Robotic Sortation Grasp Planning for Mixed Object Handling
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Solution Overview
Problem
Existing sorting systems struggle to efficiently and automatically process a variety of objects in both homogeneous and heterogeneous arrangements, particularly in dynamic environments where objects are jumbled and require accurate identification and sorting to specific destinations.
Innovation Solution
A robotic sortation system equipped with a programmable motion device, perception unit, and grasp selection system that uses 2D/3D imaging and machine learning to identify and grasp objects, optimizing grasp locations and directions to ensure secure transport to designated destinations, with human assistance for learning and correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual sorting is used with human operators scanning barcodes and placing articles, then flexibility in handling various objects is maintained, but productivity and efficiency are limited by human speed and labor costs
Solution Approach 1:
The patent replaces the manual mechanical sorting system with an automated robotic system. A robotic arm with gripper substitutes human hands, while computer vision systems and barcode scanners replace human visual inspection. The control system automates the decision-making process for article routing, eliminating human operators from the physical sorting task while maintaining system flexibility through programmable logic.
Solution Approach 2:
The sorting system performs self-service by automatically identifying articles through barcode scanning or vision systems, determining destination bins based on predefined rules or machine learning algorithms, and executing the sorting action without human intervention. The system serves itself by integrating perception, decision-making, and execution components that operate autonomously to sort articles at high speed.
2Productivity
If automated robotic systems are implemented to increase productivity, then sorting speed improves, but the system becomes less adaptable to handling diverse object types and orientations
Solution Approach 1:
The robotic sorting system is designed with universal capabilities to handle multiple types of objects. The gripper mechanism can adapt to different object shapes and sizes, while the vision system and barcode scanners can identify various article types. The control system uses configurable sorting rules and machine learning models that can be adjusted to accommodate different product mixes, making the system multi-functional rather than dedicated to a single task.
Solution Approach 2:
The system incorporates dynamic adaptability through real-time perception and control. The robotic arm can adjust its motion trajectory based on detected object positions and orientations. The gripper force and positioning are dynamically adjusted based on object characteristics detected by sensors. This dynamic response allows the system to maintain high speed while adapting to varying object types and configurations.
3Measurement precision
If the robotic system uses complex perception and grasp planning to handle cluttered environments, then object identification accuracy improves, but device complexity increases
Solution Approach 1:
The perception system is segmented into multiple specialized components: barcode scanners for identification, vision systems for localization and orientation detection, and depth sensors for spatial mapping. Each component handles a specific aspect of object recognition, dividing the complex task of identifying and locating articles in cluttered environments into manageable sub-tasks that can be processed independently and integrated by the control system.
Data Source
AI summary
A sortation system is disclosed that 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, a grasp selection system for selecting a grasp location on the object, the grasp location being chosen to provide a secure grasp of the object by the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination locations, and a motion planning system for providing a motion path for the transport of the object when grasped by the end effector from the plurality of objects to the one of the plurality of destination locations, wherein the motion path is chosen to provide a path from the plurality of objects to the one of the plurality of destination locations.