The system of claim 47, wherein the first computing system is configured to determine dimensional boundaries of the targeted package by utilizing the one or more images, fitting a 3D rectangular prism around the targeted package, and estimating L-W-H of the rectangular prism.

49. 49. The system of claim 48, wherein the first computing system is configured to utilize the fitted 3D rectangular prism to estimate a position and orientation of the targeted package relative to the end effector.

50. 47. The system of claim 46, further comprising a third imaging device operably coupled to the first computing system and positioned and oriented to capture one or more images of the targeted package after the grasp is performed using the end effector.

51. 47. The system of claim 46, wherein the second imaging device and first computing system are further configured to capture a sequence of images of the targeted package during movement of the targeted package and estimate whether the targeted package is deformable by analyzing deformation of the targeted package in the sequence of images.

52. 47. The system of claim 46, wherein the first computing system and second imaging device are configured to capture and utilize the one or more images after the grasp is performed using the end effector to estimate whether multiple packages or zero packages are yielded with the performed grasp.

53. 53. The system of claim 52, wherein the first computing system is configured to abort a grasp in response to determining that multiple packages or zero packages resulted from the grasp.

54. 10. The system of claim 1, wherein the end effector comprises a tool switching head portion configured to controllably couple to and decouple from the first suction cup assembly using a tool holder mounted geometrically proximate to a distal portion of the robotic arm.

55. 55. The system of claim 54, wherein the tool holder is configured to hold and be removably coupled to one or more additional suction cup assemblies or one or more other package interfacing tools such that the first computing device can be configured to perform tool switching using the tool switching head portion.

56. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the placing structure comprising at least one substantially planar surface and one or more external dexterity geometric features extending away from the at least one substantially planar surface, the one or more external dexterity geometric features configured to provide a counterload to movement of the targeted package through the robotic arm and end effector and to assist the robotic arm and end effector in manipulating the targeted package before the targeted package is released at the placing structure; Robotic package handling system.

57. 57. The system of claim 56, wherein the one or more external maneuverable geometric features are selected from the group consisting of a protruding wall, a protruding ramp, a protruding ramp / wall, a composite ramp, a composite wall, and a composite ramp / wall.

58. 57. The system of claim 56, wherein the one or more external dexterity geometric features comprise one or more controllably movable degrees of freedom for changing shape operably coupled to the first computing system.

59. 57. The system of claim 56, wherein the first imaging device is configured to provide image information regarding the place structure, and based at least in part on the image information, the first computing system is configured to utilize a neural network to perform the grasp, operate the robotic arm and end effector while contacting one or more sides of the external dexterity geometric feature, and obtain a desired orientation of the targeted package upon release of the targeted package into the place structure.

60. 60. The system of claim 59, wherein the neural network is trained at least in part based on a synthetic image of a synthetic package and synthetic external dexterity geometric features.

61. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture stereoscopic image information about the pick structure and one or more packages comprising pairs of images relating to substantially the same field of capture but with different viewpoints; and a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; Prior to performing the grasp, the first computing system is configured to geometrically map a three-dimensional volume around the targeted package based at least in part on the stereoscopic image information from the first imaging device, analyze a plurality of candidate grasps, and select an execution grasp to be performed to remove the targeted package from the pick structure based at least in part on runtime use of a neural network operated by the computing device and informed by the stereoscopic image information, the neural network being trained at least in part using views developed from synthetic data comprising rendered images of three-dimensional models of one or more synthetic packages as received by a synthetic pick structure. Robotic package handling system.

62. 62. The system of claim 61, wherein the first imaging device is configured to provide pairs of images with different viewpoints selected to provide relative depth discrimination, based at least in part on a selected distance between the first imaging device and the targeted package.

63. 62. The system of claim 61, wherein the neural network is trained using views developed from synthetic data in which noise is modeled in the rendered image.

64. 62. The system of claim 61, wherein the neural network is trained using views from real data selected to match a high resolution imaging device sensor.

65. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; a centralized storage system configured to store event information relating to the operation of the robotic arm, the end effector, and the first imaging device; a user computing system operably coupled to the centralized storage system; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the centralized storage system is configured to enable a user operating the user computing system to view, through a user interface configurable by the user, event information related to the image information from the first imaging device, and data and metadata related to the event information, facilitating sequential event viewing related to the operation of the robotic arm and end effector. Robotic package handling system.

66. 66. The system of claim 65, wherein the centralized storage system is configured to enable a user operating the user computing system to receive a user interface flag regarding an operational error and to view an operational visual sequence regarding the event information associated with the operational error.

67. 66. The system of claim 65, wherein the centralized storage system is configured to enable a user operating the user computing system to receive one or more written reports regarding the operation of the package handling system.

68. 68. The system of claim 67, wherein the one or more written reports may comprise elements selected from the group consisting of: behavior analysis data, event logging data, sorting frequency data, and integrated facility data.

69. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; an output container configured to receive packages that may be moved away from the place structure after release from the end effector, the output container configured to contain a plurality of the one or more packages from the pick structure at least briefly as they are placed by operation of the first computing system, the robotic arm, and the end effector; an output distribution gantry configured to transport packages from the place structure to the output container, the output distribution gantry configured to temporarily couple to a targeted package released by the robotic arm and end effector on the place structure, move the targeted package away from the place structure to a position adjacent to the output container, and drop the targeted package into the output container; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the power distribution gantry comprises one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robot arm, the end effector, and the power distribution gantry; Robotic package handling system.

70. 70. The system of claim 69, further comprising an array of output containers organized in proximity to the place structure, wherein the output distribution gantry is configured to be capable of placing the targeted package within each of the output containers of the array through utilization of the one or more controllably actuated degrees of freedom.

71. 71. The system of claim 70, wherein each of the output containers of the array are organized in a substantially coplanar configuration.

72. 70. The system of claim 69, wherein the power distribution gantry comprises an electromechanical coupler configured to controllably couple to and decouple from selected power containers.

73. 73. The system of claim 72, wherein the electromechanical coupler comprises an output container gripper.

74. 73. The system of claim 72, wherein the electromechanical coupler comprises an electromechanically operated hook configured to be removably coupled to a selected output container.

75. 70. The system of claim 69, wherein the place structure is configured to have at least one surface having a substantially gravity level orientation, and the power distribution gantry is oriented in a vertical configuration substantially orthogonal to the substantially gravity level orientation of the place structure.

76. 70. The system of claim 69, wherein the place structure is configured to have at least one surface having a substantially gravity level orientation, and the power distribution gantry is oriented in a vertical configuration substantially parallel to the substantially gravity level orientation of the place structure.

77. 70. The system of claim 69, further comprising a barcode scanning device operably coupled to the first computing system and configured to scan one or more indicia that may be present on a targeted package.

78. 70. The system of claim 69, wherein the place structure comprises a conveyor configured to move targeted packages toward the output distribution gantry once released by the end effector.

79. 70. The system of claim 69, wherein the output distribution gantry is configured to controllably exit one or more contained packages utilizing a controllably releasable door arrangement.

80. 70. The system of claim 69, wherein the power distribution gantry comprises a rail system.

81. 70. The system of claim 69, wherein the output distribution gantry comprises a conveyor.

82. 70. The system of claim 69, wherein the output distribution gantry is configured to controllably grasp multiple targeted packages at a time.

83. 70. The system of claim 69, further comprising a second power distribution gantry operably coupled to the first power distribution gantry and configured to receive packages transferred from the first power distribution gantry.

84. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; a first scanning device operably coupled to the first computing system and configured to scan identifiable information that may be passed within a field of view of the first scanning device; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to operate the first scanning device to capture identification information regarding the targeted package by positioning and / or orienting the targeted package relative to the first scanning device such that a field of view of the first scanning device has geometric access to identifiable information of the targeted package; Robotic package handling system.

85. 85. The system of claim 84, wherein the identifiable information comprises a package label.

86. 86. The system of claim 85, wherein the package indicia comprises a bar code readable by the first scanning device.

87. 85. The system of claim 84, wherein the first computing system is configured to operate the robotic arm and end effector to pass identifiable information of the targeted package into a field of view of the first scanning device.

88. 85. The system of claim 84, wherein the first computing system is configured to utilize the image information from the first imaging device to identify the location of the identifiable information on the targeted package.

89. 90. The system of claim 88, wherein the first computing system is configured to reorient and probe a side of the targeted package that is not visible with the first imaging device when the first computing system fails to find the identifiable information on the targeted package in an initial orientation relative to the first imaging device.

90. 86. The system of claim 85, wherein the first computing system is configured to read one or more aspects of the package indicia using optical character recognition.

91. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; an unloading module configured to receive packages that can be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the unloading module comprises one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robotic arm, end effector, and unloading module and automatically combine packages for further separate processing. Robotic package handling system.

92. 92. The system of claim 91, wherein the unloading module comprises an element selected from the group consisting of a ramp, a chute, a diverter, an external packaging system, a palletizing system, a wheeled cart, and a mobile robot.

93. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to release the grasp by controllably deactivating the vacuum load with the end effector at a release position and orientation from the end effector relative to the place structure as influenced by the position and orientation of the end effector at the time of deactivating the vacuum load; the first computing system is configured to select a release location and orientation to accommodate subsequent repositioning or reorientation of the targeted package away from the place structure. Robotic package handling system.

94. 94. The system of claim 93, wherein the subsequent repositioning or reorientation is selected from the group consisting of pushing into the container, pulling into the container, reorienting the tip to cause a rolling drop into the container, coupling with movement to another location, and coupling with reorientation to another location.

95. 94. The system of claim 93, wherein the first computing system is configured to select a release position and orientation for the targeted package based, at least in part, on additional factors of the targeted package selected from the group consisting of material properties of the targeted package, moment of inertia of the targeted package, dimensions of the targeted package, and location of labeling information on the targeted package.

96. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to develop and execute a motion plan to reposition and reorient the targeted package when coupled to the end effector in a manner that minimizes disturbance of the targeted package; Robotic package handling system.

97. 97. The system of claim 96, wherein the motion plan is selected to minimize a load on the targeted package.

98. 98. The system of claim 97, wherein the motion plan is selected to minimize angular acceleration of the targeted package.

99. 98. The system of claim 97, wherein the motion plan is selected to minimize linear acceleration of the targeted package.

100. 98. The system of claim 97, wherein the motion plan is selected to minimize impact loads as a result of one or more collisions with other objects.

101. 97. The system of claim 96, wherein the motion plan is selected to minimize vibration loads on the targeted package.

102. 97. The system of claim 96, wherein the first computing system is configured to utilize the image information from the first imaging device to identify labeling information present on the targeted package.

103. 103. The system of claim 102, wherein the labeling information is selected from the group consisting of bar code information, address information, and shipping tag information.

