Payload Guard Motion Planning for Collision-Free Object Handling

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Solution Overview

Problem

Automated systems face challenges in handling a wide variety of objects with low pose and placement authority in busy work cell environments with static and moving obstacles, particularly in e-commerce order fulfillment centers where objects need to be packed efficiently and securely.

Innovation Solution

A programmable motion device system with an end-effector and control system that determines a payload guard using pointcloud data for each object, ensuring safe grasping and movement by calculating a volume-specific payload guard responsive to the object's characteristics, thereby preventing collisions and ensuring accurate placement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If automated systems handle a wide variety of objects with low pose and placement authority, then object handling versatility is improved, but collision risk increases in busy work cell environments

Engineering Contradiction:

Improveobject handling versatilityVSAvoidcollision risk

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

The system performs preliminary action by determining a payload guard volume for each object before motion execution. The control system calculates the volumetric bounds of the object and uses this information to plan collision-free trajectories in advance, preventing collisions before they occur during object movement in the work cell environment.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The payload guard volume serves as an intermediary between the object and the motion planning system. This virtual protective envelope allows the control system to reason about object bounds and plan safe trajectories without direct physical contact or complex real-time collision detection, mediating the interaction between diverse objects and the automated motion system.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If the system generates precise payload guards for each object, then collision detection accuracy is improved, but computational complexity increases

Engineering Contradiction:

Improvepayload guard precisionVSAvoidcomputational complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system uses inexpensive, computationally lightweight bounding volume representations (such as axis-aligned bounding boxes or simple geometric envelopes) as payload guards. These simplified volumetric models provide sufficient precision for collision detection while requiring minimal computational resources, sacrificing some geometric fidelity for computational efficiency.

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Data Source

PatentUS20240199349A1Systems and methods for automated packaging and processing with static and dynamic payload guards

Publication Date: 2024.06.20 BERKSHIRE GREY OPERATING CO INC

AI summary

A system is disclosed for processing objects using a programmable motion device. The system includes an end-effector of the programmable motion device for grasping an object from an in-feed container, and a control system for determining a payload guard for the selected object. The payload guard includes pointcloud data regarding volumetric data that include a volume occupied by the selected object, and the payload guard is determined responsive to at least one characteristic of the selected object and is provided specific to the selected object.