Robotic Sortation With Vision-Guided Grasp and Motion Planning
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Solution Overview
Problem
Current sortation systems are inefficient in handling a variety of objects in dynamic environments, particularly in heterogeneous arrangements, as they rely on manual sorting and struggle to automate the identification and processing of objects in different orientations.
Innovation Solution
A robotic sortation system that includes a programmable motion device with a perception unit for object identification, a grasp selection system for secure grasping, and a motion planning system for efficient transport of objects to destination locations, utilizing cameras and scanners to automate the sorting process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual sorting is used to handle a variety of objects in heterogeneous arrangements, then flexibility in handling different object types is maintained, but productivity and efficiency deteriorate due to labor-intensive processes
Solution Approach 1:
The patent replaces manual mechanical sorting operations with an automated robotic system that uses computer vision (perception unit) to identify objects and a programmable motion device with end effector to grasp and transport them. This substitution maintains versatility through software-based object recognition while dramatically improving productivity through automated high-speed operation.
Solution Approach 2:
The robotic system autonomously performs the complete sorting process without human intervention. The perception unit independently identifies objects, the grasp selection system automatically determines optimal grasp points, and the motion planning system self-generates transport paths, enabling the system to serve itself and achieve both versatility and high productivity.
2Productivity
If automated robotic systems are implemented to improve productivity, then sorting efficiency is improved, but device complexity increases due to multiple integrated systems
Solution Approach 1:
The patent integrates multiple functional subsystems (perception unit for vision, grasp selection system for decision-making, motion planning system for path generation, and end effector for manipulation) into a unified robotic platform. This merging reduces overall system complexity by creating a coordinated automated workflow while maintaining high productivity through the synergistic operation of integrated components.
Solution Approach 2:
The robotic system employs a universal end effector with adjustable grasp points that can handle various object types, and a perception unit that recognizes diverse objects. This multi-functionality allows a single system configuration to perform multiple sorting tasks, improving productivity without proportionally increasing device complexity.
3Reliability
If secure grasp of objects is ensured by selecting optimal grasp locations, then reliability of object handling is improved, but measurement precision requirements increase for identifying grasp points
Solution Approach 1:
The perception unit provides real-time visual feedback about object location, orientation, and features to the grasp selection system. This feedback loop enables the system to automatically adjust grasp point selection based on actual object characteristics, ensuring reliable grasping while managing precision requirements through adaptive decision-making rather than ultra-precise pre-determination.
Solution Approach 2:
The system performs preliminary object recognition and characterization using the perception unit before selecting grasp locations. By pre-identifying object features, boundaries, and orientations, the system prepares grasp candidates in advance, ensuring reliable grasping while reducing the precision burden during the actual grasp execution phase.
4Productivity
If motion paths are optimized for efficient object transport, then productivity is improved, but calculation time for path planning increases
Solution Approach 1:
The motion planning system pre-calculates optimal transport paths based on destination locations and object characteristics before actual movement begins. By performing path planning in advance, the system ensures efficient transport execution while managing computation time through proactive rather than reactive planning, improving overall productivity without excessive real-time computational delays.
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.