Systems and methods for sku induction, decanting and automated eligibility estimation

Patent metadata

Field	Value
Publication number	US-2025128407-A1
Application number	US-202418911308-A
Country	US
Kind code	A1
Filing date	Oct 10, 2024
Priority date	Oct 30, 2020
Publication date	Apr 24, 2025
Grant date	—

Abstract

An object induction system is disclosed for assigning handling parameters to an object. The system includes an analysis system, an association system, and an assignment system. The analysis system includes at least one characteristic perception system for providing perception data regarding an object to be processed. The association system includes an object information database and assigns association data to the object responsive to commonality with of any of the characteristic perception data with any of the characteristic recorded data. The assignment system is for assigning programmable motion device handling parameters to the indicia perception data based on the association data, and includes a workflow management system as well as a separate operational controller.

First claim

What is claimed is:

1 .- 34 . (canceled)

35 . A method for inducting an object into an object handling system of the type that handles any such object with a programmable motion device, where identifying indicia associated with the object is scanned to establish the identifying indicia corresponding to a known stock keeping unit entry in an object information database, and such stock keeping unit entry in the object information data includes corresponding programmable motion device handling parameters, and in the event such stock keeping unit database entry does not exist or exists without corresponding programmable motion device handling parameters, then a stock keeping unit database entry is entered with programmable motion device handling parameters derived from the method comprising:
conveying the object while collecting dynamic responsive information relating to at least one of a size, a shape, and a weight of the object; analyze an image of the object to estimate a volumetric size of the object; search the object information database for stock keeping unit entries that have a similar dynamic responsive information value of the object and a similar volumetric size as the object to provide a list of similar known objects; determine a similarity rank based on a comparison of the object to the similar known objects; and assign programmable motion device handling parameters to the object that correspond to the programmable motion device handling parameters of a similar known object using the similarity rank.

36 . The method as claimed in claim 35 , wherein the step of conveying the object while collecting dynamic responsive information uses a weight sensing conveyor with at least one load cell in communication with the object handling system.

37 . The method as claimed in claim 35 , wherein the step of conveying the object while collecting dynamic responsive information uses a perturbation roller.

38 . The method as claimed in claim 35 , wherein the step of conveying the object while collecting dynamic responsive information further comprises determining characteristics of one or more surfaces of the object.

39 . The method as claimed in claim 38 , wherein the characteristics of one or more surfaces of the object includes determining a shape factor based on a comparison between the relative sizes of two dimensions.

40 . The method as claimed in claim 35 , wherein the step of conveying the object while collecting dynamic responsive information further comprises determining a position authority is established based on observed movement of the object while being conveyed.

41 . The method as claimed in claim 35 , wherein the step of conveying the object while collecting dynamic responsive information further comprises determining a center of mass of the object.

42 . The method as claimed in claim 41 , further comprising determining whether or not the center of mass is not constant.

43 . A method for inducting an object into an object handling system of the type that handles any such object with a programmable motion device, where identifying indicia associated with the object is scanned to establish the identifying indicia corresponding to a known stock keeping unit entry in an object information database, and such stock keeping unit entry in the object information data includes corresponding programmable motion device handling parameters, and in the event such stock keeping unit database entry does not exist or exists without corresponding programmable motion device handling parameters, then a stock keeping unit database entry is entered with programmable motion device handling parameters derived from the method comprising:
determining perception data for the object including at least one of a weight, height, width, length, center of mass, object description, and object category; determining a packaging characteristic of the object using the perception data; search the object information database for stock keeping unit entries that have a similar corresponding perception data and any of a corresponding packaging characteristic to that of the object to provide a list of similar known objects; determine a similarity rank based on a comparison of the object to the similar known objects; and assign programmable motion device handling parameters to the object that correspond to the programmable motion device handling parameters of a similar known object using the similarity rank.

44 . The method as claimed in claim 43 , wherein the step of determining a packaging characteristic further comprises determining outermost points of the object and estimating a distance between such outermost points.

45 . The method as claimed in claim 44 , wherein the step of determining a packaging characteristic further comprises estimating a shape of the object using the outermost points and the distance between such points.

46 . The method as claimed in claim 44 , wherein the step of determining a packaging characteristic further comprises determining at least one of a length profile, a width profile and a height profile using the distance between such outermost points.

47 . The method as claimed in claim 43 , wherein the step of determining a packaging characteristic further comprises performing a text recognition to identify textual characteristics of the object packaging.

48 . The method as claimed in claim 43 , wherein the step of determining a packaging characteristic further comprises performing a symbol recognition to identify symbolic characteristics of the object packaging.

49 . A method of determining packaging characteristics of an object inducted into a product handling system using a programmable motion device, the method comprising:
acquire perception data of the object; perform image recognition on the perception data to detect at least one of a textual indicator and a symbolic indicator of packaging characteristics; determine a suitability for handling the object with the programmable motion device using the at least one of the detected textual indicator and the detected symbolic indicator.

50 . The method as claimed in claim 49 , wherein the textual indicator is at least one of the words fragile, breakable, glass, hazardous, dangerous and combustible, and a phrase indicating package orientation.

51 . The method as claimed in claim 49 , wherein the symbolic indicator is one of a radioactive symbol, a hazardous material symbol, a dangerous symbol, and a fragile glass symbol.

52 . The method as claimed in claim 49 , wherein the symbolic indicator is a recycling symbol.

53 . The method as claimed in claim 52 , wherein the textual indicator indicates the composition of the recyclable material.

54 . The method as claimed in claim 49 , wherein the method further comprises flagging the object for exception handling based on the determined suitability for handling the object with the programmable motion device.

Assignees

• Berkshire Grey Operating Company Inc

Inventors

• Amend Jr John Richard
• Barber Timothy
• Cohen Benjamin
• GEYER Christopher
• Glasgow Evan
• Guillochon James
• Wang Kirsten
• Hinchey Victoria
• King Jennifer Eileen
• Koletschka Thomas
• Long Guoming Alex
• MARONEY Kyle
• Mason Matthew T
• McMahan William Chu-Hyon
• Naseef Samuel
• O'Brien Kevin
• Pechyoni Dimitry
• Romano Joseph
• Saccoccio Max
• Scolnic Jessica
• Velagapudi Prasanna

Classifications

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• B25J9/12

  electric · CPC title

• Y02P90/02

  Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] · CPC title

• B65G47/905

  Control arrangements · CPC title