104. 103. The system of claim 102, wherein the first computing system is configured to construct and execute the motion plan to position and orient the targeted package so that the tagging information is exposed for capture.

105. 105. The system of claim 104, further comprising a barcode scanning device, wherein the first computing system is configured to construct and execute the motion plan to position and orient the targeted package so that the labeling information is exposed for capture by the barcode scanning device.

106. 105. The system of claim 104, wherein the first computing system is configured to utilize optical character recognition to gather information from the labeled information.

107. 97. The system of claim 96, wherein the first computing system is configured to select a release location and orientation to accommodate subsequent repositioning or reorientation of the targeted package away from the place structure.

108. The system of claim 107, wherein the subsequent repositioning or reorientation is selected from the group consisting of pushing into the container, reorienting the tip to cause a rolling drop into the container, coupling with movement to another location, and coupling with reorientation to another location.

109. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to receive load information from the robotic arm and utilize the load information and image information from the first imaging device to characterize one or more material properties of the targeted package; Robotic package handling system.

110. 110. The system of claim 109, wherein the load information from the robotic arm comprises kinematic data regarding the movement of the robotic arm when the end effector is utilized to perform a grasp of the targeted package.

111. 110. The system of claim 109, further comprising one or more load cells operably coupled to the robotic arm and configured to determine a load associated with movement of the robotic arm.

112. 110. The system of claim 109, wherein one or more material properties of the targeted package are selected from the group consisting of moment of inertia, stability under acceleration, apparent stiffness of the external structure, and structural modulus of elasticity of the targeted package.

113. 110. The system of claim 109, wherein the first computing system is configured to expose the targeted package to a characterization load treatment to assist in characterizing one or more material properties of the targeted package.

114. 114. The system of claim 113, wherein the characterization load treatment comprises a relatively high impulse load application.

115. 114. The system of claim 113, wherein the characterization load treatment comprises acceleration.

116. 116. The system of claim 115, wherein the acceleration is rotational.

117. 114. The system of claim 113, wherein the characterization load treatment comprises exposing at least a portion of the targeted package to a high velocity gas stream.

118. 118. The system of claim 117, wherein the gas flow comprises high velocity air from an opening.

119. 114. The system of claim 113, wherein the first imaging device is configured to capture information regarding behavior of the targeted package during the characterization load treatment.

120. 114. The system of claim 113, wherein the characterization load treatment comprises moving the targeted package relative to another surface.

121. 114. The system of claim 113, wherein the characterization load treatment includes reorienting the targeted package relative to another surface.

122. 110. The system of claim 109, wherein while performing the grasping using the robotic arm and end effector, the first computing system is configured to pass the targeted package within the field of view of the first imaging device, and image information about the targeted package as it passes within the field of view of the first imaging device is utilized by the first computing system to fit a three-dimensional rectangular prism around the targeted package and estimate three side dimensions of the three-dimensional rectangular prism.

123. 123. The system of claim 122, wherein the first computing system is further configured to utilize the fitted three-dimensional rectangular prism to estimate a position and orientation of the targeted package relative to the end effector.

124. 123. The system of claim 122, wherein the first computing system is further configured to estimate a closest possible three-dimensional rectangular prism around the targeted package.

125. 123. The system of claim 122, wherein the first computing system is further configured to construct a three-dimensional model of the targeted package.

126. 110. The system of claim 109, wherein the first computing system is configured to utilize the image information from the first imaging device to capture barcode information from targeted packages.

127. 127. The system of claim 126, wherein the barcode information comprises an estimate of the quality of the captured barcode information from the targeted package.

128. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; a package input module operably coupled to the first computing system and configured to provide a supply of packages to be transferred to the pick structure; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the package input module is configured to be operated by the first computing system to control the supply based, at least in part, on a number of the one or more packages temporarily coupled to the pick structure. Robotic package handling system.

129. 129. The system of claim 128, wherein the package input module is configured to be operated by the first computing system to control the supply based, at least in part, on image information from the first imaging device.

130. 129. The system of claim 128, wherein the package input module is configured to be capable of automatically ejecting the targeted package based, at least in part, on analysis by the first computing system of the image information from the first imaging device that the targeted package may be unpickable.

131. 131. The system of claim 130, wherein the analysis by the first computing system of the image information from the first imaging device that the targeted package may be unpickable is based on a neural network.

132. 132. The system of claim 131, wherein the neural network is trained at least in part based on synthetic package images.

133. 131. The system of claim 130, wherein the package input module comprises a mechanical injection element configured to controllably eject packages targeted for subsequent reprocessing into separate routings.

134. 134. The system of claim 133, wherein the mechanical ejection element is selected from the group consisting of a pusher, a diverter, an arm, and a multi-directional conveyor.

135. 134. The system of claim 133, wherein the mechanical ejection element is configured to be pneumatically or electromechanically operated.

136. 129. The system of claim 128, wherein the first computing system is configured to utilize the image information from the first imaging device to estimate a likely success rate for grasping a particular targeted package before the particular targeted package reaches the end effector.

137. 137. The system of claim 136, wherein the first computing system is configured to utilize the image information from the first imaging device and, based on a neural network, estimate a likely success rate for grasping a particular targeted package before the particular targeted package reaches the end effector.

138. 138. The system of claim 137, wherein the neural network is trained at least in part based on synthetic package images.

139. 129. The system of claim 128, further comprising a second imaging device positioned and oriented to capture image information regarding the package input module and one or more packages.

140. 129. The system of claim 128, wherein the first computing system is configured to utilize the image information from the first imaging device to determine whether a package jam has occurred.

141. 141. The system of claim 140, wherein the analysis by the first computing system of the image information from the first imaging device to determine whether a package jam has occurred is based on a neural network.

142. 142. The system of claim 141, wherein the neural network is trained at least in part based on synthetic package images.

143. 141. The system of claim 140, wherein the first computing system is configured to send a notification to one or more users in response to determining that a package jam has occurred.

144. 141. The system of claim 140, wherein the first computing system is configured, in response to determining that a package jam has occurred, to automatically take one or more steps to resolve the package jam.

145. 145. The system of claim 144, wherein the one or more steps for resolving the package jam are selected from the group consisting of applying mechanical vibration, applying a load to move one or more targeted packages, and reversing the movement of one or more targeted packages.

146. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; an output container configured to receive packages that may be moved away from the place structure after release from the end effector, the output container configured to contain a plurality of the one or more packages from the pick structure at least briefly as they are placed by movement of the first computing system, the robotic arm, and the end effector; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to estimate when the output container is at a desired full level based at least in part on an aggregate package volume determined based at least in part on image information from the first imaging device obtained before the plurality of one or more packages enter the output container. Robotic package handling system.

147. 147. The system of claim 146, wherein the computing system is configured to estimate when the output container is at a desired full level based on additional input selected from the group consisting of an image of the output container, a weight of the output container, and a shape of the output container.

148. 147. The system of claim 146, wherein the first imaging device is configured to capture image information about the output container.

149. 147. The system of claim 146, wherein the computing system is configured to utilize the image information from the first imaging device in determining whether a blockage has occurred.

150. 150. The system of claim 149, wherein the computing system is configured to utilize a neural network to determine whether a jam has occurred, the neural network being trained based on images of one or more packages.

151. 151. The system of claim 150, wherein the image of the one or more packages is based, at least in part, on a composite image.

152. 147. The system of claim 146, further comprising a second imaging device operably coupled to the first computing system and configured to capture image information regarding the output container.

153. 153. The system of claim 152, wherein the computing system is configured to utilize the image information from the second imaging device in determining whether a blockage has occurred.

154. 154. The system of claim 153, wherein the computing system is configured to utilize a neural network to determine whether a jam has occurred, the neural network being trained based on images of one or more packages.

155. 153. The system of claim 152, wherein the image of the one or more packages is based, at least in part, on a composite image.

156. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; an unloading module configured to receive packages that can be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the unloading module comprises one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robotic arm, end effector, and unloading module to automatically place packages into shipping containers in a manner selected to facilitate manual unloading at multiple destinations; Robotic package handling system.

157. 157. The system of claim 156, wherein the unloading module comprises an element selected from the group consisting of a ramp, a chute, a diverter, an external packaging system, a palletizing system, a robotic arm, and a mobile robot.

158. 157. The system of claim 156, wherein the shipping container is a delivery truck having a package storage area, and the unloading module comprises a first transport module configured to controllably place packages in the package storage area to facilitate a predetermined sequence of manual unloading at the multiple destinations.

159. 157. The system of claim 156, wherein the transport container is a shipping container and the unloading module comprises a first conveying module configured to controllably place packages in the shipping container to facilitate a predetermined sequence of manual unloading at the multiple destinations.

160. 157. The system of claim 156, wherein the unloading module comprises a distal portion configured to cantilever into an access door of the shipping container.

161. The system of claim 160, wherein a distal portion of the unloading module comprises at least one local stability load member configured to be controllably extended away from the distal portion of the unloading module to be removably coupled to a portion of the transport container to stabilize the distal portion of the unloading module relative to the transport container.

162. 162. The system of claim 161, wherein the stability load member is configured to be loaded primarily in tension.

163. 162. The system of claim 161, wherein the stability load member is configured to be loaded primarily in compression.

164. 162. The system of claim 161, wherein the stability load member is configured to be loaded primarily in flexion.

165. 157. The system of claim 156, further comprising a second imaging device configured to capture image information regarding the shipping container.

166. 166. The system of claim 165, wherein the first computing system is configured to perform simultaneous localization and mapping of geometric features of the shipping container.

167. 166. The system of claim 165, wherein the second imaging device is coupled to the shipping module.

168. 157. The system of claim 156, wherein the unloading module comprises a robotic arm configured to automatically place a package in the shipping container.

169. 169. The system of claim 168, wherein the robotic arm is coupled to a movable base to facilitate movement relative to the shipping container.

170. 170. The system of claim 169, wherein the movable base comprises an element selected from the group consisting of an electromechanical movable base, a manually movable base, and a rail-constrained movable base.

171. 157. The system of claim 156, further comprising an output buffer structure coupled between the end effector and the output module, the output buffer structure configured to receive the package output from the robotic arm and associated end effector before the output module can automatically place the package into the transport container.

172. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; an unloading module configured to receive packages that can be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the unloading module comprises a palletizing system having one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robotic arm, end effector, and unloading module to automatically place packages on pallet bases. Robotic package handling system.

173. 173. The system of claim 172, wherein the unloading module further comprises an element selected from the group consisting of a ramp, a chute, a diverter, a robotic arm, and a mobile robot.

174. 173. The system of claim 172, wherein the unloading module further comprises a coupling module configured to automatically couple packages placed on the pallet base using applied circumferential strapping members.

