Automated Packing with Object Pose Analysis for Accurate Placement
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Solution Overview
Problem
Current automated packaging systems face challenges in efficiently packing diverse objects into shipping containers, particularly in compensating for pose-in-hand errors, object movement, and low pose authority, while maintaining high throughput and minimizing space usage.
Innovation Solution
The system employs a programmable motion device with an end effector for grasping and placing objects in a specific orientation, utilizing detection systems for real-time pose assessment and adjustment, and includes a debris removal mechanism to ensure efficient packing and container utilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If automated packaging systems use standard grasping and placement mechanisms, then throughput can be maintained, but pose-in-hand errors and object movement reduce placement accuracy
Solution Approach 1:
The system performs preliminary pose assessment using detection systems (cameras, sensors) before the object is grasped. This allows the control system to pre-calculate compensation values for pose-in-hand errors and plan the placement trajectory in advance, ensuring accurate placement without slowing down the grasping and placement cycle
Solution Approach 2:
The system implements real-time feedback during the packing process by continuously monitoring object pose and position using detection systems. This feedback loop allows dynamic adjustment of the placement trajectory to compensate for pose-in-hand errors and object movement, maintaining both accuracy and throughput
2Manufacturing precision
If the system performs real-time pose assessment and adjustment, then placement accuracy improves, but system complexity increases
Solution Approach 1:
The detection systems (cameras, sensors) are designed to serve multiple functions: they detect object pose before grasping, monitor object position during transport, assess pose-in-hand errors, and verify final placement. This multi-functionality reduces the need for separate specialized devices for each detection task, thereby limiting the increase in system complexity
Solution Approach 2:
The system introduces a control system as an intermediary that processes detection data and generates compensation commands. This intermediary layer coordinates between the detection systems and the programmable motion device, managing the complexity of real-time pose assessment and adjustment without requiring direct complex interactions between all system components
3Quantity of substance
If multiple units are consolidated into single shipping containers, then shipping costs decrease, but space utilization and packing efficiency become more challenging
Solution Approach 1:
The system dynamically adjusts packing strategies based on real-time information about object dimensions, shapes, and poses. The control system continuously optimizes the arrangement of multiple units within the shipping container, adapting the packing configuration to maximize space utilization while accommodating the diverse characteristics of consolidated units
Solution Approach 2:
The detection systems and control algorithms utilize three-dimensional spatial information and multi-axis positioning to optimize packing arrangements. By considering objects in three dimensions and adjusting placement along multiple axes, the system achieves superior space utilization compared to traditional two-dimensional or single-axis packing approaches
Data Source
AI summary
An automated packing system is disclosed for placing a plurality of objects into a shipping container. The system includes a supply bin receiving conveyor for receiving a supply bin at a supply station, the supply bin receiving conveyor including sensing unit for determining an extent of advancement of the supply bin in a conveyor direction along the supply bin receiving conveyor, a detection system for detecting a plurality of objects within the supply bin responsive to the position of the supply bin on the receiving conveyor as aligned by the alignment system, an object selection system for selecting a selected object from the plurality of objects to be placed into the shipping container, and a programmable motion device for grasping and acquiring the selected object from the plurality of objects at the supply station, and for placing the selected object into the shipping container in a selected orientation and pose.