Back to results
US 12,240,713 B2Granted
Robotic palletization system with variable conveyor height
AssigneeDexterity, Inc.
InventorsRobert Moreno, Salvador Perez
Life of this patent
Estimating the term…
Abstract
A robotic palletization/depalletization system is disclosed. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received, and a plan to stack the items on or in the destination location is generated based at least in part on the received data. The generating the plan includes determining a source location from which to pick the item based at least in part on (i) an attribute of the source location, and (ii) a state of a platform or receptacle on which one or more items are to be stacked.
Claims33
A robotic system, comprising:
- a communication interface;
- and
- one or more processors coupled to the communication interface and configured to:
- receive, via the communication interface, data associated with a plurality of items to be stacked on or in a destination location;
- generate based at least in part on the received data a plan to stack the items on or in the destination location, including by for each item:
- determining a source location from which to pick the item based at least in part on (i) an attribute of the source location, and (ii) a state of a platform or receptacle on which one or more items are to be stacked, wherein the source location is determined from among a plurality of input conveyance structures that respectively carry a subset of the plurality of items to within range of a robotic arm;
- and
- implement the plan at least in part by controlling the robotic arm to pick up to the items and stack the items on or in the destination location according to the plan.
5 more elements
A method to control a robot, comprising:
- receiving, via the communication interface, data associated with a plurality of items to be stacked on or in a destination location;
- generating, by one or more processors, a plan to stack the items on or in the destination location, the plan being generated based at least in part on the received data, and the generation of the plan for each item comprising:
- determining a source location from which to pick the item based at least in part on (i) an attribute of the source location, and (ii) a state of a platform or receptacle on which one or more items are to be stacked, wherein the source location is determined from among a plurality of input conveyance structures that respectively carry a subset of the plurality of items to within range of a robotic arm;
- and
- implementing the plan at least in part by controlling the robotic arm to pick up to the items and stack the items on or in the destination location according to the plan.
2 more elements
A computer program product to control a robot, the computer program product being embodied in a non-transitory computer readable medium and comprising computer instructions for:
- receiving, via the communication interface, data associated with a plurality of items to be stacked on or in a destination location;
- generating, by one or more processors, a plan to stack the items on or in the destination location, the plan being generated based at least in part on the received data, and the generation of the plan for each item comprising:
- determining a source location from which to pick the item based at least in part on (i) an attribute of the source location, and (ii) a state of a platform or receptacle on which one or more items are to be stacked, wherein the source location is determined from among a plurality of input conveyance structures that respectively carry a subset of the plurality of items to within range of a robotic arm;
- and
- implementing the plan at least in part by controlling the robotic arm to pick up to the items and stack the items on or in the destination location according to the plan.
2 more elements
A robotic system, comprising:
- a communication interface;
- and
- one or more processors coupled to the communication interface and configured to:
- receive, via the communication interface, data associated with a plurality of items to be stacked on or in a destination location;
- generate based at least in part on the received data a plan to stack the items on or in the destination location, including by for each item:
- determining a source location from which to pick the item based at least in part on (i) an attribute of the source location, and (ii) a state of a platform or receptacle on which one or more items are to be stacked;
- and
- implement the plan at least in part by controlling a robotic arm to pick up to the items and stack the items on or in the destination location according to the plan, wherein implementing the plan includes for each item:
- using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location;
- and
- using one or more second order sensors to snug the item into a final position.
8 more elements
A method to control a robot, comprising:
- receiving, via the communication interface, data associated with a plurality of items to be stacked on or in a destination location;
- generating, by one or more processors, a plan to stack the items on or in the destination location, the plan being generated based at least in part on the received data, and the generation of the plan for each item comprising:
- determining a source location from which to pick the item based at least in part on (i) an attribute of the source location, and (ii) a state of a platform or receptacle on which one or more items are to be stacked;
- and
- implementing the plan at least in part by controlling a robotic arm to pick up to the items and stack the items on or in the destination location according to the plan, wherein implementing the plan includes for each item:
- using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location;
- and
- using one or more second order sensors to snug the item into a final position.
5 more elements
A robotic system, comprising:
- a communication interface;
- and
- one or more processors coupled to the communication interface and configured to:
- receive, via the communication interface, data associated with a plurality of items to be stacked on or in a destination location;
- generate based at least in part on the received data a plan to stack the items on or in the destination location, including by for each item:
- determining a source location from which to pick the item based at least in part on (i) an attribute of the source location, and (ii) a state of a platform or receptacle on which one or more items are to be stacked;
- and
- implement the plan at least in part by controlling a robotic arm to pick up to the items and stack the items on or in the destination location according to the plan,
- wherein the plan is generated based at least in part on a result of computing a cost function pertaining to moving the item from the source location to the destination location.
6 more elements
A method to control a robot, comprising:
- receiving, via the communication interface, data associated with a plurality of items to be stacked on or in a destination location;
- generating, by one or more processors, a plan to stack the items on or in the destination location, the plan being generated based at least in part on the received data, and the generation of the plan for each item comprising:
- determining a source location from which to pick the item based at least in part on (i) an attribute of the source location, and (ii) a state of a platform or receptacle on which one or more items are to be stacked;
- and
- implementing the plan at least in part by controlling a robotic arm to pick up to the items and stack the items on or in the destination location according to the plan,
- wherein the plan is generated based at least in part on a result of computing a cost function pertaining to moving the item from the source location to the destination location.
3 more elements
Dependencies are inferred from the claim text.