Robotic singulation system with automated routing of manually scanned packages

Patent metadata

Field	Value
Publication number	US-12579507-B2
Application number	US-202318125031-A
Country	US
Kind code	B2
Filing date	Mar 22, 2023
Priority date	Mar 23, 2022
Publication date	Mar 17, 2026
Grant date	Mar 17, 2026

Abstract

A robotic singulation system configured to enable automated routing of manually scanned packages is disclosed. In various embodiments, image data associated with a workspace in which at least a portion of a segmented conveyance structure is located is received at a processor via a communication interface. A visually-provided user input indicating a receptacle comprising the segmented conveyance structure is detected, based at least in part on the image data. A receptacle identifier associated with the receptacle indicated by the visually-provided user input is determined, in response to the visually-provided input and based at least in part on the image data. A scanned package information is associated with the receptacle identifier, at least in part in response to the visually-provided input.

First claim

What is claimed is:

1 . A system, comprising:
a camera positioned in a workspace with a view of at least a part of a segmented conveyance structure, the segmented conveyance structure comprising a series of receptacles conveyed through the workspace via a belt or other conveyance mechanism; a communication interface; and a processor coupled to the communication interface and configured to:
receive via the communication interface image data generated by the camera of a portion of the workspace through which successive receptacles comprising the segmented conveyance structure are conveyed;
detect, based at least in part on the image data, a visually-provided user input indicating a receptacle comprising the segmented conveyance structure, wherein the visually-provided user input is provided by a human worker positioned adjacent to the segmented conveyance structure downstream from a robotic singulation station comprising a robotic arm configured to place packages singly each on a corresponding receptacle comprising the segmented conveyance structure;
determine, in response to the visually-provided input and based at least in part on the image data, a receptacle identifier associated with the receptacle indicated by the visually-provided user input; and
associate a scanned package information with the receptacle identifier, at least in part in response to the visually-provided input;
wherein the receptacle comprises a first receptacle and the processor is further configured to detect that two items have been placed in a second receptacle by said robotic singulation station comprising the robotic arm; and, in response to detecting that two items have been placed in the second receptacle, leave a subsequent receptacle to remain empty as the subsequent receptacle passes the robotic singulation station.

2 . The system of claim 1 , wherein the visually-provided user input comprises information represented on or otherwise associated with a physical article depicted in the image data as being held by said human worker in the workspace.

3 . The system of claim 1 , wherein the visually-provided user input comprises a gesture depicted in the image data as being made by said human worker in the workspace.

4 . The system of claim 3 , wherein the visually-provided user input comprises a hand gesture in the image data as being made by said human worker in the workspace.

5 . The system of claim 3 , wherein the visually-provided user input comprises a dynamic gesture made by said human worker in the workspace.

6 . The system of claim 1 , wherein the scanned package information is manually scanned by a user with which the visually-provided user input is associated.

7 . The system of claim 1 , wherein the scanned package information is manually scanned by an equipment with which the visually-provided user input is associated.

8 . The system of claim 1 , wherein the processor is further configured to use a fixed scanner equipment to generate the scanned package information.

9 . The system of claim 1 , wherein the processor is further configured to use the receptacle identifier and the scanned package information to route a package associated with the receptacle comprising the segmented conveyance structure.

10 . The system of claim 1 , wherein the processor is configured to associate the scanned package information with the receptacle identifier based at least in part on a determination that the visually-provided user input was received within a threshold interval of the scanned package information being received.

11 . The system of claim 1 , wherein the processor is configured to determine the receptacle identifier at least in part by decoding an optical code displayed on or adjacent to the receptacle.

12 . A method, comprising:
receiving at a processor via a communication interface image data associated with a workspace in which at least a portion of a segmented conveyance structure is located, wherein the image data is generated by a camera positioned in the workspace; detecting, based at least in part on the image data, a visually-provided user input indicating a receptacle comprising the segmented conveyance structure, wherein the visually-provided user input is provided by a human worker positioned adjacent to the segmented conveyor downstream from a robotic singulation station comprising a robotic arm configured to place packages singly each on a corresponding receptacle comprising the segmented conveyance structure; determining, in response to the visually-provided input and based at least in part on the image data, a receptacle identifier associated with the receptacle indicated by the visually-provided user input; and associating a scanned package information with the receptacle identifier, at least in part in response to the visually-provided input; wherein the receptacle comprises a first receptacle and the processor is further configured to detect that two items have been placed in a second receptacle by said robotic singulation station comprising the robotic arm; and, in response to detecting that two items have been placed in the second receptacle, leave a subsequent receptacle to remain empty as the subsequent receptacle passes the robotic singulation station.

13 . The method of claim 12 , wherein the visually-provided user input comprises information represented on or otherwise associated with a physical article depicted in the image data as being held by said human worker in the workspace.

14 . The method of claim 12 , wherein the visually-provided user input comprises a gesture depicted in the image data as being made by said human worker in the workspace.

15 . The method of claim 12 , wherein the scanned package information is manually scanned by a user with which the visually-provided user input is associated.

16 . A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions for:
receiving at a processor via a communication interface image data associated with a workspace in which at least a portion of a segmented conveyance structure is located, wherein the image data is generated by a camera positioned in the workspace; detecting, based at least in part on the image data, a visually-provided user input indicating a receptacle comprising the segmented conveyance structure, wherein the visually-provided user input is provided by a human worker positioned adjacent to the segmented conveyor downstream from a robotic singulation station comprising a robotic arm configured to place packages singly each on a corresponding receptacle comprising the segmented conveyance structure; determining, in response to the visually-provided input and based at least in part on the image data, a receptacle identifier associated with the receptacle indicated by the visually-provided user input; and associating a scanned package information with the receptacle identifier, at least in part in response to the visually-provided input; wherein the receptacle comprises a first receptacle and the processor is further configured to detect that two items have been placed in a second receptacle by said robotic singulation station comprising the robotic arm; and, in response to detecting that two items have been placed in the second receptacle, leave a subsequent receptacle to remain empty as the subsequent receptacle passes the robotic singulation station.

Assignees

• Dexterity Inc

Inventors

• Ryan Timothy
• Tondreau Iii David Leo
• Vardhan Harsh

Classifications

• G06K7/1417

  2D bar codes · CPC title

• G06K7/1413

  1D bar codes · CPC title

• B07C2501/0063

  Using robots · CPC title

• B07C5/36

  Sorting apparatus characterised by the means used for distribution {(sorting according to destination B07C3/003, B07C3/02)} · CPC title

• B07C5/02

  Measures preceding sorting, e.g. arranging articles in a stream orientating {(sorting and transport of caps B67B3/06)} · CPC title