Robotic Singulation Coordination for Multi-Robot Conflict Avoidance
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Solution Overview
Problem
Manual singulation processes in parcel and distribution centers are labor-intensive and inefficient, and the use of robots to perform singulation is challenging due to the cluttered mix of items and dynamic flow at work stations.
Innovation Solution
A robotic singulation system that includes a robotic arm and end effector, equipped with suction-based or pinch-based grippers, which uses computer vision and multi-camera arrays to identify, grasp, and separate items from a cluttered pile, and coordinates with multiple robots to maximize throughput and avoid conflicts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual singulation is used, then items can be separated accurately, but labor intensity increases and throughput decreases
Solution Approach 1:
The robotic system autonomously performs singulation without human intervention. The robot identifies items, plans grasps, executes picks, and places items automatically, making the system self-sufficient and eliminating manual labor while maintaining high throughput
Solution Approach 2:
The patent replaces manual mechanical operations with an automated robotic system equipped with computer vision, planning algorithms, and robotic manipulation. This substitution enables continuous operation at high speed without human labor constraints
2Extent of automation
If robotic singulation is implemented, then automation increases and labor costs decrease, but difficulty in identifying and grasping items from cluttered mixes increases
Solution Approach 1:
The system performs preliminary actions by first identifying and localizing items in the cluttered mix using computer vision before attempting grasps. The planning algorithm pre-computes grasp strategies and pick sequences, preparing the robot in advance for successful manipulation despite clutter
Solution Approach 2:
The system uses feedback from computer vision systems to continuously monitor item positions, orientations, and clutter conditions. This feedback informs the planning algorithm to adjust grasp strategies and pick sequences in real-time, enabling successful singulation from dynamic cluttered mixes
3Productivity
If multiple robots are coordinated, then collective throughput increases, but complexity of coordination and conflict avoidance increases
Solution Approach 1:
The patent merges multiple robotic systems into a coordinated workflow where robots share a common planning and coordination framework. By combining their capabilities under unified control, the system achieves higher collective throughput while managing complexity through integration rather than isolated operations
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
The robotic singulation system significantly improves the efficiency and accuracy of item separation and sorting, reducing labor costs and increasing collective throughput by enabling fully automated or semi-automated operation, even in the presence of a dynamic and cluttered item flow.
Implementation Method 1
A robotic singulation system that includes a robotic arm and end effector, equipped with suction-based or pinch-based grippers
Data Source
AI summary
A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. A grasp strategy is determined for each of at least a subset of items, and for each grasp strategy a corresponding probability of grasp success is computed. The grasp strategies and corresponding probabilities of grasp success are used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.