Automated Container Alignment for Precise Robotic Packing
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Solution Overview
Problem
Current automated packaging systems face challenges in efficiently packing diverse objects into shipping containers, including compensating for object pose, errors in placement, and low pose authority, while also needing to pack items quickly and with minimal space to maintain high throughput.
Innovation Solution
The system employs a combination of sensors and programmable motion devices to detect and adjust the position and orientation of objects, using perception systems to identify candidate grasp locations and generate arm trajectories for precise placement, and includes a pack planner to optimize packing strategies and container sizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If automated packaging systems use perception systems and programmable motion devices to detect and adjust object position and orientation, then manufacturing precision and reliability improve, but device complexity increases
Solution Approach 1:
The system performs preliminary detection of object pose and candidate grasp location identification before the actual packing operation. The perception system captures images and determines object characteristics in advance, allowing the programmable motion device to plan trajectories and adjust positions proactively, improving placement accuracy while managing complexity through staged processing
Solution Approach 2:
The system uses perception systems to continuously monitor object position, orientation, and grasp stability during the packing process. This feedback loop allows real-time adjustments to trajectories and grasp forces, ensuring high placement accuracy while the control system coordinates multiple components to manage overall system complexity
2Quantity of substance
If the system packs diverse objects with precise placement and minimal voids, then container utilization improves, but the time required for detection and adjustment increases
Solution Approach 1:
The pack planner determines optimal packing strategies, container sizes, and object arrangements in advance before physical packing begins. Candidate grasp locations and trajectories are pre-calculated based on object characteristics detected by the perception system, allowing the system to achieve high container utilization without excessive packing time
Solution Approach 2:
The system dynamically adjusts packing strategies based on real-time perception data about object pose, shape, and size. The programmable motion device adapts trajectories and placement positions on-the-fly, enabling efficient space utilization for diverse objects while maintaining high throughput through flexible, real-time decision-making
3Manufacturing precision
If the system uses alignment systems to align containers against braces, then manufacturing precision improves, but device complexity and setup time increase
Solution Approach 1:
The alignment system uses braces as intermediary elements between the conveyor system and the container. These braces provide reference surfaces that simplify the alignment process, allowing the perception system to easily detect container position and the programmable motion device to make precise adjustments without complex alignment mechanisms
Solution Approach 2:
The system replaces complex mechanical alignment mechanisms with vision-based detection and software-controlled positioning. The perception system captures container images, determines alignment status, and the control system calculates required adjustments, substituting physical alignment complexity with computational precision
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, a destination container location assessment system for positioning a destination container, 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.