US 12,454,058 B2
Methods, systems, and computer program products for executing partial depalletization operations in robotic depalletization
Abhijit Makhal, Cranberry Township, PA (US); Ayush Jhalani, Pittsburgh, PA (US); and Darshan Shah, Pittsburgh, PA (US)
Assigned to Intelligrated Headquarters, LLC, Mason, OH (US)
Filed by Intelligrated Headquarters, LLC, Mason, OH (US)
Filed on Aug. 30, 2022, as Appl. No. 17/823,440.
Prior Publication US 2024/0066706 A1, Feb. 29, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01); B65G 59/02 (2006.01); G06Q 10/08 (2024.01); G06Q 10/087 (2023.01); G06T 7/60 (2017.01)
CPC B25J 9/1687 (2013.01) [B25J 9/1697 (2013.01); B25J 19/023 (2013.01); B65G 59/02 (2013.01); G06Q 10/087 (2013.01); G06T 7/60 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A controller-implemented method for robotic depalletization, the method comprising: detecting a first object of a plurality of palletized objects arranged in a plurality of pallet layers, the first object defining at least a portion of a top pallet layer; identifying an initial pallet height defined by the first object; identifying a second pallet height defined by a second object of the plurality of palletized objects; detecting a pallet height difference based on a difference between the initial pallet height of the first object and the second pallet height of the second object; comparing the detected pallet height difference with a threshold pallet layer height; determining that the top pallet layer has been depalletized when the pallet height difference is greater than or equal to the threshold pallet layer height; and causing depalletization of at least the first object or the second object from the top pallet layer and relocating at least one of the first object or the second object to a secondary location based on determining that the pallet height difference is less than the threshold pallet layer height.