Systems, devices, articles and methods for the partition of items
Systems, devices, articles, and methods for the partition of a plurality of items. A system including at least one processor, a frame, an end-effector coupled to the frame, a conveyor, a buffer area proximate to the end-effector and overlying at least a part of the conveyor. Coupled to the at least one processor is the end-effector, the conveyor, and a storage device storing processor-executable instructions which cause the at least one processor to direct the end-effector partition a plurality of items into two or more predefined parts per a defined partition for the plurality of items. Items in the two or more parts are placed in the buffer area, transferred to the conveyor, and may be transferred to a plurality of containers. A method of operation of a system including at least one processor and a robot substantially as described and illustrated herein.
1. A method controlled by at least one processor in communication with at least one end-effector and a conveyor, the method comprising:
receiving a plurality of items in an area reachable by the at least one end-effector, wherein the plurality of items admits to a partitioning into a plurality of parts;
partitioning sequentially, by the at least one processor and the at least one end-effector, the plurality of items, wherein partitioning includes:
grasping, by the at least one end-effector, a first respective item from the plurality of items;
identifying, by the at least one processor, an association between the first respective item and a first respective part from the plurality of parts;
assigning, by the at least one processor, a first identity value to the first respective item based, at least in part, on the identified association between the first respective item and the first respective part;
placing, by the at least one end-effector, the first respective item in a buffer area;
grasping, by the at least one end-effector, a second respective item from the plurality of items;
identifying, by the at least one processor, an association between the second respective item and one of the plurality of parts;
assigning, by the at least one processor, a second identity value to the second respective item based, at least in part, on the identified association between the second respective item and the one of the plurality of parts;
in response to comparing the first identity value assigned to the first respective item and the second identity value assigned to the second respective item:
if the second identity value is the same as the first identity value, placing, by the at least one end-effector, the second respective item in the buffer area;
if the second identity value differs from the first identity value, causing a transfer of the first respective item from the buffer area to the conveyor
and placing, by the at least one end-effector, the second respective item in the buffer area; and
causing, by the at least one processor, a relative motion of the conveyor and the buffer area; and
causing, by the at least one processor, a transfer of the first respective item from the conveyor to a first container.
2. The method of claim 1 wherein partitioning sequentially, by the at least one processor and the at least one end-effector, the plurality of items further includes:
causing a transfer of the second respective item from the first buffer area to the conveyor; and
causing a transfer of the second respective item from the conveyor to the first container or a second container.
3. The method of claim 1 wherein causing, by the at least one processor, the relative motion of the conveyor and the buffer area includes at least one of:
moving the conveyor in a first direction relative to the buffer area; or
moving the conveyor in a second direction relative to the buffer area, the second direction different than the first direction.
4. The method of claim 1 wherein causing a transfer of the first respective item from the buffer area to the conveyor further comprises:
dropping the first respective item from the buffer area to the conveyor, or
moving, by the at least one end-effector, the first respective item from the buffer area to the conveyor.
5. The method of claim 1 , further comprising:
updating, by the at least one processor, processor-readable information stored on or in at least one processor-readable storage device, wherein the processor-readable information represents the first respective item has been placed in the first container.
6. The method of claim 1 wherein receiving the plurality of items further comprises receiving the plurality of items in an input area proximate to the end-effector; the method further comprising:
moving, by the at least one end-effector, a third item of the plurality of items from a first location in the input area proximate to the at least one end-effector to a second location in the input area proximate to the at least one end-effector.
7. The method of claim 1 wherein placing, by the at least one end-effector, the first respective item in the buffer area includes:
releasing the first respective item above the buffer area.
8. The method of claim 1 , further comprising:
acquiring, by the at least one processor, information that defines the plurality of parts for the plurality of items.
9. The method of claim 1 , wherein the plurality of parts for the plurality of items is associated with a plurality of orders, and a representative part in the plurality of parts for the plurality of items is associated with a representative order in the plurality of orders.