A computing system including a processing circuit in communication with a camera having a field of view, The processing circuit obtains image information based on the objects in the field of view and defines a minimum viable region for a target open corner. Potential minimum viable regions are defined by identifying candidate edges of an object and determining potential intersection points based on the candidate edges. The minimum viable region may then be identified and validated from the potential minimum viable regions.

A container handling method employing dense storage comprises: when at least one blocking container blocking removal of a target container is stored on storage shelf, container fetching mechanism of a robot fetching at least one blocking container from storage shelf, and temporarily storing same on buffer mechanism of robot; and container fetching mechanism of robot fetching target container from storage shelf, storing same on buffer mechanism of robot, fetching at least one blocking container from buffer mechanism of robot, and placing same at an original storage position thereof, an original storage position of target container, or other vacant storage positions on storage shelf; when buffer mechanism of robot is full due to at least one blocking container, container fetching mechanism of robot fetching target container from storage shelf, and keeping same on container fetching mechanism of robot.

According to one embodiment, a cargo handling apparatus includes a hand, a robot arm, a transfer device, a measurement device, and a control device. The hand holds an article. The robot arm moves the hand. The transfer device is arranged with the robot arm, and transfers the article. The measurement device measures a position and a size of the article. The control device performs a first operation of transferring the article to the transfer device by using the hand and the robot arm, and a second operation of transferring the transferred article by using the transfer device. The control device determines whether or not the robot arm will interfere with the transfer device or a second article on the transfer device when performing the first operation for a first article. The control device controls a start timing of the first operation according to a determination result of the interference.

Vision systems for robotic assemblies for handling cargo, for example, unloading cargo from a trailer, can determine the position of cargo based on shading topography. Shading topography imaging can be performed by using light sources arranged at different positions relative to the image capture device(s).

A method of processing objects is disclosed using a programmable motion device. The method includes the steps of acquiring an object from a plurality of mixed objects at an input area, perceiving identifying indicia in connection with the object, assigning an intermediate station to a destination location for the object responsive to the identifying indicia in connection with the object, and moving the acquired object toward the intermediate station.

Methods and apparatus for determining a grasp strategy to grasp an object with a gripper of a robotic device are described. The method comprises generating a set of grasp candidates to grasp a target object, wherein each of the grasp candidates includes information about a gripper placement relative to the target object, determining, for each of the grasp candidates in the set, a grasp quality, wherein the grasp quality is determined using a physical-interaction model including one or more forces between the target object and the gripper located at the gripper placement for the respective grasp candidate, selecting, based at least in part on the determined grasp qualities, one of the grasp candidates, and controlling the robotic device to attempt to grasp the target object using the selected grasp candidate.

Methods and apparatus for object detection and pick order determination for a robotic device are provided. Information about a plurality of two-dimensional (2D) object faces of the objects in the environment may be processed to determine whether each of the plurality of 2D object faces matches a prototype object of a set of prototype objects stored in a memory, wherein each of the prototype objects in the set represents a three-dimensional (3D) object. A model of 3D objects in the environment of the robotic device is generated using one or more of the prototype objects in the set of prototype objects that was determined to match one or more of the 2D object faces.

An example method is carried out in a warehouse environment having a plurality of inventory items located therein, each having a corresponding on-item identifier. The method involves determining a target inventory item having a target on-item identifier. The method also involves determining that a first inventory item having a first on-item identifier is loaded onto a first robotic device. The method further involves transmitting a request to verify the first on-item identifier. The method still further involves receiving data captured by a sensor of the second robotic device. The method yet further involves (i) analyzing the received data to determine the first on-item identifier, (ii) comparing the first on-item identifier and the target on-item identifier, and (iii) responsive to comparing the first on-item identifier and the target on-item identifier, performing an action.

A method controls a folding box machine having a plurality of machining stations and a plurality of control devices for controlling the quality of folding boxes. Each control device controls different quality features of each folding box, and each control device transmits the result of the control to a control unit. Target values are stored in the control unit in order to classify the control results into results which meet the quality standard and results which do not meet the quality standard, and a folding box is discharged depending on an evaluation. The method advantageously reduces waste.

Methods, devices, systems, and non-transitory process-readable storage media for a computing device of a robotic carton unloader to identify items to be unloaded from an unloading area within imagery.