Robotic Package Handling With Dynamic Grasp and Tool Switching
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Solution Overview
Problem
Existing robotic systems are limited by high customization and integration costs, and struggle to handle diverse and changing object conditions, particularly in e-commerce applications where objects vary widely and prior information is scarce.
Innovation Solution
A robotic system employing dynamic planning and grasp planning with interchangeable end effectors, capable of selecting and switching tools based on real-time conditions, to optimize object manipulation and adapt to diverse environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If highly customized robotic systems are designed for specific implementations, then the system can handle specific tasks effectively, but the cost and complexity of integration increase significantly
Solution Approach 1:
The patent implements a universal robotic system with interchangeable end effectors that can perform multiple tasks across different applications. The system uses a standardized interface allowing different end effectors to be attached to the same robotic arm, enabling one system to handle diverse package types without requiring custom integration for each application.
Solution Approach 2:
The system dynamically selects and switches between different end effectors based on the specific task requirements. The robotic system can change its configuration in real-time by swapping end effectors, allowing it to adapt to varying package types, sizes, and handling requirements without being fixed to a single configuration.
2Adaptability or versatility
If general robotic systems are used to handle diverse objects, then the system can be applied to multiple applications, but a large amount of integration work is required to program and setup for specific implementations
Solution Approach 1:
The system uses pre-programmed grasp planning algorithms and pre-configured end effectors that are ready for immediate deployment. The grasp planning software includes pre-defined strategies for different package types, eliminating the need for extensive custom programming during integration. The standardized end effector interfaces are pre-engineered to work with the robotic system.
Solution Approach 2:
The system uses visual sensing and image processing to create digital representations of packages, which are then used by the grasp planning software to determine appropriate handling strategies. This allows the system to quickly adapt to new package types by capturing their visual characteristics rather than requiring physical prototypes or extensive manual programming.
3Productivity
If traditional robotic systems are designed for repetitive industrial tasks, then they can perform well-defined tasks efficiently, but they are unable to handle a wide variety of objects and changing conditions
Solution Approach 1:
The system incorporates visual sensing, force sensing, and vision-guided control that provide continuous feedback during package handling. The robotic system uses cameras to detect package characteristics, force sensors to monitor grasp stability, and vision systems to track package positions, allowing real-time adjustments to maintain efficient operation with diverse objects.
Solution Approach 2:
The system replaces traditional mechanical control with software-based grasp planning and vision-guided control. Instead of requiring complex mechanical mechanisms to handle different package types, the system uses intelligent software algorithms that analyze package characteristics and automatically determine the appropriate grasping strategy, enabling efficient handling of diverse objects with a single mechanical configuration.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances throughput and reliability in handling diverse objects, reduces tool change time, and improves success rates in grasping and placing objects, even in environments with minimal prior data.
Implementation Method 1
the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operatively coupled to the first computing system
Data Source
AI summary
One embodiment is directed to robotic package handling system, comprising: a. a robotic arm comprising a distal portion and a proximal base portion; b. an end effector coupled to the distal portion of the robotic arm; c. a place structure positioned in geometric proximity to the distal portion of the robotic arm; d. a pick structure in contact with one or more packages and positioned in geometric proximity to the distal portion of the robotic arm; e. a first imaging device positioned and oriented to capture image information pertaining to the pick structure and one or more packages; f. a first computing system operatively coupled to the robotic arm and the first imaging device, and configured to receive the image information from the first imaging device and command movements of the robotic arm based at least in part upon the image information; wherein the first computing system is configured to operate the robotic arm and end effector to conduct a grasp of a targeted package of the one or more packages from the pick structure, and release the targeted package to rest upon the place structure; and wherein the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operatively coupled to the first computing system, the first suction cup assembly defining a first inner capture chamber configured such that conducting the grasp of the targeted package comprises pulling into and at least partially