175. 173. The system of claim 172, wherein the unloading module comprises a robotic arm configured to automatically place packages on the pallet base.

176. 176. The system of claim 175, wherein the robotic arm is coupled to a movable base to facilitate movement relative to the pallet base.

177. 177. The system of claim 176, wherein the movable base comprises an element selected from the group consisting of an electromechanical movable base, a manually movable base, and a rail-constrained movable base.

178. 173. The system of claim 172, further comprising an output buffer structure coupled between the end effector and the output module, the output buffer structure configured to accommodate the packages output from the robotic arm and associated end effector before the output module can automatically place the packages on the pallet base.

179. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; While performing the grasping with the robotic arm and end effector, the first computing system is configured to pass the targeted package through a field of view of the first imaging device, and image information about the targeted package as it passes through a field of view of the first imaging device is utilized by the first computing system to fit a three-dimensional rectangular prism around the targeted package and estimate three side dimensions of the three-dimensional rectangular prism. Robotic package handling system.

180. 180. The system of claim 179, wherein the first computing system is further configured to utilize the fitted three-dimensional rectangular prism to estimate the position and orientation of the targeted package relative to the end effector.

181. 180. The system of claim 179, wherein the first computing system is further configured to estimate the closest possible three-dimensional rectangular prism around the targeted package.

182. 180. The system of claim 179, wherein the first computing system is further configured to construct a three-dimensional model of the targeted package.

183. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a movable place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; an output container configured to receive packages that can be moved away from the movable place structure after release from the end effector, the output container configured to contain a plurality of the one or more packages from the pick structure at least briefly as they are placed by movement of the first computing system, the robotic arm, and the end effector; an output distribution gantry coupled to the movable place structure and configured to transport packages from the movable place structure to the output container, the output distribution gantry configured to temporarily couple to a targeted package released by the robotic arm and end effector on the movable place structure, move the targeted package away from the end effector to a position adjacent to the output container, and drop the targeted package into the output container; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the movable place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the power distribution gantry comprises two or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robotic arm, end effector, and power distribution gantry; Robotic package handling system.

184. 184. The system of claim 183, further comprising an array of output containers organized in proximity to the place structure, wherein the output distribution gantry is configured to be capable of placing the targeted package within each of the output containers of the array through utilization of the two or more controllably actuated degrees of freedom.

185. 185. The system of claim 184, wherein each of the output containers of the array are organized in a substantially coplanar configuration.

186. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; a package input module operably coupled to the first computing system and configured to be operated by the first computing system to mechanically process a plurality of incoming packages from a substantially disordered mechanical formation based at least in part on the image information to provide a supply of packages to be transferred to the pick structure to be substantially singulated and to remove any packages that do not become substantially singulated as a result of the mechanical processing; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load. Robotic package handling system.

187. 187. The system of claim 186, wherein the package input module is configured to be operated by the first computing system to control the supply based, at least in part, on the number of the one or more packages temporarily coupled to the pick structure.

188. 187. The system of claim 186, wherein the package input module is configured to be operated by the first computing system to control the supply based, at least in part, on the image information regarding the pick structure.

189. 187. The system of claim 186, wherein the package input module comprises one or more mechanical singulation elements configured to mechanically process and direct a supply of the substantially singulated packages toward the pick structure.

190. 190. The system of claim 189, wherein the one or more mechanical singulation elements are selected from the group consisting of a ramp sequence, a vibration actuator, a belt, a coordinated plurality of belts, a ball sorter conveyor, a step sequence, a chute with one or more 90 degree turns, a mechanical diverter, a vertical mechanical filter, and a horizontal mechanical filter.

191. 187. The system of claim 186, wherein the package input module is configured to be operated by the first computing system to remove any packages that do not become substantially singulated as a result of the mechanical processing using a diversion element configured to selectively divert one or more targeted packages.

192. 192. The system of claim 191, wherein the diversion element is a mechanical diverter.

193. 192. The system of claim 191, wherein the diversion element is a diversion conveyor.

194. 187. The system of claim 186, wherein the package input module is operably coupled to the first computing system and configured to be operated by the first computing system to mechanically process a plurality of incoming packages from a substantially disordered mechanical organization based at least in part on the image information, provide a supply of packages to be transferred to the pick structure to be substantially singulated, remove any packages that do not become substantially singulated as a result of the mechanical processing, and move any packages toward singulation based on the image information.

195. 200. The system of claim 194, wherein the first computing system can be configured to move the certain packages toward singulation using one or more mechanical singulation elements configured to mechanically handle the certain packages.

196. 196. The system of claim 195, wherein the one or more mechanical singulation elements are selected from the group consisting of a ramp sequence, a vibration actuator, a belt, a coordinated plurality of belts, a ball sorter conveyor, a step sequence, a chute with one or more 90 degree turns, a mechanical diverter, a vertical mechanical filter, and a horizontal mechanical filter.

197. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; a package input module operably coupled to the first computing system and configured to provide a supply of packages to be transferred to the pick structure; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the package input module is configured to be operated by the first computing system to control the feeding based, at least in part, on a rate at which the robotic arm and end effector are able to grasp from the pick structure and release targeted packages at the place structure. Robotic package handling system.

198. The system of claim 197, wherein the first computing system is configured to substantially match the rate at which the robotic arm and end effector can grasp from the pick structure and release targeted packages at the place structure with the feed rate provided to the pick structure by the package input module.

199. 200. The system of claim 197, wherein the package input module is configured to be capable of automatically ejecting the targeted package based, at least in part, on analysis by the first computing system of the image information from the first imaging device that the targeted package may be unpickable.

200. 200. The system of claim 199, wherein the analysis by the first computing system of the image information from the first imaging device that the targeted package may be unpickable is based on a neural network.

201. 201. The system of claim 200, wherein the neural network is trained at least in part based on synthetic package images.

202. 200. The system of claim 199, wherein the package input module comprises a mechanical injection element configured to controllably inject packages targeted for subsequent reprocessing into separate routings.

203. 203. The system of claim 202, wherein the mechanical ejection element is selected from the group consisting of a pusher, a diverter, an arm, and a multi-directional conveyor.

204. 203. The system of claim 202, wherein the mechanical ejection element is configured to be pneumatically or electromechanically operated.

205. The system of claim 197, wherein the first computing system is configured to utilize the image information from the first imaging device to estimate a likely success rate for grasping a particular targeted package before the particular targeted package reaches the end effector.

206. The system of claim 205, wherein the first computing system is configured to utilize the image information from the first imaging device and, based on a neural network, estimate a likely success rate for grasping a particular targeted package before the particular targeted package reaches the end effector.

207. 207. The system of claim 206, wherein the neural network is trained at least in part based on synthetic package images.

208. 200. The system of claim 197, further comprising a second imaging device positioned and oriented to capture image information regarding the package input module and one or more packages.

209. 200. The system of claim 197, wherein the first computing system is configured to utilize the image information from the first imaging device to determine whether a package jam has occurred.

210. 210. The system of claim 209, wherein the analysis by the first computing system of the image information from the first imaging device to determine whether a package jam has occurred is based on a neural network.

211. 211. The system of claim 210, wherein the neural network is trained at least in part based on synthetic package images.

212. 210. The system of claim 209, wherein the first computing system is configured to send a notification to one or more users in response to determining that a package jam has occurred.

213. 210. The system of claim 209, wherein the first computing system is configured, in response to determining that a package jam has occurred, to automatically take one or more steps to resolve the package jam.

214. 214. The system of claim 213, wherein the one or more steps for resolving the package jam are selected from the group consisting of applying mechanical vibration, applying a load to move one or more targeted packages, and reversing the movement of one or more targeted packages.

215. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; a second imaging device operably coupled to the first computing system and configured to capture image information about the one or more packages from a second perspective different from a first perspective of the first imaging device; and Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to utilize image information from the first imaging device and the second imaging device in a sensor fusion configuration to estimate an external dimension of the targeted package; Robotic package handling system.

216. 216. The system of claim 215, wherein the first and second viewpoints are substantially orthogonal.

217. 216. The system of claim 215, wherein the first and second perspectives are substantially opposite.

218. 216. The system of claim 215, wherein the first imaging device has a measurement error regarding the targeted package that is substantially uncorrelated to the measurement error the second imaging device has regarding the targeted package.

219. 216. The system of claim 215, further comprising a third imaging device operably coupled to the first computing system and configured to capture image information about the one or more packages from a third viewpoint different from the first viewpoint of the first imaging device or the second viewpoint of the second imaging device.

220. 216. The system of claim 215, wherein the first computing system is configured to utilize the image information from the first imaging device and the second imaging device to construct a three-dimensional model of the one or more packages.

221. 216. The system of claim 215, wherein the first computing system is configured to utilize the image information from the first imaging device and the second imaging device to estimate one or more material properties of the targeted package.

222. The system of claim 215, wherein the one or more material properties of the targeted package are selected from the group consisting of package stiffness, package bulk modulus, package hardness, package exterior compliance, and estimated relaxation of the exterior package material.

223. 223. The system of claim 222, wherein the first computing system is configured to estimate the one or more material properties using a neural network, the neural network being trained using images related to a package external training dataset.

224. 224. The system of claim 223, wherein the image is based, at least in part, on a synthetic image.

225. The system of claim 215, wherein the first computing system is configured to utilize the image information from the first imaging device and the second imaging device to estimate quality control variables related to one or more targeted packages selected from the group consisting of the presence of package damage, the presence of multiple packages linked together, and whether the end effector was successful in performing a grasp.

226. 226. The system of claim 225, wherein the first computing system is configured to estimate the quality control variables using a neural network, the neural network being trained using images related to a package external training dataset.

227. 227. The system of claim 226, wherein the image is based, at least in part, on a synthetic image.

228. 1. A robotic package handling system comprising: a package input module configured to move a plurality of incoming packages in a primary forward direction along a transport platform while also selectively moving one or more targeted packages from the plurality away from the transport platform; a first imaging device positioned and oriented to capture image information regarding the transport platform and a plurality of incoming packages; a first computing system operably coupled to the package input module and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the package input module based, at least in part, on the image information; an output container configured to receive packages that may be moved away from the transport platform, the output container configured to at least briefly contain a plurality of the one or more packages from the transport platform as they are moved by operation of the first computing system and package input module; an output distribution gantry configured to transport packages from the transport platform to the output container, the output distribution gantry configured to temporarily couple to a targeted package moved from the transport platform to a position adjacent the output container and drop the targeted package into the output container; Equipped with a robotic package handling system, the output distribution gantry comprising one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate operations between the package input module and the output distribution gantry;

229. 229. The system of claim 228, further comprising an array of output containers organized in proximity to the place structure, wherein the output distribution gantry is configured to be capable of placing the targeted package within each of the output containers of the array through utilization of the one or more controllably actuated degrees of freedom.

