A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. A grasp strategy is determined for each of at least a subset of items, and for each grasp strategy a corresponding probability of grasp success is computed. The grasp strategies and corresponding probabilities of grasp success are used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. A grasp strategy is determined for each of at least a subset of items, and for each grasp strategy a corresponding probability of grasp success is computed. The grasp strategies and corresponding probabilities of grasp success are used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

The present application discloses a system, a method, and a computer system for detecting objects that require special handling. The method includes (i) receiving image data from one or more cameras associated with a source conveyor configured to convey items to a pick location, (ii) determining, based at least in part on the image data, that an item requiring special handling has entered the source conveyor, and (iii) providing an output indicating that the item requiring special handling has been detected.

The present application discloses a system, a method, and a computer system for detecting objects that require special handling. The method includes (i) receiving image data from one or more cameras associated with a source conveyor configured to convey items to a pick location, (ii) determining, based at least in part on the image data, that an item requiring special handling has entered the source conveyor, and (iii) providing an output indicating that the item requiring special handling has been detected.

A parcel processing system includes a conveyor segment that transports a stream of singulated items received from a parcel singulator. An imaging device discretely captures an image of each singulated item of the stream of singulated items transported on the conveyor segment. An automatic recognition system processes the captured images and utilizes a binary classification model to generate a classier output designating each image as a positive, representing a singulation error, or as a negative, representing a correct singulation. An operator station selectively receives a sequence of images from the automatic recognition system to enable an operator to validate the classifier output for the received images, for identifying false positives and/or false negatives therefrom. Items associated with images that are identified as false positives at the operator station are processed as correctly singulated items. Items associated with images that are identified as false negatives are processed as incorrectly singulated items.

A parcel processing system includes a conveyor segment that transports a stream of singulated items received from a parcel singulator. An imaging device discretely captures an image of each singulated item of the stream of singulated items transported on the conveyor segment. An automatic recognition system processes the captured images and utilizes a binary classification model to generate a classier output designating each image as a positive, representing a singulation error, or as a negative, representing a correct singulation. An operator station selectively receives a sequence of images from the automatic recognition system to enable an operator to validate the classifier output for the received images, for identifying false positives and/or false negatives therefrom. Items associated with images that are identified as false positives at the operator station are processed as correctly singulated items. Items associated with images that are identified as false negatives are processed as incorrectly singulated items.

A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. The three dimensional view as generated at successive points in time is used to model a flow of at least a subset of said plurality of items through at least a portion of the workspace. The model is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. The three dimensional view as generated at successive points in time is used to model a flow of at least a subset of said plurality of items through at least a portion of the workspace. The model is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

A mail processing system utilizes a conveyor to shingle or de-shingle mailpieces as they move through the processing system and utilizes belts to move the mailpieces. A first shingling conveyor moves a first mailpiece to overlap with a second mailpiece to create shingled mailpieces. A second shingling conveyor moves a first mailpiece away from a second mailpiece to de-shingle them to create singulated mailpieces. A camera takes images of the mailpieces in the conveyor and image analysis software is used to determine dimensional aspects of the mailpieces that are used to control the belt speeds to move mailpieces with respect to each other. A mail processing system may include a mail processing station that scans addresses, applies postage and/or weighs the mailpieces. Mail may be de-shingled prior to being weighed and then re-shingled for subsequent processing, or mail may be shingled prior to passing through a scale if weighing is not necessary.

A mail processing system utilizes a conveyor to shingle or de-shingle mailpieces as they move through the processing system and utilizes belts to move the mailpieces. A first shingling conveyor moves a first mailpiece to overlap with a second mailpiece to create shingled mailpieces. A second shingling conveyor moves a first mailpiece away from a second mailpiece to de-shingle them to create singulated mailpieces. A camera takes images of the mailpieces in the conveyor and image analysis software is used to determine dimensional aspects of the mailpieces that are used to control the belt speeds to move mailpieces with respect to each other. A mail processing system may include a mail processing station that scans addresses, applies postage and/or weighs the mailpieces. Mail may be de-shingled prior to being weighed and then re-shingled for subsequent processing, or mail may be shingled prior to passing through a scale if weighing is not necessary.