Methods, systems, and computer program products for executing partial depalletization operations in robotic depalletization

An apparatus comprising:

• at least one processor;
• and
• at least one non-transitory memory storing computer program code, the at least one non-transitory memory and the computer program code configured to, with the at least one processor, cause the apparatus to:
• receive a user input defining a user selection of a SKU-based depalletization mode and a total SKU depalletization value;
• receive imaging data associated with a plurality of palletized objects on a pallet from a perception subsystem, wherein the plurality of palletized objects are defined by a plurality of object SKUs;
• determine one or more comparative dimension measures associated with a first portion of the plurality of palletized objects based at least in part on the imaging data;
• determine if the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy a comparative dimension threshold range;
• in response to determining the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy the comparative dimension threshold range, identify a first object SKU defined by the first portion of the plurality of palletized objects;
• detect whether the first portion of the plurality of palletized objects defining the first object SKU has been depalletized;
• in response to detecting that the first portion of the plurality of palletized objects defining the first object SKU has been depalletized, update SKU index data associated with the plurality of palletized objects to indicate a depalletization of the first object SKU;
• and
• determine whether a depalletized SKU value associated with a SKU-based depalletization operation satisfies the total SKU depalletization value.

A controller-implemented method for robotic depalletization comprising:

• receiving, by a processor, user input defining a user selection of a SKU-based depalletization mode and a total SKU depalletization value;
• receiving, by the processor, imaging data associated with a plurality of palletized objects on a pallet from a perception subsystem, the plurality of palletized objects being defined by a plurality of object SKUs;
• calculating, by the processor, one or more comparative dimension measures associated with a first portion of the plurality of palletized objects based at least in part on the imaging data;
• determining, by the processor, whether the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy a comparative dimension threshold range;
• in response to determining that the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy the comparative dimension threshold range, identifying, by the processor, a first object SKU defined by the first portion of the plurality of palletized objects;
• detecting, by the processor, whether the first portion of the plurality of palletized objects defining the first object SKU has been depalletized;
• in response to detecting that the first portion of the plurality of palletized objects defining the first object SKU has been depalletized, updating, by the processor, SKU index data associated with the plurality of palletized objects to indicate a depalletization of the first object SKU;
• and
• determining, by the processor, whether a depalletized SKU value associated with the SKU-based depalletization operation satisfies the total SKU depalletization value.

A computer program product, comprising at least one non-transitory computer-readable storage medium having computer-readable program code portions stored therein, the computer-readable program code portions comprising an executable portion configured to:

• receive a user input selecting a SKU-based depalletization mode and a total SKU depalletization value;
• receive imaging data associated with a plurality of palletized objects at a pallet from a perception subsystem, wherein the plurality of palletized objects are defined by a plurality of object SKUs;
• determine one or more comparative dimension measures associated with a first portion of the plurality of palletized objects based at least in part on the imaging data;
• determine whether the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy a comparative dimension threshold range;
• in response to determining that the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy the comparative dimension threshold range, identify a first object SKU defined by the first portion of the plurality of palletized objects;
• detect whether the first portion of the plurality of palletized objects defining the first object SKU has been depalletized;
• in response to detecting that the first portion of the plurality of palletized objects defining the first object SKU has been depalletized, update SKU index data associated with the plurality of palletized objects to indicate a depalletization of the first object SKU;
• and
• determine whether a depalletized SKU value associated with the SKU-based depalletization operation satisfies the total SKU depalletization value.