Automated item singulation

Patent metadata

Field	Value
Publication number	US-10221015-B2
Application number	US-201615193495-A
Country	US
Kind code	B2
Filing date	Jun 27, 2016
Priority date	Jun 27, 2016
Publication date	Mar 5, 2019
Grant date	Mar 5, 2019

Abstract

Described are systems, methods, and apparatus for automated item singulation. The system includes a singulation station in which a plurality of different type items may be transitioned onto a singulation table. The singulation table activates and the movement of the singulation table causes the items to de-shingle, separate in distance with respect to one another and migrate along the singulation table toward a pick conveyor. As the de-shingled and singulated items arrive on the pick conveyor they are detected and individually picked by a robotic unit and transitioned from the singulation station.

First claim

What is claimed is:

1. An item singulation method, the method comprising:
transitioning, using a first robotic unit, a plurality of items from a tote to a singulation table, wherein:
at least two items of the plurality of items have a different size and a different shape;
at least two items of the plurality of items are at least partially shingled when transitioned onto the singulation table;
the singulation table includes a plurality of sections, each of the plurality of sections including a surface that causes the at least two items to at least partially separate with respect to each other and migrate along the surface in response to a variable movement of the section; and
the singulation table includes at least two sections of the plurality of sections that are oriented in different directions such that the at least two items migrate along each of the at least two sections in a different direction;

activating, using an actuator, the singulation table to at least:
cause the at least two items to de-shingle;
cause the plurality of items to at least partially separate in distance with respect to other items of the plurality of items;
cause the plurality of items to migrate along respective surfaces of the singulation table as a result of a vibration of the singulation table; and
cause a first item to transition to a pick conveyor;

activating the pick conveyor to transport the first item to a pick area; and
picking, with a second robotic unit, the first item from the pick area.

2. The method of claim 1 , wherein at least one surface of the singulation table includes a textured surface that causes the plurality of items to migrate in response to the vibration of the singulation table.

3. The method of claim 1 , further comprising:
obtaining an image of the first item at the pick area;
processing the image to determine at least one of a shape of the first item or a pick point with respect to the first item; and
wherein picking includes picking the first item based at least in part on the shape of the first item or the pick point.

4. The method of claim 3 , wherein the second robotic unit includes an astrictive end effector configured to pick the first item at the pick point using at least one of a suction, an adhesion, an electroadhesion, or magnetics.

5. The method of claim 4 , wherein the singulation table includes at least one of a positive forward pitch, a negative forward pitch or a side pitch that further causes singulation of the plurality of items as the plurality of items migrate along respective surfaces of the singulation table.

6. A singulation station, comprising:
a first robotic unit configured to transition a plurality of different items to a singulation table;
the singulation table including:
an actuator that causes the singulation table to move when activated;
a plurality of sections, each of the plurality of sections including a surface that causes an item to at least partially separate with respect to other items of the plurality of different items and migrate along the surface in response to a variable movement of the section; and
at least two sections of the plurality of sections that are oriented in different directions such that the item migrates along each of the at least two sections in a different direction; and

a second robotic unit configured to pick the item from the plurality of different items and transition the item from the singulation station.

7. The singulation station of claim 6 , wherein the first robotic unit is at least one of a six-way positionable robotic arm, a single axis mechatronics unit, or an unmanned aerial vehicle.

8. The singulation station of claim 6 , wherein:
a first section of the singulation table includes a first material having a first coefficient of friction; and
a second section of the singulation table includes a second material having a second coefficient of friction.

9. The singulation station of claim 6 , further comprising:
a pick conveyor positioned adjacent the singulation table to receive items of the plurality of different items as the items migrate off the singulation table, the pick conveyor configured to convey the items to a pick area; and
wherein the second robotic unit picks items from the pick area.

10. The singulation station of claim 9 , further comprising:
an overhead camera positioned above the pick area to obtain an image of an item positioned in the pick area; and
wherein the second robotic unit receives a pick position corresponding to a pick point on the item based at least in part on item position information determined from a processing of the image of the item positioned in the pick area.

11. The singulation station of claim 6 , further comprising:
a distance determining element configured to determine a distance between the item and an end effector of the second robotic unit used to pick the item.

12. The singulation station of claim 11 , wherein:
the distance determining element is coupled to the end effector of the second robotic unit; and
the end effector is configured to pick the item.

13. The singulation station of claim 6 , the second robotic unit further including:
an astrictive end effector configured to pick the item using at least one of a suction, an adhesion, an electroadhesion, or magnetics.

14. The singulation station of claim 13 , the second robotic unit further comprising:
a plurality of suction cups positioned on the astrictive end effector and configured to cause a suction when contacted against the item to enable a picking of the item.

15. A system, comprising:
a first robotic unit configured to transition a plurality of items of different types to a singulation table;
the singulation table configured to move according to a singulation pattern using an actuator, the singulation table including a plurality of sections, each of the plurality of sections including a surface that causes an item to at least partially separate with respect to other items of the plurality of items and migrate along the surface in response to a movement of the section, and at least two sections of the plurality of sections being oriented in different directions such that the item migrates along each of the at least two sections in a different direction;
a pick conveyor positioned adjacent the singulation table and configured to receive items of the plurality of items and transition the items to a pick area; and
a second robotic unit configured to pick an item from the pick area and transition the item from the pick conveyor.

16. The system of claim 15 , further comprising:
a singulation controller in communication with the singulation table, the singulation controller configured to at least:
determine a type of each item of the plurality of items;
determine, based at least in part on the type of each item of the plurality of items, the singulation pattern; and
send instructions to the actuator of the singulation table that cause the singulation table to move according to the singulation pattern.

17. The system of claim 15 , wherein the singulation pattern indicates at least one of an amplitude of a movement, a frequency of the movement, a direction of the movement, or a variation of the singulation pattern.

18. The system of claim 15 , the second robotic unit further comprising:
an astrictive end effector configured to pick an item using suction; and
a distance determining element positioned on the astrictive end effector, the distance determining element configured to determine a distance between the item and th

Assignees

• Amazon Tech Inc

Inventors

• Battles Jon Stuart
• Aalund Martin Peter
• Xu Toby Ge
• Garrett Samuel Gardner
• Yan Yan

Classifications

• B65G47/902

  provided with drive systems incorporating rotary and rectilinear movements · CPC title

• B65G27/04 Primary

  Load carriers other than helical or spiral channels or conduits · CPC title

• B65G2203/041

  Camera · CPC title

• B65G47/1485

  using suction or magnetic forces · CPC title

• B65G47/26

  arranging the articles, e.g. varying spacing between individual articles · CPC title