JP-2026076367-A - Controlling multiple robots for collaborative item pick-and-place

Abstract

[Problem] To disclose a robotic system for controlling multiple robots to collaboratively pick and place objects. [Solution] In various embodiments, the robot system comprises a first robot arm having a first end effector, a second robot arm having a second end effector, and a control computer configured to pick and place multiple objects using the first and second robot arms, which includes working collaboratively to pick and place one or more of a plurality of objects using the first and second robot arms. [Selection Diagram] Figure 1

Inventors

• サン・チョウエン
• クルカーニ・ロフン
• モリス－ダウニング・タルボット
• スー・ハリー・ツェ
• メノン・サミア
• チャベス・ケヴィン・ホセ
• ホルムバーグ・ロバート
• アルヴァーヨ・アルベルト・レイヴァ
• ベイカー・トビー・レオナルド

Assignees

• デクステリティ・インコーポレーテッド

Dates

Publication Date

20260511

Application Date

20260220

Priority Date

20211101

Claims (20)

1. It is a robotic system, A first robot arm having a first end effector, A second robot arm having a second end effector, A control computer configured to pick and place one or more objects using the first robot arm and the second robot arm, which includes working collaboratively to pick and place one or more of a plurality of objects using the first robot arm and the second robot arm, A system equipped with these features.
2. A system according to claim 1, further comprising a camera positioned to generate image data associated with the workspace in which the first robotic arm and the second robotic arm are located.
3. A system according to claim 2, wherein the control computer is configured to utilize the image data to determine whether the first robotic arm and the second robotic arm should work collaboratively to pick and place a given object.
4. The system according to claim 3, wherein the determination is at least partially based on the attributes of the object determined directly or indirectly using the image data.
5. A system according to claim 1, wherein the control computer includes two or more processors distributed across two or more nodes.
6. A system according to claim 1, wherein the control computer runs a hierarchical planner comprising separate robot controllers for each of the first robot arm and the second robot arm, and a higher-level controller configured to coordinate the movement of the first robot arm in cooperation with the second robot arm to collaboratively pick and place one or more of the objects.
7. A system according to claim 1, wherein the first robotic arm operates in leader mode and the second robotic arm operates in follower mode to perform a given task of collaboratively picking and placing a given item.
8. A system according to claim 7, wherein the first robotic arm, in the leader mode, is configured to independently plan a trajectory for moving a given object to be collaboratively picked and placed, grasp the given object, and move the given object along the planned trajectory.
9. The system according to claim 8, wherein the second robot arm, in the follower mode, is configured to grasp the given object, calculate a transformation based at least partially on the position and orientation of the first end effector, and notify the first robot arm that the second robot arm is ready to move the given object.
10. A system according to claim 1, wherein the first robotic arm and the second robotic arm are configured to pick and place objects individually when they are not working collaboratively to pick and place one or more of the objects.
11. A system according to claim 1, wherein the control computer is configured to move one or more of the objects out of the line of sight from a camera or other sensor to the given objects, at least in part on the determination that a more unobstructed view of the given objects to be collaboratively picked and placed is necessary for collaboratively performing a pick-and-place task relating to the given objects.
12. A system according to claim 1, wherein the control computer is configured to use one or both of the first and second robotic arms to pull or push the given object into the field of view of a camera or other sensor, in order to facilitate a collaborative pick-and-place task of the given object using the first and second robotic arms.
13. A system according to claim 1, wherein the control computer is configured to use one or both of the first and second robotic arms to move one or more of the plurality of objects out of the way, so that one or both of the first and second robotic arms can be used to grasp a given object.
14. A system according to claim 1, wherein when the control computer is not working collaboratively with the first and second robotic arms to pick and place a given object, the first and second robotic arms are configured to alternately pick and place objects included in the plurality of objects.
15. A system according to claim 1, wherein the control computer is configured to utilize force sensors or other tactile feedback to grasp an object located in a position invisible to the control computer by touching it using the first robotic arm or the second robotic arm.
16. A system according to claim 1, wherein the control computer is configured to ensure that the first robotic arm and the second robotic arm do not collide with each other or with obstacles in the workspace when performing a pick-and-place task.
17. It is a method, A method comprising using a first robotic arm and a second robotic arm to pick and place one or more of a plurality of objects, wherein the robotic arms work collaboratively to pick and place the plurality of objects.
18. A method according to claim 17, further comprising using image data from a camera to determine whether the first robotic arm and the second robotic arm should work collaboratively to pick and place a given object.
19. A method according to claim 17, wherein the first robotic arm and the second robotic arm work collaboratively to pick and place a given object, the first robotic arm being used in leader mode and the second robotic arm in follower mode.
20. A computer program product, which is embodied in a non-temporary computer-readable medium, A computer program product comprising computer instructions for picking and placing one or more objects using a first robotic arm and a second robotic arm, including the collaborative work of using the first robotic arm and the second robotic arm to pick and place one or more of a plurality of objects.

