Systems and Methods for Robotic Package Handling with Multiple Sensors

A method for identifying and picking objects in a robotic workspace comprising the steps of:

• providing a mobile robotic system comprising a first sensor, a second sensor, a robotic arm mechanically connected to an end-effector, and a processing subsystem;
• receiving, at the processing subsystem, data from the first sensor relating to the workspace;
• selecting an object within the workspace to pick based on the data from the first sensor by segmenting and separating individual objects within the workspace that may be manipulated;
• processing the data from the first sensor to determine a grasp point and a first location of said grasp point on the surface of the object selected to pick, wherein the first location of the grasp point is associated with a first spatial accuracy parameter and a first corresponding range of uncertainty;
• controlling the robotic arm and moving the end-effector to a location that is near the first location of the grasp point but outside the first range of uncertainty associated with said first location of the grasp point;
• receiving, at the processing subsystem, data from the second sensor relating to the grasp point of the selected object;
• determining, based on data from the second sensor, whether or not the end-effector is in close proximity to the grasp point, and
• if the end-effector is within an expected range of the grasp point, determining a second location of the grasp point wherein the second location of the grasp point is associated with a second spatial accuracy parameter and a corresponding second range of uncertainty, and wherein the second range of uncertainty is smaller than the first range of uncertainty, and controlling the robotic arm and moving the end-effector to pick the object based on the second location of the grasp point;
• and
• if the end-effector is not within an expected range of the grasp point, aborting an attempt to pick the selected object.