Robot Sorting Operation Planning Using Predicted Workspace States

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Solution Overview

Problem

Existing technologies face challenges in automating the sorting of multiple types of items accommodated in a box, such as corrugated cardboard, by determining suitable robot operation plans for tasks like picking up items, moving them into sorting containers based on type or lot number.

Innovation Solution

A control device and method that sets a predicted start state and a target state for robot sorting, using information about items and sorting containers to determine an operation plan, and a storage medium that executes this process to automate the sorting task.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If a robot is used to perform sorting work involving multiple operations (picking up items, moving items into sorting containers, conveying trays), then automation is achieved, but it becomes difficult to formulate an operation plan

Engineering Contradiction:

Improveautomation of sorting workVSAvoidcomplexity of operation plan formulation

Core Design Contradiction:

Extent of automationVSDevice complexity

Solution Approach 1:

The patent divides the complex sorting task into discrete state transitions. The operation plan is formulated by segmenting the overall task into individual transitions between defined states (start state, intermediate states, target state), making the planning process more manageable and systematic rather than dealing with the entire complex task as a single unit

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent performs preliminary definition of the workspace state before formulating the operation plan. By pre-defining the start state, target state, and possible intermediate states along with their characteristics, the system prepares the necessary framework in advance, simplifying the subsequent operation plan formulation process

Inventive Principle:

Principle #10Preliminary action

2Adaptability or versatility

If the robot operation plan is formulated based on complex multi-step sorting tasks, then sorting capability is achieved, but the difficulty of formulating the operation plan increases

Engineering Contradiction:

Improvesorting capabilityVSAvoidoperation plan formulation difficulty

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent introduces dynamic state representation where the workspace state can change through defined transitions. The operation plan is formulated by determining a sequence of state transitions rather than static task decomposition, allowing the system to adapt to different sorting scenarios while maintaining a systematic planning approach

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent formulates the operation plan by changing state parameters from the defined start state through intermediate states to the target state. Each state transition involves specific parameter changes (item positions, container states, robot positions), making the complex sorting task manageable through systematic parameter transformation

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS12515333B2Control device, control method, and storage medium

Publication Date: 2026.01.06 NEC CORP

AI summary

A control device 1X mainly includes a state setting means 16X and an operation planning means 17X. The state setting means 16X sets a predicted start state that is a predicted state of a workspace at a time when a robot starts a work of sorting items and a target state which represents a state where the items are placed in sorting containers by the work, based on information regarding the items and the sorting containers. The operation planning means 17X determines an operation plan of the robot based on the predicted start state and the target state.