230. 230. The system of claim 229, wherein each of the output containers of the array are organized in a substantially coplanar configuration.

231. 229. The system of claim 228, wherein the package input module comprises a bidirectional conveyor.

232. 229. The system of claim 228, wherein the package input module comprises an omnidirectional ball sorter conveyor.

233. 229. The system of claim 228, wherein the package input module comprises a mechanical diverter configured to selectively move one or more targeted packages from the plurality away from the transport platform.

234. 229. The system of claim 228, further comprising a guidance structure operably coupled between the package input module and an output distribution gantry, the guidance structure configured to mechanically guide the one or more targeted packages from the plurality away from the transport platform and to the output distribution gantry.

235. 235. The system of claim 234, wherein the guidance structure comprises an element selected from the group consisting of a chute, a ramp, a funnel, and a conveyor.

236. 229. The system of claim 228, wherein the output distribution gantry is configured to be controllably and removably coupled to a selected output container and to be capable of removing the selected output container from the output distribution gantry.

237. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; an output container configured to receive packages that may be moved away from the place structure after release from the end effector, the output container configured to contain a plurality of the one or more packages from the pick structure at least briefly as they are placed by operation of the first computing system, the robotic arm, and the end effector; an output distribution gantry configured to transport packages from the place structure to the output container, the output distribution gantry configured to temporarily couple to a targeted package released by the robotic arm and end effector on the place structure, move the targeted package away from the place structure to a position adjacent to the output container, and drop the targeted package into the output container; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the power distribution gantry comprises one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robot arm, the end effector, and the power distribution gantry; the output distribution gantry is configured to controllably and removably couple to a selected output container and to be able to remove the selected output container from the output distribution gantry. Robotic package handling system.

238. 238. The system of claim 237, further comprising an array of output containers organized in proximity to the place structure, wherein the output distribution gantry is configured to be capable of placing the targeted package within each of the output containers of the array through utilization of the one or more controllably actuated degrees of freedom.

239. 239. The system of claim 238, wherein each of the output containers of the array are organized in a substantially coplanar configuration.

240. 238. The system of claim 237, wherein the power distribution gantry comprises an electromechanical coupler configured to controllably couple to and decouple from selected power containers.

241. 241. The system of claim 240, wherein the electromechanical coupler comprises an output container gripper.

242. 241. The system of claim 240, wherein the electromechanical coupler comprises an electromechanically operated hook configured to be removably coupled to a selected output container.

243. 238. The system of claim 237, wherein the place structure is configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially perpendicular to the substantially gravity level orientation of the place structure.

244. 238. The system of claim 237, wherein the place structure is configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially parallel to the substantially gravity level orientation of the place structure.

245. 238. The system of claim 237, further comprising a barcode scanning device operably coupled to the first computing system and configured to scan one or more indicators that may be present on a targeted package.

246. 238. The system of claim 237, wherein the place structure comprises a conveyor configured to move targeted packages toward the output distribution gantry once released by the end effector.

247. 238. The system of claim 237, wherein the output distribution gantry is configured to controllably exit one or more contained packages utilizing a controllably releasable door arrangement.

248. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first suction cup assembly defines a first inner capture chamber configured such that grasping the targeted package includes drawing into and at least partially encapsulating a portion of the targeted package with the first inner capture chamber when the vacuum load is controllably activated adjacent the targeted package; Robotic package handling system.

249. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first suction cup assembly defines a first inner chamber, a first outer seal edge, and a first vacuum-permeable distal wall member collectively configured to prevent excessive protrusion of the surface of the targeted package into the inner chamber of the suction cup assembly, while an outer seal edge can become removably coupled to at least one surface of the targeted package in response to gripping the targeted package with the controllably actuated vacuum load; Robotic package handling system.

250. 1. A system comprising: a robotic pick and place machine, the robotic pick and place machine comprising an actuation system configured to facilitate selection and switching between a plurality of end effector heads and a configurable end effector system; A sensing system; a grasp planning processing pipeline for use under the control of said robotic pick and place machine; A system comprising:

251. The system of claim 250, wherein the changeable end effector system comprises a head selector integrated into the distal end of the actuation system, a set of end effector heads, and a head holding device, the head selector mounted on a separate mounting surface together with one of the set of end effector heads.

252. 251. The system of claim 250, wherein the changeable end effector system further comprises at least one magnet surrounding the center of one of the head selector or end effector head and providing initial seating and retention of the end effector head.

253. 253. The system of claim 252, wherein at least one of the head selector or each of the set of end effector heads comprises a seal positioned along an outer edge of a respective mounting surface.

254. 252. The system of claim 251, wherein the head selector and the set of end effector heads comprise complementary alignment structures.

255. 252. The system of claim 251, wherein the head selector and the set of end effector heads comprise lateral support structure geometries selected to assist in gripping a conformable package.

256. 252. The system of claim 251, wherein the set of end effector heads comprises a set of suction end effectors.

257. 252. The system of claim 251, wherein the actuation system comprises an articulating arm.

258. 1. A robotic package handling system comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to a distal portion of the robotic arm; a place structure geometrically adjacent to a distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned in geometric proximity to a distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device, the first computing system configured to receive the image information from the first imaging device and to command movement of the robotic arm based, at least in part, on the image information; Equipped with the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the end effector is coupled to a distal portion of the robotic arm using a spring-biased end effector coupling assembly including a spring member configured to provide engagement compliance when performing the grasp between the end effector and the targeted package; Robotic package handling system.

259. 259. The system of claim 258, wherein the spring member is configured to have a defined spring constant selected to provide the engagement compliance.

260. The system of claim 258, wherein the spring-loaded end effector coupling assembly comprises an insertion axial restraint member configured to facilitate spring-loaded insertion of the spring-loaded end effector coupling assembly along an axis defined by the axial restraint member.

261. 261. The system of claim 260, wherein the axial restraint member comprises a linear bearing assembly configured to facilitate movement along a single axis of motion.

262. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; Prior to performing the grasp, the first computing system is configured to analyze a plurality of candidate grasps and select an execution grasp to be performed to remove the targeted package from the pick structure based, at least in part, on runtime usage of a neural network operated by the computing device, the neural network being trained using views developed from synthetic data comprising rendered images of three-dimensional models of one or more synthetic packages as housed by a synthetic pick structure. Robot package handling method.

263. 263. The method of claim 262, wherein the first computing system is further configured to analyze the plurality of candidate grasps based on a continuous learning configuration of the neural network in which data from a set of known and actual experiences is utilized to further train the neural network.

264. 264. The method of claim 263, wherein the set of known and actual experiences is based on prior operation of a particular robotic arm of the system.

265. 264. The method of claim 263, wherein the set of known and actual experiences is based on prior operations of different robotic arms similar to the particular robotic arm of the system.

266. The method of claim 265, wherein a different robotic arm that is similar to a particular robotic arm of the system is substantially the same as the particular robotic arm of the system.

267. 263. The method of claim 262, wherein the first computing system is configured to analyze the plurality of candidate grasps based on the kinematic reach of the robotic arm and end effector.

268. 263. The method of claim 262, wherein the first computing system is configured to analyze the plurality of candidate grasps based on the location of labeling information on the targeted package based on the image information from the first imaging device.

269. 269. The method of claim 268, wherein the first computing system is configured to analyze the plurality of candidate grasps based on the location of barcode labeling information on the targeted package based on the image information from the first imaging device.

270. The method of claim 269, wherein the first computing system is configured to analyze the plurality of candidate grasps based on the location of labeling information on the targeted package based on the image information from the first imaging device, and select an execution grasp that does not cause the end effector to cover the barcode labeling information.

271. 263. The method of claim 262, further comprising a frame structure configured to fixedly couple the robotic arm to the place structure.

272. 272. The method of claim 271, wherein the pick structure is removably coupled to the frame structure.

273. 263. The method of claim 262, wherein the place structure comprises an installation tray.

274. 274. The method of claim 273, wherein the installation tray comprises first and second rotatably coupled members, the first and second rotatably coupled members being configured to form a substantially flat tray base surface when in a first rotational configuration relative to each other and to form a lifting fork configuration when in a second rotational configuration relative to each other.

275. 274. The method of claim 273, wherein the installation tray is operably coupled to one or more actuators configured to controllably change the orientation of at least a portion of the installation tray, and the one or more actuators are operably coupled to the first computing system.

276. 263. The method of claim 262, wherein the pick structure comprises an element selected from the group consisting of a container, a tray, a fixed surface, and a movable surface.

277. The method of claim 276, wherein the pick structure comprises a container configured to define a package receiving volume bounded by a bottom and a plurality of walls, and an open access opening configured to accommodate entry and exit of at least a distal portion of the robotic arm.

278. 278. The method of claim 277, wherein the first imaging device is configured to capture the image information regarding the pick structure and one or more packages through the open access opening.

279. 278. The method of claim 277, wherein the first imaging device comprises a depth camera.

280. 263. The method of claim 262, wherein the first imaging device is configured to capture color image data.

281. 272. The method of claim 271, wherein the first computing system comprises a VLSI computer operably coupled to the frame structure.

282. 263. The method of claim 262, wherein the first computing system comprises a network of interconnected computing devices, at least one of which is located remotely relative to the robotic arm.

283. 263. The method of claim 262, further comprising a second computing system operably coupled to the first computing system.

284. 284. The method of claim 283, wherein the second computing system is located remotely relative to the first computing system, and the first and second computing systems are operably coupled via a computer network.

285. 263. The method of claim 262, wherein the first computing system is configured such that performing the grasp includes analyzing a plurality of candidate grasps and selecting an execution grasp to be performed to remove the targeted package from the pick structure.

286. 286. The method of claim 285, wherein analyzing the plurality of candidate grasps includes scanning locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package.

287. The method of claim 286, wherein analyzing the plurality of candidate grasps includes examining locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package from a plurality of different end effector approach orientations.

288. The method of claim 286, wherein analyzing the plurality of candidate grasps includes examining locations on the targeted package where the first suction cup assembly is predicted to be able to form a sealing engagement with a surface of the targeted package from a plurality of different end effector approach positions.

289. 287. The method of claim 286, wherein the first suction cup assembly comprises a first outer sealing edge, and the sealing engagement with the surface comprises substantially complete engagement of the first outer sealing edge with the surface.

290. The method of claim 286, wherein probing the location on the targeted package where it is predicted that the first suction cup assembly will be able to form a sealing engagement with the surface of the targeted package is performed in a purely geometric manner.

291. 286. The method of claim 285, wherein the first computing system is configured to select the performed grasp based on candidate grasp factors selected from the group consisting of an estimated demand time, an estimated demand calculation, and an estimated degree of grasp success.

