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US 12,440,994 B1Granted
Autonomous robotic pack planning systems and methods for item stability and integrity
AssigneeAmazon Technologies, Inc.
InventorsFan Wang, Jane Shi
Life of this patent
Estimating the term…
Abstract
Autonomous robotic pack planning systems and methods may include an item identification subsystem, a pack planning subsystem, and a robotic packing subsystem. Based on identified items to be packed, the pack planning subsystem may generate a pack plan with placement poses for items that satisfy various constraints, including containment constraints, stability constraints, and/or stress constraints. Then, the robotic packing subsystem may pack the items according to the pack plan. Further, packing of items may be monitored in real-time, and the pack plan may be dynamically adjusted or regenerated in response to deviations from the pack plan.
Claims20
A computer-implemented method, comprising:
- identifying, by a controller, a plurality of items to be packed into one or more containers;
- receiving, by the controller, item attributes associated with respective items of the plurality of items, the item attributes including size, weight, stability, and fragility associated with respective items;
- determining, by the controller, a placement sequence for the plurality of items based on the item attributes associated with respective items;
- receiving, by the controller, a placement heuristic for packing of the plurality of items into one or more containers;
- generating, by the controller, a pack plan for the plurality of items, wherein generating the pack plan includes for each item of the plurality of items:
- selecting, by the controller, an item based on the placement sequence;
- receiving, by the controller, a three-dimensional model of the item;
- determining, by the controller, a placement pose for the item in a container based on the placement heuristic;
- verifying, by the controller, that the placement pose for the item satisfies one or more containment constraints;
- verifying, by the controller, that the placement pose for the item satisfies a stability constraint;
- verifying, by the controller, that the placement pose for the item satisfies a fragility constraint, wherein the fragility constraint comprises the placement pose of the item being positioned such that any local stress of the item is less than a respective local fragility threshold associated with another item positioned under the item;
- and
- updating, by the controller, the pack plan including the placement pose for the item;
- and
- instructing, by the controller, packing of the plurality of items into one or more containers based on the pack plan.
12 more elements
A method, comprising:
- determining, by a controller, a placement sequence for a plurality of items to be packed into a container;
- generating, by the controller, a pack plan for the plurality of items, wherein generating the pack plan includes for individual items of the plurality of items:
- selecting, by the controller, an item based on the placement sequence;
- determining, by the controller, a placement pose for the item in the container;
- determining, by the controller, whether the placement pose for the item satisfies a stress constraint, wherein the stress constraint comprises the placement pose of the item being positioned such that any local stress of the item is less than a respective local stress threshold associated with another item positioned under or in contact with the item;
- and
- in response to determining that the placement pose for the item satisfies the stress constraint:
- updating, by the controller, the pack plan including the placement pose for the item;
- and
- instructing, by the controller, packing of the plurality of items into the container based on the pack plan.
7 more elements
A system, comprising:
- an item identification subsystem configured to detect and identify a plurality of items to be packed into a container;
- a pack planning subsystem configured to generate a pack plan for the plurality of items based on a placement sequence for the plurality of items, wherein the pack plan is generated such that respective placement poses of individual items of the plurality of items satisfy a stress constraint, wherein the stress constraint comprises the placement pose of the item being positioned such that any local stress of the item is less than a respective local stress threshold associated with another item positioned under or in contact with the item;
- and
- a robotic packing subsystem configured to pack the plurality of items into the container based on the pack plan.
1 more element
Dependencies are inferred from the claim text.