US 12,437,441 B2
Method and system for decanting a plurality of items supported on a transport structure at one time with a picking tool for placement into a transport container
G. Neil Haven, Clearwater, ID (US)
Assigned to Liberty Robotics Inc., Dexter, MI (US)
Filed by Liberty Reach Inc., Clearwater, ID (US)
Filed on Dec. 20, 2022, as Appl. No. 18/085,307.
Application 18/085,307 is a continuation in part of application No. 17/852,482, filed on Jun. 29, 2022, granted, now 11,557,058.
Application 18/085,307 is a continuation in part of application No. 17/569,606, filed on Jan. 6, 2022, granted, now 12,125,242.
Application 18/085,307 is a continuation in part of application No. 17/491,975, filed on Oct. 1, 2021, granted, now 12,118,778.
Application 17/852,482 is a continuation of application No. 17/141,593, filed on Jan. 5, 2021, granted, now 11,436,753, issued on Sep. 6, 2022.
Prior Publication US 2023/0130353 A1, Apr. 27, 2023
Int. Cl. G06T 7/73 (2017.01); B25J 9/16 (2006.01); G06T 7/00 (2017.01)
CPC G06T 7/74 (2017.01) [B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); G06T 7/0008 (2013.01); G06T 2207/10028 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of decanting a plurality of substantially identical target items in a topmost layer of target items supported on a transport structure at one time with a picking tool for placement into a transport container, the method comprising the steps of:
providing a ranked configuration which describes the location and orientation of all items in the topmost layer;
identifying a set of all legal picks of multiple items from the topmost layer based on the size and shape of the picking tool and the size and shape of the transport container; and
grouping the legal picks into equivalence classes, each equivalence class containing a subset of items from the ranked configuration.