Robotic Sortation With Vision-Guided Grasping in Clutter
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Solution Overview
Problem
Current sortation systems in dynamic environments struggle to automate the identification and processing of various objects in different orientations and cluttered conditions, relying heavily on human intervention for efficient sorting.
Innovation Solution
A robotic sortation system incorporating a programmable motion device with a perception system for object identification, a grasp selection system for secure grasping, and a motion planning system to determine optimal paths for object transport, allowing for automated processing of both homogeneous and heterogeneous objects in structured and cluttered environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual sorting is used with human operators picking and scanning barcodes, then flexibility in handling various objects is maintained, but productivity and processing speed are limited
Solution Approach 1:
The patent replaces manual mechanical sorting operations with an automated robotic system that uses computer vision for object identification and robotic manipulation for sorting. The perception system captures images of objects, identifies them through image processing, and the robotic arm executes automated sorting actions, eliminating the need for human operators to manually pick and scan each item.
Solution Approach 2:
The system enables self-service automation where the robotic system independently performs object identification, decision-making for sortation, and physical manipulation without human intervention. The perception system autonomously identifies objects and their destinations, and the robotic system autonomously executes the sorting task based on processed image data.
2Productivity
If automated robotic systems are implemented for sortation, then productivity increases, but the ability to handle various orientations and cluttered environments becomes more difficult
Solution Approach 1:
The robotic system employs dynamic image processing that adapts to different object orientations and cluttered arrangements. The perception system dynamically adjusts its analysis based on the captured image data, identifying objects regardless of their orientation or position in the cluttered environment, enabling the robotic arm to successfully grasp and sort items from various configurations.
3Adaptability or versatility
If complex perception and grasp selection systems are added to handle various objects, then adaptability improves, but device complexity increases
Solution Approach 1:
The patent implements a universal perception system that handles multiple object types, orientations, and environmental conditions through a single integrated image processing approach. The same perception system and robotic arm configuration can process diverse objects by adapting its analysis and grasp selection based on image data, eliminating the need for multiple specialized systems for different object types.
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.