US-20260124760-A1 - ROBOTIC PACKAGE HANDLING SYSTEMS AND METHODS

US20260124760A1US 20260124760 A1US20260124760 A1US 20260124760A1US-20260124760-A1

Abstract

One embodiment is directed to a robotic package handling system, comprising: an input assembly configured to receive a plurality of items as they are sequenced upon the input assembly; a gantry sortation assembly operatively coupled to the input assembly, the gantry sortation assembly comprising a frame assembly movably coupled to a first horizontal member, the first horizontal member movably coupled to a vertical grasping assembly comprising a distal grasping end effector, wherein the distal grasping end effector is configured to reach the plurality of items on the input assembly and a plurality of output structures transiently positioned about a perimeter within the frame assembly and configured to be movable away from the frame without further use of the gantry sortation assembly; a first imaging assembly positioned and oriented to capture image information pertaining to the plurality of items, input assembly, and gantry sortation assembly; and a first computing system.

Inventors

Jeffrey B. Mahler

Assignees

AMBI ROBOTICS, INC.

Dates

Publication Date: 20260507
Application Date: 20250808

Claims (20)

1 - 52 . (canceled)
53 . A robotic package handling system, comprising: an end effector assembly configured to transfer one or more packages from an input assembly to an output assembly, wherein the input assembly is configured to have a plurality of surfaces configured for transient storage of packages in an operational cache configuration; a first imaging device positioned and oriented to capture image information pertaining to the one or more packages; a first computing system operatively coupled to the end effector assembly and the first imaging device, and configured to receive the image information from the first imaging device and command movements of the end effector assembly based at least in part upon the image information; wherein the input assembly is operatively coupled to the first computing system and configured to be operated by the first computing system based at least in part upon the image information to mechanically process a plurality of incoming packages to provide a supply of packages to be transferred to the input assembly; and wherein the first computing system is configured to operate the end effector assembly to move a targeted package of the one or more packages from the input assembly based at least in part upon the image information, and release the targeted package to be at least transiently coupled with the output assembly with a position and orientation based at least in part upon the image information.
54 . The system of claim 53 , wherein the operational cache configuration is electromechanically movable to provide additional transient storage surfaces.
55 . The system of claim 53 , wherein the end effector assembly comprises a first suction cup assembly coupled to a controllably activated vacuum load operatively coupled to the first computing system, the first suction cup assembly configured such that operating the end effector assembly to move a targeted package comprises engaging the targeted package and controllably activating the vacuum load.
56 . The system of claim 55 , wherein the end effector assembly is coupled to a robotic arm.
57 . The system of claim 56 , wherein the robotic arm is configured to controllably removably couple to the targeted package from one of the plurality of surfaces of the input assembly, and to controllably place and removably couple from the targeted package to be at least transiently coupled with the output assembly.
58 . The system of claim 53 , wherein the first imaging device comprises a camera.
59 . The system of claim 53 , wherein the first imaging device comprises a stereoscopic camera assembly.
60 . The system of claim 53 , wherein the first imaging device comprises a depth camera.
61 . The system of claim 53 , wherein the input assembly is configured to be operated by the first computing system to control the supply of packages based at least in part upon a number of the one or more packages transiently coupled to output assembly.
62 . The system of claim 53 , wherein the input assembly is configured to be operated by the first computing system to control the supply of packages based at least in part upon the image information pertaining to the one or more packages at the input assembly.
63 . The system of claim 53 , further comprising a second image capture device operatively coupled to the first computing system and configured to capture information pertaining to the one or more packages on the input assembly.
64 . The system of claim 53 , further comprising a second image capture device operatively coupled to the first computing system and configured to capture information pertaining to the one or more packages on the output assembly.
65 . The system of claim 53 , wherein the first image capture device is positioned and oriented to capture information pertaining to packages being moved from the input assembly to the output assembly.
66 . The system of claim 53 , wherein the input assembly comprises an electromechanical conveyance.
67 . The system of claim 15 , wherein at least a portion of the conveyance comprises a multi-axis electromechanical conveyance.
68 . The system of claim 53 , wherein the output assembly is configured to controllably release the targeted package to an output container.
69 . The system of claim 68 , wherein the output container is selected from the group consisting of: a bin, a sack, a tote, a gaylord container, a chute, a conveyance.
70 . The system of claim 53 , wherein the first computing system is operatively coupled to the output assembly.
71 . The system of claim 70 , wherein the output assembly is configured to controllably release the targeted package to a distribution module, the distribution module being operatively coupled to the first computing system and configured to controllably release the targeted package to an output container.