292. 263. The method of claim 262, wherein the first suction cup assembly comprises a bellows structure.

293. 293. The method of claim 292, wherein the accordion structure comprises a plurality of wall portions adjacently joined with bent edges.

294. 294. The method of claim 293, wherein the bellows structure comprises a material selected from the group consisting of polyethylene, polypropylene, rubber, and thermoplastic elastomer.

295. 263. The method of claim 262, wherein the first suction cup assembly comprises an outer housing and an internal structure coupled thereto.

296. 296. The method of claim 295, wherein the internal structure of the first suction cup assembly comprises a wall member coupled to a proximal base member.

297. 297. The method of claim 296, wherein the wall member has a substantially cylindrical shape having a proximal end and a distal end, and the proximal base member forms a substantially circular interface with the proximal end of the wall member.

298. 297. The method of claim 296, wherein the proximal base member defines one or more inlet openings therethrough, the one or more inlet openings configured to allow air flow therethrough pursuant to activation of the controllably activated vacuum load.

299. The method of claim 298, wherein the internal structure further comprises a structural opening ring portion configured to define access to the inner capture chamber, and a distal wall member comprising one or more transition air channels configured to allow air flow therethrough following activation of the controllably activated vacuum load.

300. 300. The method of claim 299, wherein the one or more inlet openings and the one or more transition air channels function to allow a predetermined flow of air through the capture chamber to promote releasable coupling between the first suction cup assembly and the targeted package.

301. 263. The method of claim 262, wherein the one or more packages are selected from the group consisting of bags, "poly bags," "poly," fiber bags, fiber envelopes, bubble wrap bags, bubble wrap envelopes, "Jiffy" bags, "Jiffy" envelopes, and substantially rigid rectangular structures.

302. 302. The method of claim 301, wherein the one or more packages comprise a fiber-based bag comprising a paper composite or a polymer composite.

303. 302. The method of claim 301, wherein the one or more packages comprise a fiber-based envelope comprising a paper composite or a polymer composite.

304. 302. The method of claim 301, wherein the one or more packages comprise a substantially rigid rectangular structure forming a box.

305. 263. The method of claim 262, wherein the end effector comprises a second suction cup assembly coupled to the controllably activated vacuum load.

306. 306. The method of claim 305, wherein the second suction cup assembly defines a second inner capture chamber configured to draw in and at least partially encase a portion of the targeted package when the vacuum load is controllably activated adjacent the targeted package.

307. 263. The method of claim 262, further comprising a second imaging device operably coupled to the first computing system and positioned and oriented to capture one or more images of the targeted package after the grasp is performed using the end effector.

308. 308. The method of claim 307, wherein the first computing system and second imaging device are configured to capture the one or more images such that an outer dimensional boundary of the targeted package can be estimated.

309. 309. The method of claim 308, wherein the first computing system is configured to determine dimensional boundaries of the targeted package by utilizing the one or more images, fitting a 3D rectangular prism around the targeted package, and estimating the L-W-H of the rectangular prism.

310. 310. The method of claim 309, wherein the first computing system is configured to utilize the fitted 3D rectangular prism to estimate the position and orientation of the targeted package relative to the end effector.

311. The method of claim 307, further comprising a third imaging device operably coupled to the first computing system and positioned and oriented to capture one or more images of the targeted package after the grasp is performed using the end effector.

312. The method of claim 307, wherein the second imaging device and first computing system are further configured to capture a sequence of images of the targeted package during movement of the targeted package and estimate whether the targeted package is deformable by analyzing deformation of the targeted package in the sequence of images.

313. 308. The method of claim 307, wherein the first computing system and second imaging device are configured to capture and utilize the one or more images after the grasp is performed using the end effector and estimate whether multiple packages or zero packages are produced using the performed grasp.

314. 314. The method of claim 313, wherein the first computing system is configured to abort the grasp in response to determining that multiple packages or zero packages resulted from the grasp.

315. 263. The method of claim 262, wherein the end effector comprises a tool switching head portion configured to controllably couple to and decouple from the first suction cup assembly using a tool holder mounted geometrically adjacent to a distal portion of the robotic arm.

316. 316. The method of claim 315, wherein the tool holder is configured to hold and be removably coupled to one or more additional suction cup assemblies or one or more other package interfacing tools such that the first computing device can be configured to perform tool switching using the tool switching head portion.

317. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the placing structure comprising at least one substantially planar surface and one or more external dexterity geometric features extending away from the at least one substantially planar surface, the one or more external dexterity geometric features configured to provide a counterload to movement of the targeted package through the robotic arm and end effector and to assist the robotic arm and end effector in manipulating the targeted package before the targeted package is released at the placing structure; Robot package handling method.

318. 318. The method of claim 317, wherein the one or more external maneuverable geometric features are selected from the group consisting of a protruding wall, a protruding ramp, a protruding ramp / wall, a composite ramp, a composite wall, and a composite ramp / wall.

319. 318. The method of claim 317, wherein the one or more external dexterous geometric features comprise one or more controllably movable degrees of freedom for changing shape operably coupled to the first computing system.

320. The method of claim 317, wherein the first imaging device is configured to provide image information regarding the place structure, and based at least in part on the image information, the first computing system is configured to utilize a neural network to perform the grasp, operate the robotic arm and end effector while contacting one or more sides of the external dexterity geometric feature, and obtain a desired orientation of the targeted package upon release of the targeted package into the place structure.

321. 321. The method of claim 320, wherein the neural network is trained at least in part based on a synthetic image of a synthetic package and synthetic external dexterity geometric features.

322. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture stereoscopic image information regarding the pick structure and one or more packages comprising pairs of images relating to substantially the same field of capture but with different viewpoints; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and to command movement of the robotic arm based at least in part on the image information. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; Prior to performing the grasp, the first computing system is configured to geometrically map a three-dimensional volume around the targeted package based at least in part on the stereoscopic image information from the first imaging device, analyze a plurality of candidate grasps, and select an execution grasp to be performed to remove the targeted package from the pick structure based at least in part on runtime use of a neural network operated by the computing device and informed by the stereoscopic image information, the neural network being trained at least in part using views developed from synthetic data comprising rendered images of three-dimensional models of one or more synthetic packages as received by a synthetic pick structure. Robot package handling method.

323. 323. The method of claim 322, wherein the first imaging device is configured to provide pairs of images with different viewpoints selected to provide relative depth discrimination, based at least in part on a selected distance between the first imaging device and the targeted package.

324. 323. The method of claim 322, wherein the neural network is trained using views developed from synthetic data in which noise is modeled in the rendered image.

325. 323. The method of claim 322, wherein the neural network is trained using views from real data selected to match a high resolution imaging device sensor.

326. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; a centralized storage system configured to store event information relating to operation of the robotic arm, the end effector, and the first imaging device; and a user computing system operably coupled to the centralized storage system. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the centralized storage system is configured to enable a user operating the user computing system to view, through a user interface configurable by the user, event information relating to the image information from the first imaging device and data and metadata relating to the event information, facilitating sequential event viewing relating to the operation of the robotic arm and end effector. Robot package handling method.

327. 327. The method of claim 326, wherein the centralized storage system is configured to enable a user operating the user computing system to receive a user interface flag regarding an operational error and to view an operational visual sequence regarding the event information associated with the operational error.

328. 327. The method of claim 326, wherein the centralized storage system is configured to enable a user operating the user computing system to receive one or more written reports regarding the operation of the package handling system.

329. 329. The method of claim 328, wherein the one or more written reports may comprise elements selected from the group consisting of: behavior analysis data, event logging data, sorting frequency data, and integrated facility data.

330. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information; and a package that can be moved away from the place structure after release from the end effector. an output container configured to receive a cage, the output container configured to at least briefly contain a plurality of the one or more packages from the pick structure when placed thereon by operation of the first computing system, the robotic arm, and the end effector; and an output distribution gantry configured to transport packages from the place structure to the output container, the output distribution gantry configured to temporarily couple to a targeted package released by the robotic arm and the end effector on the place structure, move the targeted package away from the place structure to a position adjacent to the output container, and drop the targeted package into the output container. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the power distribution gantry comprises one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robot arm, the end effector, and the power distribution gantry; Robot package handling method.

331. 331. The method of claim 330, further comprising an array of output containers organized in proximity to the place structure, wherein the output distribution gantry is configured to be capable of placing the targeted package within each of the output containers of the array through utilization of the one or more controllably actuated degrees of freedom.

332. 332. The method of claim 331, wherein each of the output containers of the array is organized in a substantially coplanar configuration.

333. 331. The method of claim 330, wherein the power distribution gantry comprises an electromechanical coupler configured to controllably couple to and decouple from selected power containers.

334. 334. The method of claim 333, wherein the electromechanical coupler comprises an output container gripper.

335. 334. The method of claim 333, wherein the electromechanical coupler comprises an electromechanically operated hook configured to be removably coupled to a selected output container.

336. 331. The method of claim 330, wherein the place structure is configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially perpendicular to the substantially gravity level orientation of the place structure.

337. 331. The method of claim 330, wherein the place structure is configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially parallel to the substantially gravity level orientation of the place structure.

338. 331. The method of claim 330, further comprising a barcode scanning device operably coupled to the first computing system and configured to scan one or more indicators that may be present on a targeted package.

339. 331. The method of claim 330, wherein the place structure comprises a conveyor configured to move targeted packages toward the output distribution gantry once released by the end effector.

340. 331. The method of claim 330, wherein the output distribution gantry is configured to controllably exit one or more contained packages utilizing a controllably releasable door arrangement.

341. 331. The method of claim 330, wherein the power distribution gantry comprises a rail system.

342. 331. The method of claim 330, wherein the output distribution gantry comprises a conveyor.

343. 331. The method of claim 330, wherein the output distribution gantry is configured to controllably grasp multiple targeted packages at a time.

344. 331. The method of claim 330, further comprising a second output distribution gantry operably coupled to the first output distribution gantry and configured to receive packages transferred from the first output distribution gantry.

345. 1. A robotic package handling method comprising: a robot arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robot arm; a place structure geometrically proximate to the distal portion of the robot arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robot arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robot arm based at least in part on the image information; and a first scanning device operably coupled to the first computing system and configured to scan identifiable information that may pass within a field of view of the first scanning device. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to operate the first scanning device to capture identification information regarding the targeted package by positioning and / or orienting the targeted package relative to the first scanning device such that a field of view of the first scanning device has geometric access to identifiable information of the targeted package; Robot package handling method.

346. The method of claim 345, wherein the identifiable information comprises a package label.

347. 347. The method of claim 346, wherein the package label comprises a bar code readable by the first scanning device.

