Systems, devices, articles and methods for the partition of items

Patent metadata

Field	Value
Publication number	US-11097417-B2
Application number	US-201715833869-A
Country	US
Kind code	B2
Filing date	Dec 6, 2017
Priority date	Dec 20, 2016
Publication date	Aug 24, 2021
Grant date	Aug 24, 2021

Abstract

Systems, devices, articles, and methods for the partition of a plurality of items. A system including at least one processor, a frame, an end-effector coupled to the frame, and a plurality of reception spaces proximate to the end-effector. Coupled to the at least one processor is the end-effector, and a storage device storing processor-executable instructions which cause the at least one processor to direct the end-effector partition a plurality of items into two or more defined parts per a defined partition for the plurality of items. The end-effector places the plurality of items in the plurality of reception spaces. Item(s) for a respective part of the two or more defined parts are placed in a respective reception space, and may be transferred to a respective container. A method of operation of a system including at least one processor and a robot substantially as described and illustrated herein.

First claim

The invention claimed is:

1. A system comprising:
a frame;
a plurality of reception spaces;
at least one end-effector physically coupled to the frame and moveable to be at least proximate with the plurality of reception spaces;
a plurality of extraction spaces wherein a respective extraction space corresponds to a respective reception space of the plurality of reception spaces;
at least one processor communicatively coupled to control movement of at least the at least one end-effector; and
at least one nontransitory processor-readable storage device communicatively coupled to the at least one processor and which stores processor-executable instructions which, when executed by the at least one processor, causes the at least one processor to:
direct the at least one end-effector to grasp a first respective item from a plurality of items,
identify the first respective item from the plurality of items as fulfilling at least in part a first part of a defined partition for the plurality of items,
direct the at least one end-effector to transfer the first respective item to a first reception space of the plurality of reception spaces,
direct the at least one end-effector to grasp a second respective item from the plurality of items,
identify the second respective item from the plurality of items,
if the second respective item fulfills at least in part the first part of the defined partition for the plurality of items, direct the at least one end-effector to transfer the second respective item to the first reception space of the plurality of reception spaces, and
if the second respective item fulfills at least in part a second part of the defined partition for the plurality of items, direct the at least one end-effector to transfer the second respective item to a second reception space of the plurality of reception spaces,
monitor for completion of the first part and the second part with the plurality of items, and
if the first part of the defined partition for the plurality of items is incomplete subsequent to successful transfer of the first respective item and the second respective item, generate a first signal that includes processor-readable error information that represents an incomplete status for the first part,

wherein the instructions cause the at least one processor to direct the at least one end-effector according to at least one direction that replays or executes previously stored piloted robot control instructions.

2. The system of claim 1 wherein, when executed, the processor-executable instructions further cause the at least one processor to:
if the first respective item or the second respective item fulfills in full the first part of the defined partition for the plurality of items, generate a second signal that includes processor-readable completion information that represents fulfillment the first part of the defined partition for the plurality of items.

3. The system of claim 2 , further comprising:
an output device communicatively coupled to the at least one processor; and
wherein, when executed, the processor-executable instructions further cause the at least one processor to:
cause, by the at least one processor based on the processor-readable completion information, display of a first visual indication in the output device, wherein the first visual indication is a completion indication associated with a first respective extraction space in the plurality of extraction spaces.

4. The system of claim 1 , further comprising:
an output device communicatively coupled to the at least one processor; and
wherein, when executed, the processor-executable instructions further cause the at least one processor to:
based on the processor-readable error information, display a second visual indication in the output device, wherein the second visual indication is an incompletion indication associated with a first respective extraction space in the plurality of extraction spaces.

5. The system of claim 3 wherein:
the output device includes a light proximately disposed to the first respective extraction space in the plurality of extraction spaces; and
wherein, when executed, the processor-executable instructions further cause the at least one processor to:
based on the processor-readable incompletion information or the processor-readable completion information, when present, change illumination in the light proximately disposed to the first respective extraction space in the plurality of extraction spaces.

6. The system of claim 3 wherein:
the output device includes an augmented reality display for an observer; and
wherein, when executed, the processor-executable instructions further cause the at least one processor to:
based on the processor-readable incompletion information or the processor-readable completion information, when present, update a first image in the augmented reality display for the observer, wherein the first image overlies a second image of the first respective extraction space in the plurality of extraction spaces.

7. The system of claim 3 wherein:
the output device includes a display communicatively coupled to the at least one processor; and
wherein, when executed, the processor-executable instructions further cause the at least one processor to:
based on the processor-readable incompletion information or the processor-readable completion information, when present, update a third image in the display, wherein the third image includes a representation of the plurality of extraction spaces, and differentiates the first respective extraction space in the representation of the plurality of extraction spaces.

8. The system of claim 1 , further comprising:
a plurality of containers, wherein a respective container is disposed at a respective extraction space of the plurality of extraction spaces.

9. The system of claim 8 wherein the respective extraction space in the plurality of extraction spaces is spaced apart from another respective extraction space in the plurality of extraction spaces, spaced away from a respective reception space in the plurality of reception spaces, and is sized to receive the respective container from the plurality of containers.

10. The system of claim 9 , further comprising:
a plurality of septums wherein a respective septum in the plurality of septums is disposed between a respective pair of reception spaces, or a respective pair of extraction spaces.

11. The system of claim 1 , further comprising:
a plurality of slides wherein a respective slide in the plurality of slides is disposed between a respective reception space and a respective extraction space such that a respective item placed in the respective reception space slides to the respective extraction space.

12. The system of claim 1 , further comprising: at least one multi-joint manipulator disposed between the frame and the at least one end-effector.

13. A method controlled by at least one processor in communication with at least one end-effector, the method comprising:
receiving a plurality of items in an input space reachable by the at least one end-effector;
partitioning sequentially, by the at least one processor and the at least one end-effector, the plurality of items, wherein partitioning includes:
grasping, by the at least one end-effector, a first respective item from the plurality of items;
identifying, by the at least one processor, the first respective item from the plurality of items as associated with a first part from the plurality of parts;
placing, by the at least one end-effector, the first respective item in a first respective reception space in a plurality of reception spaces

Assignees

• Kindred Sys Inc

Inventors

• Jain Jinendra Raja
• Fulop Douglas Ian
• Babu George V
• Hallock David Gabriel

Classifications

• G05B2219/40078

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• G06Q50/04

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• G06Q10/04

  Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem" (market predictions or forecasting for commercial activities G06Q30/0202) · CPC title

• G06Q10/06395

  Quality analysis or management · CPC title

• G05B2219/40013

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