Robotic system to control ingress to a robotic loader

1 . A robotic system, comprising:

a robotically controlled mobile chassis;

a robotically controlled conveyor oriented substantially parallel to a longitudinal axis of the robotically controlled mobile chassis and disposed on or above an upper surface of the robotically controlled mobile chassis;

one or more robotic arms mounted on the robotically controlled mobile chassis and disposed adjacent to the robotically controlled conveyor;

one or more cameras positioned to view at least a portion of a top surface of the robotically controlled conveyor; and

a processor configured to operate the robotically controlled mobile chassis, the robotically controlled conveyor, and the one or more robotic arms to load a plurality of items into a truck or other container by using the one or more robotic arms to pick successive items included in the plurality of items from the robotically controlled conveyor and place each picked item in the truck or other container, including by using image data generated by the one or more cameras to assess a state of at least a subset of the plurality of items on the top surface of the robotically controlled conveyor; determine based at least in part on the image data that an additional item included in the plurality of items is to be added to the top surface of the robotically controlled conveyor; and operate a robotically controlled induction mechanism distinct from the one or more robotic arms to cause the additional item to be added to the top surface of the robotically controlled conveyor.

2 . The system of claim 1 , wherein the robotically controlled induction mechanism comprises a one way flap configured to admit the additional item to pass through the one way flap and wherein the one way flap is used to pull or push the additional item onto the robotically controlled conveyor from behind, once the item has passed through the one way flap.

3 . The system of claim 2 , wherein the one way flap is coupled mechanically to a linear actuator configured to move the one way flap through a range of motion to pull or push the additional item onto the robotically controlled conveyor from behind, once the additional item has passed through the one way flap.

4 . The system of claim 3 , wherein the one way flap comprises one of a plurality of cascading pairs of flaps, each pair of flaps included in the plurality of cascading flaps having associated therewith a decreasingly wide gap between distal edges of the respective flaps comprising that pair of flaps included in the plurality of cascading flaps.

5 . The system of claim 4 , wherein the processor is configured to detect that the additional item has passed through a widest-spaced pair of flaps included in the plurality of cascading flaps that has engaged the additional item from behind, and actuate said widest-spaced pair of flaps to push the additional item from behind onto the robotically controlled conveyor.

6 . The system of claim 1 , wherein the robotically controlled induction mechanism comprises a structure positioned to pull or push the additional item from behind.

7 . The system of claim 6 , wherein the robotically controlled induction mechanism is configured to return the structure positioned to pull or push the additional item from behind to a home position, to admit a subsequent item included in the plurality of items, subsequent to pulling or pushing the additional item onto the conveyor.

8 . The system of claim 7 , wherein the robotically controlled induction mechanism comprises a robotically controlled bidirectional motorized joint coupled mechanically to the structure and configured to position the structure behind the additional item, push or pull the additional item onto the conveyor, and return to the structure to the home position to admit the subsequent item included in the plurality of items, in successive cycles.

9 . The system of claim 8 , wherein the processor is configured to control a rate of the robotically controlled bidirectional motorized joint, based at least in part on said state of items on the top surface of the conveyor.

10 . The system of claim 9 , wherein the processor is configured to reduce the rate of the robotically controlled bidirectional motorized joint based at least in part on a determination that there is an excess or backup of items comprising the plurality of items on the top surface of the robotically controlled conveyor.

11 . The system of claim 6 , wherein the additional item arrives via a supply conveyance structure.

12 . The system of claim 11 , wherein the supply conveyance structure includes an expandable bridge that extends from an egress end of the supply conveyance structure to an ingress end of the robotically controlled conveyor.

13 . The system of claim 12 , wherein the expandable bridge is spring loaded to expand and contract as the supply conveyance structure and the conveyor are moved further apart or nearer together.

14 . A method of controlling a robotic system comprising a robotically controlled mobile chassis, a robotically controlled conveyor oriented substantially parallel to a longitudinal axis of the robotically controlled mobile chassis, one or more robotic arms disposed adjacent to the robotically controlled conveyor, and one or more cameras positioned to view at least a portion of a top surface of the robotically controlled conveyor, the method comprising:

using the robotically controlled mobile chassis, the robotically controlled conveyor, and the one or more robotic arms to load a plurality of items into a truck or other container, including by using the one or more robotic arms to pick successive items comprising the plurality of items from the robotically controlled conveyor and place each picked item in the truck or other container; and

using image data generated by the one or more cameras to assess a state of at least a subset of the plurality of items on the top surface of the robotically controlled conveyor; determine based at least in part on the image data that an additional item is to be added to the top surface of the robotically controlled conveyor; and operate a robotically controlled induction mechanism distinct from the one or more robotic arms to cause the additional item to be added to the top surface of the robotically controlled conveyor.

15 . A computer program product, embodied in a non-transitory computer readable medium, to control a robotic system comprising a robotically controlled mobile chassis, a robotically controlled conveyor oriented substantially parallel to a longitudinal axis of the robotically controlled mobile chassis, one or more robotic arms disposed adjacent to the robotically controlled conveyor, and one or more cameras positioned to view at least a portion of a top surface of the robotically controlled conveyor, comprising computer instructions for:

using the robotically controlled mobile chassis, the robotically controlled conveyor, and the one or more robotic arms to load a plurality of items into a truck or other container, including by using the one or more robotic arms to pick successive items comprising the plurality of items from the robotically controlled conveyor and place each picked item in the truck or other container; and

using image data generated by the one or more cameras to assess a state of at least a subset of the plurality of items on the top surface of the conveyor; determine based at least in part on the image data that an additional item is to be added to the top surface of the robotically controlled conveyor; and operate a robotically controlled induction mechanism distinct from the one or more robotic arms to cause the additional item to be added to the top surface of the robotically controlled conveyor.