Methods, systems, and computer program products for executing partial depalletization operations in robotic depalletization

Patent metadata

Field	Value
Publication number	US-12454058-B2
Application number	US-202217823440-A
Country	US
Kind code	B2
Filing date	Aug 30, 2022
Priority date	Aug 30, 2022
Publication date	Oct 28, 2025
Grant date	Oct 28, 2025

Abstract

Various embodiments are directed to methods, apparatuses, systems, computing devices, computing entities, and the like for robotically depalletizing objects. In various embodiments, a controller-implemented method for robotic depalletization may comprise detecting a first object of a plurality of palletized objects arranged in a plurality of pallet layers, the first object defining at least a portion of a top pallet layer; identifying an initial pallet height defined by the first object; identifying a second pallet height defined by a second object of the plurality of palletized objects; detecting a pallet height difference based at least in part on the second pallet height; and determining that the top pallet layer has been depalletized based at least in part on a comparison of the pallet height difference to a threshold pallet layer height.

First claim

What is claimed:

1. A controller-implemented method for robotic depalletization, the method comprising: detecting a first object of a plurality of palletized objects arranged in a plurality of pallet layers, the first object defining at least a portion of a top pallet layer; identifying an initial pallet height defined by the first object; identifying a second pallet height defined by a second object of the plurality of palletized objects; detecting a pallet height difference based on a difference between the initial pallet height of the first object and the second pallet height of the second object; comparing the detected pallet height difference with a threshold pallet layer height; determining that the top pallet layer has been depalletized when the pallet height difference is greater than or equal to the threshold pallet layer height; and causing depalletization of at least the first object or the second object from the top pallet layer and relocating at least one of the first object or the second object to a secondary location based on determining that the pallet height difference is less than the threshold pallet layer height.

2. The controller-implemented method of claim 1 , further comprising, upon determining that the top pallet layer has been depalletized, updating layer index data associated with the plurality of palletized objects to reflect a depalletization of the top pallet layer.

3. The controller-implemented method of claim 2 , further comprising comparing an updated layer index data to a total pallet layer depalletization value.

4. The controller-implemented method of claim 3 , further comprising, based at least in part on a determination that a depalletized layer value associated with a layer-based depalletization operation does not satisfy the total pallet layer depalletization value, initiating a depalletization of a second pallet layer of the plurality of pallet layers, the second pallet layer being defined at least in part by the second object.

5. The controller-implemented method of claim 4 , wherein updating the layer index data comprises increasing a depalletized layer value associated with a layer-based depalletization operation.

6. The controller-implemented method of claim 4 , further comprising, based at least in part on a determination that the depalletized layer value associated with the layer-based depalletization operation satisfies the total pallet layer depalletization value, ending the layer-based depalletization operation.

7. The controller-implemented method of claim 3 , wherein the total pallet layer depalletization value is defined by user input received by a depalletization system.

8. The controller-implemented method of claim 1 , further comprising: receiving user input defining a user selection of a pallet layer-based depalletization mode; and initiating a layer-based depalletization operation based on the user selection of the pallet layer-based depalletization mode, the layer-based depalletization operation embodying a partial depalletization of the plurality of palletized objects.

9. The controller-implemented method of claim 8 , wherein the user input is further defined by a total pallet layer depalletization value corresponding to a user-selected number of pallet layers to be depalletized via layer-based depalletization operation.

10. The controller-implemented method of claim 1 , wherein the second pallet height is detected based at least in part on imaging data captured by a depalletization system.

11. An apparatus comprising at least one processor and at least one non-transitory memory comprising a computer program code, the at least one non-transitory memory and the computer program code configured to, with the at least one processor, cause the apparatus to: detect a first object of a plurality of palletized objects arranged in a plurality of pallet layers, the first object defining at least a portion of a top pallet layer; identify an initial pallet height defined by the first object; identify a second pallet height defined by a second object of the plurality of palletized objects; detect a pallet height difference based on a difference between the initial pallet height of the first object and the second pallet height of the second object; comparing the detected pallet height difference with a threshold pallet layer height; determine that the top pallet layer has been depalletized when the pallet height difference is greater than or equal to the threshold pallet layer height; and cause depalletization of at least the first object or the second object from the top pallet layer and relocate at least one of the first object or the second object to a secondary location based on determining that the pallet height difference is less than the threshold pallet layer height.

Assignees

• Intelligrated Headquarters Llc

Inventors

• Makhal Abhijit
• Jhalani Ayush
• Shah Darshan

Classifications

• G06T7/60

  Analysis of geometric attributes · CPC title

• G06Q10/087

  Inventory or stock management, e.g. order filling, procurement or balancing against orders · CPC title

• B65G59/02

  De-stacking from the top of the stack · CPC title

• B25J19/023

  including video camera means · CPC title

• B25J9/1697

  Vision controlled systems · CPC title