Robotic Motion Planning for Mixed-Object Sortation Paths
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Solution Overview
Problem
Existing robotic and sortation systems struggle to efficiently and effectively automate the sorting and handling of a variety of objects in both structured and cluttered environments, particularly in order fulfillment operations where objects of different sizes, shapes, and weights need to be sorted.
Innovation Solution
A processing system that includes a programmable motion device with an end effector, a perception system for identifying object identity, location, and orientation, a grasp acquisition system for acquiring objects, and a motion planning system that determines trajectory paths with changing and unchanging portions to efficiently sort and handle objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional manual sorting is used, then flexibility in handling various objects is maintained, but productivity and processing efficiency are low
Solution Approach 1:
The system employs perception systems (cameras, sensors) to automatically detect and identify objects, and motion planning systems to autonomously determine trajectories and execute movements. The robotic system serves itself by making independent decisions about object manipulation without human intervention, thereby achieving high productivity while eliminating manual handling requirements
Solution Approach 2:
The patent replaces manual mechanical sorting operations with an automated robotic system comprising perception systems, motion planning algorithms, and robotic manipulators. This substitution of human-operated mechanical systems with automated control systems achieves both high productivity and complete automation
2Productivity
If a programmable motion device is used to automate sorting, then productivity increases, but the device complexity increases to handle various object sizes, shapes, and weights
Solution Approach 1:
The motion planning system dynamically adapts its control parameters and trajectories based on real-time perception data about each object's characteristics (size, shape, weight, position). The system adjusts gripper forces, movement speeds, and path planning parameters dynamically to match the specific requirements of each object, thereby achieving high productivity without requiring overly complex fixed mechanisms
Solution Approach 2:
The system changes operational parameters (gripper closure force, end effector position, trajectory speed, acceleration profiles) based on detected object properties. By varying these parameters rather than requiring complex mechanical structures, the system handles diverse objects efficiently while maintaining manageable device complexity
3Manufacturing precision
If trajectory paths are customized for each object's location and orientation, then manufacturing precision in placement is improved, but the time required for motion planning increases
Solution Approach 1:
The motion planning system pre-calculates and stores optimal trajectory patterns and motion parameters for common object types and configurations. When an object is detected, the system retrieves pre-computed trajectories and makes minimal adjustments based on the specific object's position and orientation, thereby achieving precise placement while minimizing real-time computation time
Solution Approach 2:
The system applies different levels of trajectory customization to different portions of the motion path. Critical segments requiring high precision (such as the final approach and placement zone) receive customized trajectory calculation, while less critical segments use standardized pre-computed paths. This selective customization achieves precise placement while reducing overall planning time
Data Source
AI summary
A processing system is disclosed for providing processing of objects that include 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 a destination bin, 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.