348. The method of claim 345, wherein the first computing system is configured to operate the robotic arm and end effector to pass identifiable information of the targeted package into the field of view of the first scanning device.

349. 346. The method of claim 345, wherein the first computing system is configured to utilize the image information from the first imaging device to identify the location of the identifiable information on the targeted package.

350. 350. The method of claim 349, wherein the first computing system is configured to reorient and probe a side of the targeted package that is not visible using the first imaging device when the first computing system fails to find the identifiable information on the targeted package in an initial orientation relative to the first imaging device.

351. 347. The method of claim 346, wherein the first computing system is configured to read one or more aspects of the package indicia using optical character recognition.

352. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; a first computing system operatively coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and an unloading module configured to receive packages that may be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the unloading module comprises one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robotic arm, end effector, and unloading module and automatically combine packages for further separate processing. Robot package handling method.

353. 353. The method of claim 352, wherein the shipping module comprises an element selected from the group consisting of a ramp, a chute, a diverter, an external packaging system, a palletizing system, a wheeled cart, and a mobile robot.

354. 1. A robotic package handling method comprising: a robot arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robot arm; a place structure geometrically proximate to the distal portion of the robot arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robot arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; and a first computing system operably coupled to the robot arm and the first imaging device, configured to receive the image information from the first imaging device and to command movement of the robot arm based, at least in part, on the image information; the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to release the grasp by controllably deactivating the vacuum load with the end effector at a release position and orientation from the end effector relative to the place structure as influenced by the position and orientation of the end effector at the time of deactivating the vacuum load; the first computing system is configured to select a release location and orientation to accommodate subsequent repositioning or reorientation of the targeted package away from the place structure. Robot package handling method.

355. The method of claim 354, wherein the subsequent repositioning or reorientation is selected from the group consisting of pushing into the container, pulling into the container, reorienting the tip to cause a rolling drop into the container, coupling with movement to another location, and coupling with reorientation to another location.

356. The method of claim 354, wherein the first computing system is configured to select a release position and orientation for the targeted package based, at least in part, on additional factors of the targeted package selected from the group consisting of material properties of the targeted package, moment of inertia of the targeted package, dimensions of the targeted package, and location of labeling information on the targeted package.

357. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to develop and execute a motion plan to reposition and reorient the targeted package when coupled to the end effector in a manner that minimizes disturbance of the targeted package; Robot package handling method.

358. 358. The method of claim 357, wherein the motion plan is selected to minimize the load on the targeted package.

359. The method of claim 358, wherein the motion plan is selected to minimize angular acceleration of the targeted package.

360. The method of claim 358, wherein the motion plan is selected to minimize linear acceleration of the targeted package.

361. 359. The method of claim 358, wherein the motion plan is selected to minimize impact loads as a result of one or more collisions with other objects.

362. 358. The method of claim 357, wherein the motion plan is selected to minimize vibration loads on the targeted package.

363. 358. The method of claim 357, wherein the first computing system is configured to utilize the image information from the first imaging device to identify labeling information present on the targeted package.

364. The method of claim 363, wherein the labeling information is selected from the group consisting of bar code information, address information, and shipping label information.

365. The method of claim 363, wherein the first computing system is configured to construct and execute the motion plan to position and orient the targeted package so that the tagging information is exposed for capture.

366. 366. The method of claim 365, further comprising a barcode scanning device, wherein the first computing system is configured to construct and execute the motion plan to position and orient the targeted package so that the labeled information is exposed for capture by the barcode scanning device.

367. 366. The method of claim 365, wherein the first computing system is configured to utilize optical character recognition to gather information from the labeled information.

368. 358. The method of claim 357, wherein the first computing system is configured to select a release location and orientation to accommodate subsequent repositioning or reorientation of the targeted package away from the place structure.

369. The method of claim 368, wherein the subsequent repositioning or reorientation is selected from the group consisting of pushing into the container, reorienting the tip to cause a rolling drop into the container, bonding with movement to another location, and bonding with reorientation to another location.

370. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to receive load information from the robotic arm and utilize the load information and image information from the first imaging device to characterize one or more material properties of the targeted package; Robot package handling method.

371. 371. The method of claim 370, wherein the load information from the robotic arm comprises kinematic data regarding the movement of the robotic arm when the end effector is utilized to perform a grasp of the targeted package.

372. 371. The method of claim 370, further comprising one or more load cells operably coupled to the robotic arm and configured to determine a load associated with movement of the robotic arm.

373. The method of claim 370, wherein one or more material properties of the targeted package are selected from the group consisting of moment of inertia, stability under acceleration, apparent stiffness of the external structure, and structural elastic modulus of the targeted package.

374. 374. The method of claim 373, wherein the first computing system is configured to expose the targeted package to a characterization load treatment to assist in characterizing one or more material properties of the targeted package.

375. 375. The method of claim 374, wherein the characterization load treatment comprises application of a relatively high impulse load.

376. 375. The method of claim 374, wherein the characterization load processing comprises acceleration.

377. 377. The method of claim 376, wherein the acceleration is rotational.

378. 375. The method of claim 374, wherein the characterization load treatment comprises exposing at least a portion of the targeted package to a high velocity gas stream.

379. 379. The method of claim 378, wherein the gas flow comprises high velocity air from an opening.

380. 375. The method of claim 374, wherein the first imaging device is configured to capture information regarding the behavior of the targeted package during the characterization load treatment.

381. 375. The method of claim 374, wherein the characterization load treatment includes moving the targeted package relative to another surface.

382. The method of claim 374, wherein the characterization load treatment includes reorienting the targeted package relative to another surface.

383. The method of claim 370, wherein while performing the grasping using the robotic arm and end effector, the first computing system is configured to pass the targeted package within the field of view of the first imaging device, and image information about the targeted package as it passes within the field of view of the first imaging device is utilized by the first computing system to fit a three-dimensional rectangular prism around the targeted package and estimate three side dimensions of the three-dimensional rectangular prism.

384. The method of claim 383, wherein the first computing system is further configured to utilize the fitted three-dimensional rectangular prism to estimate the position and orientation of the targeted package relative to the end effector.

385. The method of claim 383, wherein the first computing system is further configured to estimate the closest possible three-dimensional rectangular prism around the targeted package.

386. The method of claim 383, wherein the first computing system is further configured to construct a three-dimensional model of the targeted package.

387. 371. The method of claim 370, wherein the first computing system is configured to utilize the image information from the first imaging device to capture barcode information from targeted packages.

388. The method of claim 387, wherein the barcode information comprises an estimate of the quality of the captured barcode information from the targeted package.

389. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a package input module operably coupled to the first computing system and configured to provide a supply of packages to be transferred to the pick structure. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the package input module is configured to be operated by the first computing system to control the supply based, at least in part, on a number of the one or more packages temporarily coupled to the pick structure. Robot package handling method.

390. 390. The method of claim 389, wherein the package input module is configured to be operated by the first computing system to control the supply based, at least in part, on image information from the first imaging device.

391. 390. The method of claim 389, wherein the package input module is configured to be capable of automatically ejecting the targeted package based, at least in part, on analysis by the first computing system of the image information from the first imaging device that the targeted package may be unpickable.

392. The method of claim 391, wherein the analysis by the first computing system of the image information from the first imaging device that the targeted package may be unpickable is based on a neural network.

393. 393. The method of claim 392, wherein the neural network is trained at least in part based on a synthetic package image.

394. 392. The method of claim 391, wherein the package input module comprises a mechanical injection element configured to controllably inject packages targeted for subsequent reprocessing into separate routings.

395. 395. The method of claim 394, wherein the mechanical ejection element is selected from the group consisting of a pusher, a diverter, an arm, and a multi-directional conveyor.

396. 395. The method of claim 394, wherein the mechanical ejection element is configured to be pneumatically or electromechanically operated.

397. The method of claim 389, wherein the first computing system is configured to utilize the image information from the first imaging device to estimate a likely success rate for grasping a particular targeted package before the particular targeted package reaches the end effector.

398. The method of claim 397, wherein the first computing system is configured to utilize the image information from the first imaging device and, based on a neural network, estimate the likely success rate for grasping a particular targeted package before the particular targeted package reaches the end effector.

399. 399. The method of claim 398, wherein the neural network is trained at least in part based on a synthetic package image.

400. 390. The method of claim 389, further comprising a second imaging device positioned and oriented to capture image information regarding the package input module and one or more packages.

401. 390. The method of claim 389, wherein the first computing system is configured to utilize the image information from the first imaging device to determine whether a package jam has occurred.

402. 402. The method of claim 401, wherein the analysis by the first computing system of the image information from the first imaging device to determine whether a package jam has occurred is based on a neural network.

403. 403. The method of claim 402, wherein the neural network is trained at least in part based on synthetic package images.

404. 402. The method of claim 401, wherein the first computing system is configured to send a notification to one or more users in response to determining that a package jam has occurred.

405. 402. The method of claim 401, wherein the first computing system is configured, in response to determining that a package jam has occurred, to automatically take one or more steps to resolve the package jam.

406. 406. The method of claim 405, wherein the one or more steps for resolving the package jam are selected from the group consisting of applying mechanical vibration, applying a load to move one or more targeted packages, and reversing the movement of one or more targeted packages.

407. 1. A robotic package handling method comprising: a robot arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robot arm; a place structure geometrically proximate to the distal portion of the robot arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robot arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; a first computing system operatively coupled to the robot arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robot arm based, at least in part, on the image information; and an output container configured to receive packages that may be moved away from the place structure after release from the end effector, the output container configured to at least briefly contain a plurality of the one or more packages from the pick structure when placed therein by movement of the first computing system, the robot arm, and the end effector. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to estimate when the output container is at a desired full level based on an aggregate package volume determined at least in part based on image information from the first imaging device obtained before the plurality of one or more packages enter the output container; Robot package handling method.

408. 408. The method of claim 407, wherein the computing system is configured to estimate when the output container is at a desired full level based on additional input selected from the group consisting of an image of the output container, a weight of the output container, and a shape of the output container.

409. 408. The method of claim 407, wherein the first imaging device is configured to capture image information about the output container.

410. 408. The method of claim 407, wherein the computing system is configured to utilize the image information from the first imaging device in determining whether a blockage has occurred.

411. 411. The method of claim 410, wherein the computing system is configured to utilize a neural network to determine whether a jam has occurred, the neural network being trained based on images of one or more packages.

412. 412. The method of claim 411, wherein the image of the one or more packages is based, at least in part, on a composite image.

413. 408. The method of claim 407, further comprising a second imaging device operably coupled to the first computing system and configured to capture image information about the output container.

414. 414. The method of claim 413, wherein the computing system is configured to utilize the image information from the second imaging device in determining whether a blockage has occurred.

