Robotic Depalletization Sequencing Under Height Reach Constraints
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Solution Overview
Problem
Robotic depalletization systems face challenges in efficiently removing objects from high stacks due to limited reachability and potential collisions, especially when objects interfere with each other, leading to tipping over or damage.
Innovation Solution
A method and system that prioritize the removal of objects based on their proximity to the stack's front side and height, using an end effector to manipulate objects within reachability constraints, and simulate vertical removal to avoid collisions, represented as electronic data points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If objects are removed from high stacks using a robotic system with limited reachability, then depalletization can be performed, but collisions between objects and stack tipping may occur
Solution Approach 1:
The system performs preliminary simulation of the depalletization process by representing objects as electronic data points and simulating their vertical removal before actual execution. This preliminary action identifies potential collisions and determines safe removal sequences, allowing the robotic system to plan its path ahead of time and avoid collisions during actual depalletization operations.
Solution Approach 2:
The patent creates a digital copy of the physical stack by representing objects as electronic data points in a simulated environment. This virtual model allows the system to test and optimize removal sequences without physically manipulating real objects, thereby identifying collision-free paths and improving the reliability of actual depalletization operations.
2Productivity
If objects are removed in arbitrary order from the stack, then depalletization speed may increase, but object interference and damage risk increase
Solution Approach 1:
The system determines the optimal removal sequence by simulating object removal in advance. By analyzing the spatial relationships and interference conditions among objects before actual removal, the system establishes a safe sequence that minimizes object damage while maintaining efficient depalletization speed.
Solution Approach 2:
The system uses detection mechanisms to monitor object positions and interference conditions in real-time, comparing actual states with the planned removal sequence. This feedback allows dynamic adjustment of the removal order to prevent object interference and damage while maintaining high productivity.
3Length of stationary object
If the robotic system reaches high objects directly, then depalletization of high stacks is enabled, but reachability constraints are violated
Solution Approach 1:
The patent segments the depalletization process into discrete steps based on the robotic system's reachability constraints. Objects are removed in sequences that respect the end effector's maximum reach distance, breaking down the complex task of accessing high objects into manageable segments that the robot can execute within its operational limits.
Solution Approach 2:
The system adds a temporal dimension to the depalletization process by planning removal sequences over time. Instead of attempting direct access to high objects, the system schedules removal operations in a time-ordered sequence that progressively creates access paths, transforming a spatial reachability problem into a temporal planning solution.
Data Source
AI summary
Methods, apparatuses, systems, computing devices, and/or the like are provided. An example method may include detecting a first set of objects, the first set of objects including two or more palletized objects of a plurality of palletized objects in a stack, wherein the two or more palletized objects of the first set of objects are disposed above a threshold height, wherein the stack has a front side and a back side; determining that a first object of the first set is closer than a second object of the first set is to the front side, wherein the first object of the first set is disposed lower than the second object of the first set; and manipulating an end effector to remove the first object from the stack before removing the second object from the stack and to deposit the first object in one or more deposit locations.