Description

RELATED APPLICATION DATA This application claims priority to U.S. Provisional Ser. No. 63/681,086 titled “ROBOTIC PACKAGE HANDLING SYSTEMS AND METHODS,” filed on Aug. 8, 2024 and is a Continuation-in-Part of U.S. Ser. No. 18/974,775 titled “ROBOTIC PACKAGE HANDLING SYSTEMS AND METHODS,” filed Dec. 9, 2024. The entire disclosures of the above applications are expressly incorporated by reference herein. FIELD OF THE INVENTION This invention relates generally to the field of robotics, and more specifically to a new and useful system and method for planning and adapting to object manipulation by a robotic system. More specifically the present invention relates to robotic systems and methods for managing and processing packages. BACKGROUND Many industries are adopting forms of automation. Robotic systems, and robotic arms specifically, are increasingly being used to help with the automation of manual tasks. The cost and complexity involved in integrating robotic automation, however, are limiting this adoption. Because of the diversity of possible uses, many robotic systems are either highly customized and uniquely designed for a specific implementation or are very general robotic systems. The highly specialized solutions can only be used in limited applications. The general systems will often require a large amount of integration work to program and setup for a specific implementation. This can be costly and time consuming. Further complicating the matter, many potential uses of robotic systems have changing conditions. Traditionally, robots have been designed and configured for various uses in industrial and manufacturing settings. These robotic systems generally perform very repetitive and well-defined tasks. The increase in e-commerce, however, is resulting in more demand for forms of automation that must deal with a high degree of changing or unknown conditions. Many robotic systems are unable to handle a wide variety of objects and/or a constantly changing variety of objects, which can make such robotic systems poor solutions for the product handling tasks resulting from e-commerce. Thus, there is a need in the robotics field to create a new and useful system and method for planning and adapting to object manipulation by a robotic system. This invention provides such new and useful systems and methods. SUMMARY One embodiment is directed to a robotic package handling system, comprising: an input assembly configured to receive a plurality of items as they are sequenced upon the input assembly; a gantry sortation assembly operatively coupled to the input assembly, the gantry sortation assembly comprising a frame assembly movably coupled to a first horizontal member, the first horizontal member movably coupled to a vertical grasping assembly comprising a distal grasping end effector, wherein the distal grasping end effector is configured to reach the plurality of items on the input assembly as well as a plurality of output structures transiently positioned about a perimeter within the frame assembly and configured to be movable away from the frame without further use of the gantry sortation assembly; a first imaging assembly positioned and oriented to capture image information pertaining to the plurality of items, input assembly, and gantry sortation assembly; and a first computing system operatively coupled to the gantry sortation assembly and first imaging assembly, and configured to receive the image information from the first imaging assembly and command movements of the gantry sortation assembly based at least in part upon the image information; wherein the first computing system is configured to operate the gantry sortation assembly to move a targeted item from the input assembly based at least in part upon the image information, and release the targeted item into a targeted output structure with a position and orientation relative to the targeted output structure that is based at least in part upon the image information. The input assembly may be selected from the group consisting of: a table, a conveyance, a robot, a bin, a container, a chute, and a tray. The input assembly may comprise a conveyance that is electromechanical. The input assembly may comprise a multi-axis electromechanical conveyance. The input assembly may comprise a robot having a mobile base. The input assembly may be configured to present the plurality of items to the distal grasping end effector in a substantially singulated manner. The input assembly may comprise a plurality of surfaces configured for transient storage of items in an operational cache configuration. The operational cache configuration may be electromechanically movable to provide additional transient storage surfaces. The input assembly may comprise a herringbone conveyance operatively coupled to the first computing system and configured to automatically position the one or more items in a central position within reach of the distal grasping end effector. The first