Description

Cross-references to other applications This application claims priority under U.S. Provisional Patent Application No. 63/274,465, “CONTROLLING MULTIPLE ROBOTS TO COOPERATIVELY PICK AND PLACE ITEMS,” filed November 1, 2021, which is incorporated herein by reference for all purposes. Robots have been provided to perform a variety of tasks, including manipulating objects. For example, a robotic arm with an end effector can be used to pick and place items. Examples of commercial applications of such robots include sorting, kitting, palletization, depalletization, and loading and unloading onto trucks or containers. In some contexts, the objects being manipulated vary considerably in size, weight, packaging, and other attributes. Typically, robotic arms are rated to handle objects up to their maximum size, weight, etc. In some contexts, conventional approaches may require robotic arms capable of manipulating the largest, heaviest, and/or otherwise most challenging objects that may need to be handled. Various embodiments of the present invention are disclosed in the following detailed description and accompanying drawings. A block diagram showing one embodiment of a robotic system configured to control multiple robots to collaboratively perform a task. A figure illustrating an example of a collaborative pick-and-place task performed in one embodiment of the robotic system described herein.A figure illustrating an example of a collaborative pick-and-place task performed in one embodiment of the robotic system described herein.A figure illustrating an example of a collaborative pick-and-place task performed in one embodiment of the robotic system described herein. A block diagram showing one embodiment of a robot control system. A state diagram illustrating one embodiment of a robotic system configured to control multiple robots to collaboratively perform a task. A flowchart illustrating one embodiment of the process for collaboratively performing a task as a "leader" robot in one embodiment of a robotic system described herein. A flowchart illustrating one embodiment of a process for collaboratively performing a task as a "follower" robot in one embodiment of a robotic system described herein. A diagram illustrating one embodiment of a robotic system configured to collaboratively pick and place objects using two or more robots. A diagram illustrating one embodiment of a robotic system configured to collaboratively pick and place objects using two or more robots. A flowchart illustrating one embodiment of a process for collaboratively picking and placing objects using two or more robots. The present invention can be implemented in various forms, including processes, apparatus, systems, material compositions, computer program products embodied on computer-readable storage media, and/or processors (processors configured to execute instructions stored and/or provided by memory connected to the processor). In this specification, these embodiments or any other forms the invention may take may be referred to as "technologies." Generally, the order of the processes disclosed may be modified within the scope of the invention. Unless otherwise specified, components such as processors or memory described as configured to perform a task may be implemented as general components temporarily configured to perform a task at a given time, or as specific components manufactured to perform a task. In this specification, the term "processor" refers to one or more devices, circuits, and/or processing cores configured to process data such as computer program instructions. The following provides a detailed description of one or more embodiments of the present invention, with reference to drawings illustrating the principles of the invention. While the present invention is described in relation to such embodiments, it is not limited to any of them. The scope of the present invention is limited only by the claims, and the invention includes many substitutes, variations, and equivalents. The following description includes many specific details to provide a complete understanding of the invention. These details are illustrative, and the invention can be implemented according to the claims without some or all of these specific details. For simplicity, technical matters well known in the art related to the present invention are not described in detail to avoid complicating the invention unnecessarily. A system for coordinating and controlling the use of multiple robots to collaboratively pick and place packages is disclosed. In various embodiments, the system disclosed herein may have one or more of the following technical features: The system collaboratively detects objects to be picked. - An integrated computer vision system for identifying obstacles and prioritizing package picking from the stack, enabling safe collaborative operation. • Planning and execution of collaborative picking of a single object by multiple robots. A control archit