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US 10,647,528 B1Granted
Robotic system for palletizing packages using real-time placement simulation
AssigneeMUJIN, Inc.
InventorsRosen Nikolaev Diankov, Denys Kanunikov
Life of this patent
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Abstract
A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.
Claims16
A method for operating a robotic system, the method comprising:
- implementing a plan for receiving a set of packages at a start location, wherein the set of packages is received one package after the other at the start location, and wherein at least a portion of the set of packages is to be placed on a platform;
- implementing a plan to process the set of packages, wherein implementing the plan to process the set of packages includes, for each package of the set of packages:
- determining package attributes associated with the package, wherein the package attributes include physical dimensions of the package,
- implementing a plan for placing the package in a storage area with a transfer unit, wherein the storage area is different from the platform,
- recording a storage location information of the package, wherein the storage location information includes information corresponding to a storage location of the package in the storage area,
- executing a simulation function to generate or update a simulated stacking plan for placing one or more packages currently stored in the storage area onto the platform;
- determining, following placement of the package in the storage area, the occurrence of a palletizing trigger for placing the one or more packages on the platform, wherein the palletizing trigger is a storage capacity trigger, and wherein determining the occurrence of the palletizing trigger includes determining that a storage capacity counter for the storage area exceeds a storage capacity threshold;
- and
- implementing the simulated stacking plan for placing the one or more packages on the platform from the storage area based on the occurrence of the palletizing trigger.
6 more elements
A tangible, non-transient computer-readable storage medium storing computer-readable instructions, the instructions comprising:
- instructions for implementing a plan for receiving a set of packages at a start location, wherein the set of packages is received one package after the other at the start location, and wherein at least a portion of the set of packages is to be placed on a platform;
- instructions for implementing a plan to process the set of packages, wherein implementing the plan to process the set of packages includes, for each package of the set of packages:
- determining package attributes associated with the package, wherein the package attributes include physical dimensions of the package,
- implementing a plan for placing the package in a storage area with a transfer unit, wherein the storage area is different from the platform,
- recording a storage location information of the package, wherein the storage location information includes information corresponding to a storage location of the package in the storage area,
- instructions for executing a simulation function to update or generate a simulated stacking plan for placing one or more packages stored in the storage area onto the platform;
- instructions for determining, following placement of the package in the storage area, the occurrence of a palletizing trigger for placing the one or more packages on the platform, wherein the palletizing trigger is a storage capacity trigger, and wherein determining the occurrence of the palletizing trigger includes determining that a storage capacity counter for the storage area exceeds a storage capacity threshold;
- and
- instructions for implementing the simulated stacking plan for placing the one or more packages on the platform from the storage area based on the occurrence of the palletizing trigger.
6 more elements
A robotic system comprising:
- at least one processor;
- and
- at least one memory device connected to the at least one processor and having stored thereon instructions executable by the processor to:
- generate instructions for receiving a set of packages at a start location, wherein at least a portion of the set of packages is to be placed on a platform,
- process a set of packages, wherein the processing the set of packages includes, for each package of the set of packages:
- determining package attributes associated with the package, wherein the package attributes include physical dimensions of the package,
- implementing a plan for placing the package in a storage area with a transfer unit, wherein the storage area is different from the platform,
- recording a storage location information of the package, wherein the storage location information includes information corresponding to a storage location of the package in the storage area,
- execute a simulation function to generate or update a simulated stacking plan for placing one or more of the packages currently stored in the storage area onto the platform,
- determine, following placement of the package in the storage area, the occurrence of a palletizing trigger for placing the one or more packages on the platform, wherein the palletizing trigger is a storage capacity trigger, and wherein determining the occurrence of the palletizing trigger includes determining that a storage capacity counter for the storage area exceeds a storage capacity threshold;
- and
- implement the simulated stacking plan for placing the one or more packages on the platform from the storage area based on the occurrence of the palletizing trigger.
9 more elements
Dependencies are inferred from the claim text.