Robotic Motion Planning for Mixed-Object Sortation in Clutter
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Solution Overview
Problem
Current sorting systems in order fulfillment operations rely heavily on manual handling and are inefficient in processing a variety of objects of different sizes, shapes, and weights, lacking automated solutions for efficient and effective sortation and handling in both structured and cluttered environments.
Innovation Solution
A programmable motion control system equipped with an end effector, perception system for object recognition, and a motion planning system that determines specific and unchanging trajectory paths to automate the sorting and handling of homogenous and non-homogenous objects, allowing for efficient movement between input and processing locations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual sorting is used to handle a variety of objects, then flexibility in handling different sizes, shapes, and weights is maintained, but productivity and efficiency deteriorate
Solution Approach 1:
The patent replaces manual mechanical sorting operations with an automated robotic system that uses perception systems (cameras, sensors), motion planning algorithms, and controlled end effectors to identify, grasp, and transport objects. This substitution maintains versatility through adaptive control while dramatically improving productivity through automation.
Solution Approach 2:
The system enables objects to be automatically identified and routed without human intervention. The perception system autonomously detects object properties, the motion planning system automatically generates trajectories, and the end effector self-adjusts to grasp and place objects, creating a self-service sorting process that improves efficiency while handling variety.
2Productivity
If automated motion control is implemented to improve productivity, then sorting efficiency is improved, but device complexity increases
Solution Approach 1:
The patent employs a universal robotic arm system with interchangeable end effectors that can handle multiple object types and sorting tasks. The perception system and motion planning algorithms are designed to be task-agnostic, allowing the same hardware platform to perform various sorting operations, thereby improving productivity without proportionally increasing complexity through specialization.
Solution Approach 2:
The system performs preliminary actions by pre-planning trajectories and pre-positioning the robotic arm before actual object manipulation. Motion planning algorithms compute optimal paths in advance, and the system prepares grasp configurations before contact, reducing real-time control complexity while maintaining high sorting efficiency.
3Manufacturing precision
If trajectory paths are customized for each object's location and orientation, then sorting precision is improved, but computation time increases
Solution Approach 1:
The motion planning system performs preliminary computation of trajectory paths based on perceived object locations and orientations before execution. By pre-calculating optimal trajectories and storing them for reference, the system achieves high placement accuracy while reducing real-time computation time during actual sorting operations.
Solution Approach 2:
The system optimizes trajectory parameters by adjusting key variables such as arm velocity, acceleration profiles, and path points based on object characteristics and destination requirements. This parameter optimization enables precise placement while minimizing computation time by focusing calculations on critical parameters rather than exhaustive path planning.
Data Source
AI summary
A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The processing system includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location, a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination bins, and a motion planning system for determining a changing portion of a trajectory path of the end effector from the object to a base location proximate to the input location, and determining an unchanging portion of a trajectory path of the end effector from the base location to a destination bin location proximate to a destination bin, wherein the unchanging portion of the trajectory path is chosen to provide a path from the base location to the destination bin location that is consistent with paths taken by other objects.