415. 415. The method of claim 414, wherein the computing system is configured to utilize a neural network to determine whether a jam has occurred, the neural network being trained based on images of one or more packages.

416. 414. The method of claim 413, wherein the image of the one or more packages is based, at least in part, on a composite image.

417. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; a first computing system operatively coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and an unloading module configured to receive packages that may be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the unloading module comprises one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robotic arm, end effector, and unloading module to automatically place packages into shipping containers in a manner selected to facilitate manual unloading at multiple destinations; Robot package handling method.

418. 418. The method of claim 417, wherein the shipping module comprises an element selected from the group consisting of a ramp, a chute, a diverter, an external packaging system, a palletizing system, a robotic arm, and a mobile robot.

419. 418. The method of claim 417, wherein the transport container is a delivery truck having a package storage section, and the unloading module comprises a first transport module configured to controllably place packages in the package storage section to facilitate a predetermined sequence of manual unloading at the multiple destinations.

420. 418. The method of claim 417, wherein the transport container is a shipping container and the unloading module comprises a first conveying module configured to controllably place packages in the shipping container to facilitate a predetermined sequence of manual unloading at the multiple destinations.

421. 418. The method of claim 417, wherein the unloading module comprises a distal portion configured to cantilever into an access door of the shipping container.

422. 422. The method of claim 421, wherein a distal portion of the unloading module comprises at least one local stability load member configured to be controllably extended away from the distal portion of the unloading module to be removably coupled to a portion of the transport container to stabilize the distal portion of the unloading module relative to the transport container.

423. 423. The method of claim 422, wherein the stability load member is configured to be loaded primarily in tension.

424. 423. The method of claim 422, wherein the stability load member is configured to be loaded primarily in compression.

425. 423. The method of claim 422, wherein the stability load member is configured to be loaded primarily in flexion.

426. 418. The method of claim 417, further comprising a second imaging device configured to capture image information regarding the shipping container.

427. 427. The method of claim 426, wherein the first computing system is configured to perform simultaneous localization and mapping of geometric features of the shipping container.

428. 427. The method of claim 426, wherein the second imaging device is coupled to the shipping module.

429. 418. The method of claim 417, wherein the shipping module comprises a robotic arm configured to automatically place a package into the shipping container.

430. 430. The method of claim 429, wherein the robotic arm is coupled to a movable base to facilitate movement relative to the shipping container.

431. 431. The method of claim 430, wherein the movable base comprises an element selected from the group consisting of an electromechanical movable base, a manually movable base, and a rail-constrained movable base.

432. 418. The method of claim 417, further comprising an output buffer structure coupled between the end effector and the output module, the output buffer structure configured to accommodate the package output from the robotic arm and associated end effector before the output module can automatically place the package into the transport container.

433. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; a first computing system operatively coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and an unloading module configured to receive packages that may be moved away from the place structure after release from the end effector, automatically transport them away from the proximity of the robotic arm, and automatically prepare them for further separate processing. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the unloading module comprises a palletizing system having one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robotic arm, end effector, and unloading module to automatically place packages on pallet bases. Robot package handling method.

434. The method of claim 433, wherein the unloading module further comprises an element selected from the group consisting of a ramp, a chute, a diverter, a robotic arm, and a mobile robot.

435. 434. The method of claim 433, wherein the unloading module further comprises a coupling module configured to automatically couple packages placed on the pallet base using applied circumferential binding members.

436. 434. The method of claim 433, wherein the shipping module comprises a robotic arm configured to automatically place packages on the pallet base.

437. 437. The method of claim 436, wherein the robotic arm is coupled to a movable base to facilitate movement relative to the pallet base.

438. 438. The method of claim 437, wherein the movable base comprises an element selected from the group consisting of an electromechanical movable base, a manually movable base, and a rail-constrained movable base.

439. The method of claim 433, further comprising an output buffer structure coupled between the end effector and the output module, the output buffer structure configured to accommodate the package output from the robot arm and associated end effector before the output module can automatically place the package on the pallet base.

440. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; While performing the grasping with the robotic arm and end effector, the first computing system is configured to pass the targeted package through a field of view of the first imaging device, and image information about the targeted package as it passes through a field of view of the first imaging device is utilized by the first computing system to fit a three-dimensional rectangular prism around the targeted package and estimate three side dimensions of the three-dimensional rectangular prism. Robot package handling method.

441. 441. The method of claim 440, wherein the first computing system is further configured to utilize the fitted three-dimensional rectangular prism to estimate the position and orientation of the targeted package relative to the end effector.

442. 441. The method of claim 440, wherein the first computing system is further configured to estimate the closest possible three-dimensional rectangular prism around the targeted package.

443. 441. The method of claim 440, wherein the first computing system is further configured to construct a three-dimensional model of the targeted package.

444. 1. A robotic package handling method comprising: a robot arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robot arm; a movable place structure geometrically proximate to the distal portion of the robot arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robot arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robot arm based, at least in part, on the image information; and a robot arm configured to receive a package that can be moved away from the movable place structure after release from the end effector. an output container configured to at least briefly accommodate a plurality of the one or more packages from the pick structure when the output container is placed by operation of the first computing system, the robotic arm, and the end effector; and an output distribution gantry coupled to the movable place structure and configured to transport packages from the movable place structure to the output container, the output distribution gantry configured to temporarily couple to a targeted package released by the robotic arm and the end effector on the movable place structure, move the targeted package away from the end effector to a position adjacent to the output container, and drop the targeted package into the output container. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the movable place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the power distribution gantry comprises two or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robotic arm, end effector, and power distribution gantry; Robot package handling method.

445. 445. The method of claim 444, further comprising an array of output containers organized in proximity to the place structure, wherein the output distribution gantry is configured to be capable of placing the targeted package within each of the output containers of the array through utilization of the two or more controllably actuated degrees of freedom.

446. 446. The method of claim 445, wherein each of the output containers of the array is organized in a substantially coplanar configuration.

447. 1. A robotic package handling method comprising: a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robot arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robot arm based, at least in part, on the image information; and a package input module operably coupled to the first computing system and configured to be operated by the first computing system to mechanically process a plurality of incoming packages from a substantially disordered mechanical organization based, at least in part, on the image information, to provide a supply of packages to be transferred to the pick structure to be substantially singulated, and to remove any packages that do not become substantially singulated as a result of the mechanical processing. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load. Robot package handling method.

448. 448. The method of claim 447, wherein the package input module is configured to be operated by the first computing system to control the supply based, at least in part, on the number of the one or more packages temporarily coupled to the pick structure.

449. 448. The method of claim 447, wherein the package input module is configured to be operated by the first computing system to control the supply based, at least in part, on the image information regarding the pick structure.

450. 448. The method of claim 447, wherein the package input module comprises one or more mechanical singulation elements configured to mechanically process and direct a supply of the substantially singulated packages toward the pick structure.

451. 451. The method of claim 450, wherein the one or more mechanical singulation elements are selected from the group consisting of a ramp sequence, a vibration actuator, a belt, a coordinated plurality of belts, a ball sorter conveyor, a step sequence, a chute with one or more 90 degree turns, a mechanical diverter, a vertical mechanical filter, and a horizontal mechanical filter.

452. 448. The method of claim 447, wherein the package input module is configured to be operated by the first computing system to use a diversion element configured to selectively divert one or more targeted packages to remove any packages that do not become substantially singulated as a result of the mechanical processing.

453. 453. The method of claim 452, wherein the diversion element is a mechanical diverter.

454. 453. The method of claim 452, wherein the diversion element is a diversion conveyor.

455. The method of claim 447, wherein the package input module is operably coupled to the first computing system and configured to be operated by the first computing system to mechanically process a plurality of incoming packages from a substantially disordered mechanical organization based at least in part on the image information, provide a supply of packages to be transported to the pick structure to be substantially singulated, remove any packages that do not become substantially singulated as a result of the mechanical processing, and move any packages toward singulation based on the image information.

456. 456. The method of claim 455, wherein the first computing system can be configured to move the certain packages toward singulation using one or more mechanical singulation elements configured to mechanically handle the certain packages.

457. 457. The method of claim 456, wherein the one or more mechanical singulation elements are selected from the group consisting of a ramp sequence, a vibration actuator, a belt, a coordinated plurality of belts, a ball sorter conveyor, a step sequence, a chute with one or more 90 degree turns, a mechanical diverter, a vertical mechanical filter, and a horizontal mechanical filter.

458. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information; and a package input module operably coupled to the first computing system and configured to provide a supply of packages to be transferred to the pick structure. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the package input module is configured to be operated by the first computing system to control the feeding based, at least in part, on a rate at which the robotic arm and end effector are able to grasp from the pick structure and release targeted packages at the place structure. Robot package handling method.

459. The method of claim 458, wherein the first computing system is configured to substantially match the rate at which the robotic arm and end effector can grasp from the pick structure and release targeted packages at the place structure with the supply rate provided to the pick structure by the package input module.

460. The method of claim 458, wherein the package input module is configured to be capable of automatically ejecting the targeted package based, at least in part, on analysis by the first computing system of the image information from the first imaging device that the targeted package may be unpickable.

461. The method of claim 460, wherein the analysis by the first computing system of the image information from the first imaging device that the targeted package may be unpickable is based on a neural network.

462. 462. The method of claim 461, wherein the neural network is trained at least in part based on a synthetic package image.

463. 461. The method of claim 460, wherein the package input module comprises a mechanical injection element configured to controllably inject packages targeted for subsequent reprocessing into separate routings.

464. 464. The method of claim 463, wherein the mechanical ejection element is selected from the group consisting of a pusher, a diverter, an arm, and a multi-directional conveyor.

465. 464. The method of claim 463, wherein the mechanical ejection element is configured to be pneumatically or electromechanically operated.

466. The method of claim 458, wherein the first computing system is configured to utilize the image information from the first imaging device to estimate a likely success rate for grasping a particular targeted package before the particular targeted package reaches the end effector.

467. The method of claim 466, wherein the first computing system is configured to utilize the image information from the first imaging device and, based on a neural network, estimate the likely success rate for grasping a particular targeted package before the particular targeted package reaches the end effector.

468. 468. The method of claim 467, wherein the neural network is trained at least in part based on synthetic package images.

469. 459. The method of claim 458, further comprising a second imaging device positioned and oriented to capture image information regarding the package input module and one or more packages.

470. 459. The method of claim 458, wherein the first computing system is configured to utilize the image information from the first imaging device to determine whether a package jam has occurred.

471. 471. The method of claim 470, wherein the analysis by the first computing system of the image information from the first imaging device to determine whether a package jam has occurred is based on a neural network.

472. 472. The method of claim 471, wherein the neural network is trained at least in part based on a synthetic package image.

