METHODS, SYSTEMS, AND COMPUTER PROGRAM PRODUCTS FOR EXECUTING PARTIAL DEPALLETIZATION OPERATIONS IN ROBOTIC DEPALLETIZATION

1 - 20 . (canceled)

21 . An apparatus comprising:

at least one processor; and

at least one non-transitory memory storing computer program code, the at least one non-transitory memory and the computer program code configured to, with the at least one processor, cause the apparatus to:

receive a user input defining a user selection of a SKU-based depalletization mode and a total SKU depalletization value;

receive imaging data associated with a plurality of palletized objects on a pallet from a perception subsystem, wherein the plurality of palletized objects are defined by a plurality of object SKUs;

determine one or more comparative dimension measures associated with a first portion of the plurality of palletized objects based at least in part on the imaging data;

determine if the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy a comparative dimension threshold range;

in response to determining the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy the comparative dimension threshold range, identify a first object SKU defined by the first portion of the plurality of palletized objects;

detect whether the first portion of the plurality of palletized objects defining the first object SKU has been depalletized;

in response to detecting that the first portion of the plurality of palletized objects defining the first object SKU has been depalletized, update SKU index data associated with the plurality of palletized objects to indicate a depalletization of the first object SKU; and

determine whether a depalletized SKU value associated with a SKU-based depalletization operation satisfies the total SKU depalletization value.

22 . The apparatus of claim 21 , wherein the apparatus is further configured to:

initiate the SKU-based depalletization operation based on the user selection of the SKU-based depalletization mode, wherein the SKU-based depalletization operation comprises a partial depalletization of the plurality of palletized objects; and

end the SKU-based depalletization operation based at least in part on a determination that the depalletized SKU value associated with the SKU-based depalletization operation satisfies the total SKU depalletization value.

23 . The apparatus of claim 21 , wherein updating the SKU index data comprises increasing the depalletized SKU value associated with the SKU-based depalletization operation.

24 . The apparatus of claim 21 , wherein the apparatus is further configured to initiate a second depalletization of a second object SKU defined by the first portion of the plurality of palletized objects in response to a determination that the depalletized SKU value associated with the SKU-based depalletization operation does not satisfy the total SKU depalletization value.

25 . The apparatus of claim 21 , wherein the apparatus is further configured to:

identify a second object SKU defined by a second portion of the plurality of palletized objects in response to a determination that the one or more comparative dimension measures associated with the second portion of the plurality of palletized objects satisfy the comparative dimension threshold range;

determine whether the second portion of the plurality of palletized objects defining the second object SKU has been depalletized; and

in response to a determination that the second portion of the plurality of palletized objects defining the second object SKU has been depalletized, update the SKU index data associated with the plurality of palletized objects to indicate a depalletization of the second object SKU.

26 . The apparatus of claim 21 , wherein the apparatus is configured to control a depalletization system to remove one or more objects of the first portion of the plurality of palletized objects defining the first object SKU from an arrangement at the pallet and relocate the one or more objects to a secondary location.

27 . A controller-implemented method for robotic depalletization comprising:

receiving, by a processor, user input defining a user selection of a SKU-based depalletization mode and a total SKU depalletization value;

receiving, by the processor, imaging data associated with a plurality of palletized objects on a pallet from a perception subsystem, the plurality of palletized objects being defined by a plurality of object SKUs;

calculating, by the processor, one or more comparative dimension measures associated with a first portion of the plurality of palletized objects based at least in part on the imaging data;

determining, by the processor, whether the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy a comparative dimension threshold range;

in response to determining that the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy the comparative dimension threshold range, identifying, by the processor, a first object SKU defined by the first portion of the plurality of palletized objects;

detecting, by the processor, whether the first portion of the plurality of palletized objects defining the first object SKU has been depalletized;

in response to detecting that the first portion of the plurality of palletized objects defining the first object SKU has been depalletized, updating, by the processor, SKU index data associated with the plurality of palletized objects to indicate a depalletization of the first object SKU; and

determining, by the processor, whether a depalletized SKU value associated with the SKU-based depalletization operation satisfies the total SKU depalletization value.

28 . The controller-implemented method of claim 27 , further comprising:

initiating, by the processor, the SKU-based depalletization operation based on the user selection of the SKU-based depalletization mode, wherein the SKU-based depalletization operation comprises a partial depalletization of the plurality of palletized objects; and

ending the SKU-based depalletization operation based at least in part on a determination that the depalletized SKU value associated with the SKU-based depalletization operation satisfies the total SKU depalletization value.

29 . The controller-implemented method of claim 27 , wherein updating the SKU index data associated with the plurality of palletized objects to indicate the depalletization of the first object SKU comprises increasing the depalletized SKU value associated with the SKU-based depalletization operation.

30 . The controller-implemented method of claim 27 , further comprising:

initiating, by the processor, a second depalletization of a second object SKU defined by the first portion of the plurality of palletized objects in response to a determination that the depalletized SKU value associated with the SKU-based depalletization operation does not satisfy the total SKU depalletization value.

31 . The controller-implemented method of claim 27 , further comprising:

identifying, by the processor, a second object SKU defined by a second portion of the plurality of palletized objects based at least in part on a second determination that the one or more comparative dimension measures associated with the second portion of the plurality of palletized objects satisfy the comparative dimension threshold range;

determining, by the processor, whether the second portion of the plurality of palletized objects defining the second object SKU has been depalletized; and

in response to determining that the second portion of the plurality of palletized objects defining the second object SKU has been depalletized, updating, by the processor, the SKU index data associated with the plurality of palletized objects to indicate a depalletization of the second object SKU.

32 . The controller-implemented method of claim 27 , further comprising:

causing, by the processor, a depalletization system to remove one or more objects of the first portion of the plurality of palletized objects defining the first object SKU from an arrangement at the pallet and relocate the one or more objects to a secondary location.

33 . A computer program product, comprising at least one non-transitory computer-readable storage medium having computer-readable program code portions stored therein, the computer-readable program code portions comprising an executable portion configured to:

receive a user input selecting a SKU-based depalletization mode and a total SKU depalletization value;

receive imaging data associated with a plurality of palletized objects at a pallet from a perception subsystem, wherein the plurality of palletized objects are defined by a plurality of object SKUs;

determine one or more comparative dimension measures associated with a first portion of the plurality of palletized objects based at least in part on the imaging data;

determine whether the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy a comparative dimension threshold range;

in response to determining that the one or more comparative dimension measures associated with the first portion of the plurality of palletized objects satisfy the comparative dimension threshold range, identify a first object SKU defined by the first portion of the plurality of palletized objects;

detect whether the first portion of the plurality of palletized objects defining the first object SKU has been depalletized;

in response to detecting that the first portion of the plurality of palletized objects defining the first object SKU has been depalletized, update SKU index data associated with the plurality of palletized objects to indicate a depalletization of the first object SKU; and

determine whether a depalletized SKU value associated with the SKU-based depalletization operation satisfies the total SKU depalletization value.