Soft package, robot system for processing the same, and method thereof

Patent metadata

Field	Value
Publication number	US-11241795-B2
Application number	US-201816137744-A
Country	US
Kind code	B2
Filing date	Sep 21, 2018
Priority date	Sep 21, 2018
Publication date	Feb 8, 2022
Grant date	Feb 8, 2022

Abstract

A soft package includes a package body made of a soft deformable material, and a plurality of rigid gripping components disposed at periphery or corners of the package body. Each of the rigid gripping components includes a rigid ring structure configured to be gripped by a robot device. A robot system may be used to process the soft package, by controlling a computer vision system of the robot system to capture images of the soft package, processing the images of the soft package to recognize the locations of the rigid gripping components, and controlling the robot devices of the robot system to grasp the rigid gripping components.

First claim

What is claimed is:

1. A soft package, comprising:
a package body made of a soft deformable material; and
a plurality of rigid gripping components disposed at a periphery of the package body,
wherein the package body has a first surface and a second surface opposite to the first surface, each of the rigid gripping components comprises a rigid ring structure to be picked up by a robot device, and the rigid ring structure is embedded in the package body and penetrates the first surface and the second surface of the package body; and
wherein the robot device comprises at least one of an expandable gripping device and a hooking device, the expandable gripping device has an expandable gripping component insertable into the rigid ring structure so as to grip the soft package through the rigid ring structure, and the hooking device is configured to grip the soft package by hooking the rigid ring structure.

2. The soft package of claim 1 , wherein the package body has a substantially rectangular shape, and the rigid gripping components are disposed at four corners of the package body.

3. The soft package of claim 1 , wherein the rigid ring structure is magnetic.

4. The soft package of claim 1 , wherein a visual guiding structure is further provided for each of the rigid gripping components, and the visual guiding structure is configured to be detected by a computer vision system.

5. The soft package of claim 4 , wherein the visual guiding structure is a colored structure.

6. The soft package of claim 4 , wherein the visual guiding structure is a tag having a computer recognizable code thereon.

7. The soft package of claim 6 , wherein the computer recognizable code is a barcode, a watermark, a quick response (QR) code, or an Apriltag code.

8. The soft package of claim 1 , wherein:
the robot device comprises the expandable gripping device, the expandable gripping component is configured to be switchable between a normal state and an expanded state;
when the expandable gripping component is in the normal state, a size of the expandable gripping component is smaller than an inner size of the rigid ring structure such that the expandable gripping component is configured to be inserted into the rigid ring structure; and
when the expandable gripping component is in the expanded state, the size of the expandable gripping component is expanded to fit the inner size of the rigid ring structure such that the expandable gripping component is configured to grip the rigid ring structure.

9. A robot system for processing a soft package, comprising:
a controller;
a plurality of robot devices each being configured to grasp the soft package; wherein the soft package comprises:
a package body made of a soft deformable material; and
a plurality of rigid gripping components disposed at a periphery of the package body,
wherein each of the rigid gripping components comprises a rigid ring structure configured to be gripped by one of the robot devices; and
wherein each of the robot devices comprises at least one of an expandable gripping device and a hooking device, the expandable gripping device has an expandable gripping component insertable into the rigid ring structure to grip the soft package through the rigid ring structure, and the hooking device is configured to grip the soft package by hooking the rigid ring structure; and

a computer vision system configured to capture images of the soft package and to recognize locations of the rigid gripping components of the soft package.

10. The robot system of claim 9 , wherein the computer vision system comprises a camera configured to capture the images of the soft package, and the controller is configured to process the images of the soft package captured by the camera and recognize the locations of the rigid gripping components of the soft package.

11. The robot system of claim 9 , wherein:
each of the robot devices comprises the expandable gripping device, the expandable gripping component is configured to be switchable between a normal state and an expanded state;
when the expandable gripping component is in the normal state, a size of the expandable gripping component is smaller than an inner size of the rigid ring structure such that the expandable gripping component is configured to be inserted into the rigid ring structure; and
when the expandable gripping component is in the expanded state, the size of the expandable gripping component is expanded to fit the inner size of the rigid ring structure such that the expandable gripping component is configured to grip the rigid ring structure.

12. The robot system of claim 9 , wherein a visual guiding structure is further provided for each of the rigid gripping components, and the visual guiding structure is configured to be detected by the computer vision system.

13. The robot system of claim 12 , wherein the visual guiding structure is a colored structure.

14. The robot system of claim 12 , wherein the visual guiding structure is a tag having a computer recognizable code thereon, and the computer recognizable code is a barcode, a watermark, a quick response (QR) code, or an Apriltag code.

15. The robot system of claim 9 , wherein the controller is configured to:
control the robot devices to grasp the rigid ring structure of at least two of the rigid gripping components of the soft package, such that each of the rigid ring structure of at least two of the rigid gripping components of the soft package is grasped by one of the robot devices; and
control the robot devices grasping the at least two of the rigid gripping components of the soft package to flip the soft package.

16. A method for processing a soft package using a robot system, comprising:
providing the soft package, wherein the soft package comprises:
a package body made of a soft deformable material; and
a plurality of rigid gripping components disposed at a periphery of the package body, wherein each of the rigid gripping components comprises a rigid ring structure configured to be gripped by one of a plurality of robot devices of the robot system, each of the plurality of robot devices comprises at least one of an expandable gripping device and a hooking device, the expandable gripping device has an expandable gripping component insertable into the rigid ring structure to grip the soft package through the rigid ring structure, and the hooking device is configured to grip the soft package by hooking the rigid ring structure;

controlling a computer vision system of the robot system to capture images of the soft package;
processing the images of the soft package to recognize the locations of the rigid gripping components; and
controlling the robot devices of the robot system to grasp the rigid gripping components.

17. The method of claim 16 , wherein:
each of the robot devices comprises the expandable gripping device, the expandable gripping component is configured to be switchable between a normal state and an expanded state;
when the expandable gripping component is in the normal state, a size of the expandable gripping component is smaller than an inner size of the rigid ring structure such that the expandable gripping component is configured to be inserted into the rigid ring structure; and
when the expandable gripping component is in the expanded state, the size of the expandable gripping component is expanded to fit the inner size of the rigid ring structure such that the expandable gripping component is configured to grip the rigid ring structure.

18. The method of claim 16 , wherein a v

Assignees

• Beijing Jingdong Shangke Information Technology Co Ltd
• Jd Com American Tech Corp

Inventors

• Xi Wei

Classifications

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• B65D33/08

  Hand holes · CPC title

• G05B2219/39109

  Dual arm, multiarm manipulation, object handled in cooperation · CPC title

• G05B2219/39571

  Grip, grasp non rigid material, piece of cloth · CPC title

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title