Patent ID: 9089969
Filing Date: 2015-07-28
Classification: B25J,B60P,B65G,G05B,G06F,Y10S

Abstract:
1. A method for loading a plurality of articles on one or more support surfaces using a controller and a manipulator, the method comprising: autonomously modeling at least some of the articles in a stable article arrangement on a first of the support surfaces using the controller; autonomously gathering the articles in the modeled article arrangement using the manipulator; and autonomously arranging the gathered articles on the first of the support surfaces according to the modeled article arrangement using the manipulator wherein the modeling comprises modeling at least some of the articles in a plurality of different article arrangements on the first of the support surfaces, wherein each of the article arrangements has an arrangement density that is equal to a collective volume of the articles in the respective article arrangement to a volume of the respective article arrangement; and wherein the arranging comprises arranging the gathered articles on the first of the support surfaces according to the modeled article arrangement having the greatest arrangement density.