473. 471. The method of claim 470, wherein the first computing system is configured to send a notification to one or more users in response to determining that a package jam has occurred.

474. 471. The method of claim 470, wherein the first computing system is configured, in response to determining that a package jam has occurred, to automatically take one or more steps to resolve the package jam.

475. 475. The method of claim 474, wherein the one or more steps for resolving the package jam are selected from the group consisting of applying mechanical vibration, applying a load to move one or more targeted packages, and reversing the movement of one or more targeted packages.

476. 1. A robotic package handling method comprising: a first computing system operatively coupled to the robot arm and the first imaging device and configured to receive the image information from the first imaging device and to command movement of the robot arm based, at least in part, on the image information; and a second computing system operatively coupled to the first computing system and configured to capture image information about the one or more packages from a second perspective different from a first perspective of the first imaging device. the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first computing system is configured to utilize image information from the first imaging device and the second imaging device in a sensor fusion configuration to estimate an external dimension of the targeted package; Robot package handling method.

477. 477. The method of claim 476, wherein the first and second viewpoints are substantially orthogonal.

478. 477. The method of claim 476, wherein the first and second perspectives are substantially opposite.

479. 477. The method of claim 476, wherein the first imaging device has a measurement error regarding the targeted package that is substantially uncorrelated to the measurement error the second imaging device has regarding the targeted package.

480. 477. The method of claim 476, further comprising a third imaging device operably coupled to the first computing system and configured to capture image information about the one or more packages from a third viewpoint different from the first viewpoint of the first imaging device or the second viewpoint of the second imaging device.

481. 477. The method of claim 476, wherein the first computing system is configured to utilize the image information from the first imaging device and the second imaging device to construct a three-dimensional model of the one or more packages.

482. 477. The method of claim 476, wherein the first computing system is configured to utilize the image information from the first imaging device and the second imaging device to estimate one or more material properties of the targeted package.

483. The method of claim 476, wherein the one or more material properties of the targeted package are selected from the group consisting of package stiffness, package bulk modulus, package hardness, package external compliance, and estimated relaxation of the external package material.

484. 484. The method of claim 483, wherein the first computing system is configured to estimate the one or more material properties using a neural network, the neural network being trained using images related to a package external training dataset.

485. 485. The method of claim 484, wherein the image is based, at least in part, on a synthetic image.

486. The method of claim 476, wherein the first computing system is configured to utilize the image information from the first imaging device and the second imaging device to estimate quality control variables related to one or more targeted packages selected from the group consisting of the presence of package damage, the presence of multiple packages linked together, and whether the end effector was successful in performing a grasp.

487. 487. The method of claim 486, wherein the first computing system is configured to estimate the quality control variable using a neural network, the neural network being trained using images related to a package external training dataset.

488. 488. The method of claim 487, wherein the image is based, at least in part, on a synthetic image.

489. 1. A robotic package handling method comprising: a package input module configured to move a plurality of incoming packages in a primary forward direction along a transport platform while also configured to selectively move one or more targeted packages from the plurality away from the transport platform; a first imaging device positioned and oriented to capture image information regarding the transport platform and the plurality of incoming packages; a first computing system operably coupled to the package input module and the first imaging device and configured to receive the image information from the first imaging device and to command movement of the package input module based, at least in part, on the image information; an output container configured to receive packages that may be moved away from the transport platform, the output container configured to at least briefly accommodate a plurality of the one or more packages from the transport platform as they are moved by operation of the first computing system and package input module; and an output distribution gantry configured to transport packages from the transport platform to the output container, the output distribution gantry configured to temporarily couple to a targeted package moved from the transport platform to a position adjacent the output container and drop the targeted package into the output container. Including, 10. A robotic package handling method, wherein the output distribution gantry comprises one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate operations between the package input module and the output distribution gantry.

490. 490. The method of claim 489, further comprising an array of output containers organized in proximity to the place structure, wherein the output distribution gantry is configured to be capable of placing the targeted package within each of the output containers of the array through utilization of the one or more controllably actuated degrees of freedom.

491. 491. The method of claim 490, wherein each of the output containers of the array is organized in a substantially coplanar configuration.

492. 490. The method of claim 489, wherein the package input module comprises a bidirectional conveyor.

493. 490. The method of claim 489, wherein the package input module comprises an omnidirectional ball sorter conveyor.

494. 490. The method of claim 489, wherein the package input module comprises a mechanical diverter configured to selectively move one or more targeted packages from the plurality away from the transport platform.

495. 490. The method of claim 489, further comprising a guidance structure operably coupled between the package input module and an output distribution gantry, the guidance structure configured to mechanically guide the one or more targeted packages from the plurality away from the transport platform and to the output distribution gantry.

496. 496. The method of claim 495, wherein the guiding structure comprises an element selected from the group consisting of a chute, a ramp, a funnel, and a conveyor.

497. 490. The method of claim 489, wherein the output distribution gantry is configured to be controllably and removably coupled to a selected output container and to be able to remove the selected output container from the output distribution gantry.

498. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information regarding the pick structure and one or more packages; a first computing system operably coupled to the robot arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based, at least in part, on the image information; and a package that can be moved away from the place structure after release from the end effector. an output container configured to receive a cage, the output container configured to at least briefly contain a plurality of the one or more packages from the pick structure when placed thereon by operation of the first computing system, the robotic arm, and the end effector; and an output distribution gantry configured to transport packages from the place structure to the output container, the output distribution gantry configured to temporarily couple to a targeted package released by the robotic arm and the end effector on the place structure, move the targeted package away from the place structure to a position adjacent to the output container, and drop the targeted package into the output container. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the power distribution gantry comprises one or more controllably actuated degrees of freedom operably coupled to the first computing system such that the first computing system can be configured to coordinate movement between the robot arm, the end effector, and the power distribution gantry; the output distribution gantry is configured to controllably and removably couple to a selected output container and to be able to remove the selected output container from the output distribution gantry. Robot package handling method.

499. 499. The method of claim 498, further comprising an array of output containers organized in proximity to the place structure, wherein the output distribution gantry is configured to be capable of placing the targeted package within each of the output containers of the array through utilization of the one or more controllably actuated degrees of freedom.

500. 500. The method of claim 499, wherein each of the output containers of the array is organized in a substantially coplanar configuration.

501. 499. The method of claim 498, wherein the output distribution gantry comprises an electromechanical coupler configured to controllably couple to and decouple from selected output containers.

502. 502. The method of claim 501, wherein the electromechanical coupler comprises an output container gripper.

503. 502. The method of claim 501, wherein the electromechanical coupler comprises an electromechanically operated hook configured to be removably coupled to a selected output container.

504. 499. The method of claim 498, wherein the place structure is configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially perpendicular to the substantially gravity level orientation of the place structure.

505. 499. The method of claim 498, wherein the place structure is configured to have at least one surface having a substantially gravity level orientation, and the output distribution gantry is oriented in a vertical configuration substantially parallel to the substantially gravity level orientation of the place structure.

506. The method of claim 498, further comprising a barcode scanning device operably coupled to the first computing system and configured to scan one or more indicators that may be present on the targeted package.

507. 499. The method of claim 498, wherein the place structure comprises a conveyor configured to move targeted packages toward the output distribution gantry once released by the end effector.

508. 499. The method of claim 498, wherein the output distribution gantry is configured to controllably exit one or more contained packages utilizing a controllably releasable door arrangement.

509. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first suction cup assembly defines a first inner capture chamber configured such that grasping the targeted package includes drawing into and at least partially encapsulating a portion of the targeted package with the first inner capture chamber when the vacuum load is controllably activated adjacent the targeted package; Robot package handling method.

510. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the first suction cup assembly defines a first inner chamber, a first outer seal edge, and a first vacuum-permeable distal wall member collectively configured such that, in response to gripping the targeted package with the controllably actuated vacuum load, an outer seal edge can become removably coupled to at least one surface of the targeted package while a vacuum-permeable distal wall member prevents excessive protrusion of the surface of the targeted package into the inner chamber of the suction cup assembly; Robot package handling method.

511. 1. A method comprising: A method comprising: providing a robotic pick and place machine comprising an actuation system configured to facilitate selection and switching between a plurality of end effector heads and a configurable end effector system; providing a sensing system; and configuring a grasp planning processing pipeline for controlling the robotic pick and place machine.

512. The method of claim 511, wherein the changeable end effector system comprises a head selector integrated into the distal end of the actuation system, a set of end effector heads, and a head holding device, the head selector mounted together with one of the set of end effector heads on a separate mounting surface.

513. 513. The method of claim 512, wherein the changeable end effector system further comprises at least one magnet surrounding the center of one of the head selector or end effector head and providing initial seating and retention of the end effector head.

514. 514. The method of claim 513, wherein at least one of the head selector or each of the set of end effector heads comprises a seal positioned along an outer edge of a respective mounting surface.

515. 513. The method of claim 512, wherein the head selector and the set of end effector heads comprise complementary alignment structures.

516. 513. The method of claim 512, wherein the head selector and the set of end effector heads comprise lateral support structure geometries selected to assist in gripping a conformable package.

517. 513. The method of claim 512, wherein the set of end effector heads comprises a set of suction end effectors.

518. 513. The method of claim 512, wherein the actuation system comprises an articulating arm.

519. 1. A robotic package handling method comprising: a robotic arm having a distal portion and a proximal base portion; an end effector coupled to the distal portion of the robotic arm; a place structure geometrically proximate to the distal portion of the robotic arm; a pick structure temporarily coupled to one or more packages and positioned geometrically proximate to the distal portion of the robotic arm; a first imaging device positioned and oriented to capture image information relating to the pick structure and one or more packages; and a first computing system operably coupled to the robotic arm and the first imaging device and configured to receive the image information from the first imaging device and command movement of the robotic arm based at least in part on the image information. Including, the first computing system is configured to operate the robotic arm and end effector to perform a targeted package grasp of the one or more packages from the pick structure and release the targeted package to be at least temporarily coupled with the place structure; the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operably coupled to the first computing system, the first suction cup assembly configured such that performing the grasp includes engaging the targeted package and controllably activating the vacuum load; the end effector is coupled to a distal portion of the robotic arm using a spring-biased end effector coupling assembly including a spring member configured to provide engagement compliance when performing the grasp between the end effector and the targeted package; Robot package handling method.

520. 520. The method of claim 519, wherein the spring member is configured to have a determined spring constant selected to provide the engagement compliance.

521. 520. The method of claim 519, wherein the spring-loaded end effector coupling assembly comprises an insertion axial restraint member configured to facilitate spring-loaded insertion of the spring-loaded end effector coupling assembly along an axis defined by the axial restraint member.

522. 522. The method of claim 521, wherein the axial restraint member comprises a linear bearing assembly configured to facilitate movement along a single axis of motion.

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