# US 12,263,977 B2 · Kitting machine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,263,977 B2 - Document ID: US12263977B2 - Status: Granted - Kind: B2 - Application number: 18/212,121 - Filed: 2023-06-20 - Published: 2023-10-19 - Granted: 2025-04-01 - Earliest claimed: 2018-09-26 - Assignees: Dexterity, Inc. - Applicants: Dexterity, Inc. - Inventors: Samir Menon; Gerald Brantner; Zhouwen Sun; Robert Hegdahl; Kevin Jose Chavez - Web page: https://patentgrep.com/patent/US12263977B2 ## CPC - B65B 5/08: Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles - B25J 9/1679: {characterised by the tasks executed} - B25J 9/1697: {Vision controlled systems} - B65B 5/12: Introducing successive articles, e.g. confectionery products, of different shape or size in predetermined positions - B65B 35/54: Feeding articles along multiple paths to a single packaging position - B65B 43/52: using roller-ways or endless conveyors - B65B 43/54: Means for supporting containers or receptacles during the filling operation - B65B 57/00: Automatic control, checking, warning, or safety devices (registering wrapping or container-forming material fed from rolls B65B41/18) - B65B 57/14: and operating to control, or stop, the feed of articles or material to be packaged - B25J 9/1689: {Teleoperation} - B65B 59/003: {Arrangements to enable adjustments related to the packaging material} - B65B 59/005: {Adjustable conveying means} - B65B 2210/02: Plurality of alternative input or output lines or plurality of alternative packaging units on the same packaging line for improving machine flexibility - B65B 2220/14: Adding more than one type of material or article to the same package - G05B 2219/40013: Kitting, place parts from belt into tray, place tray on conveyor belt - B65B: MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING (bundling and pressing devices for cigars A24C1/44; devices for tensioning and securing binders adapted to be supported by the article or articles to be bound B25B25/00; applying closure members to bottles, jars or similar containers B67B1/00-B67B6/00; concurrent cleaning, filling and closing of bottles B67C7/00; emptying bottles, jars, cans, casks, barrels or similar containers B67C9/00) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A kitting machine is disclosed. In various embodiments, the machine includes an actuator configured to move a surface or receptacle to a position associated with item retrieval; and a controller configured to control operation of the actuator to position an item in the position associated with item retrieval, in a manner that is synchronized at least in part with operation of a robotic retrieval device configured to retrieve the item from the position associated with item retrieval. ## Claims ### Claim 1 A system, comprising: an actuator configured to move a surface or receptacle to a position associated with item retrieval; a controller associated with a robotic retrieval device; and a processor configured to: obtain a plan to retrieve an item and to pack the item into a box or other container, wherein the plan includes a coordination of controlling the robotic retrieval device and the actuator so that the actuator moves the item to the position associated with item retrieval and the robotic retrieval device moves to retrieve the item from the position associated with item retrieval; control the robotic retrieval device via the controller to attempt to perform an individual task of picking up the item according to a first predefined strategy; and in response to a determination that the individual task was not completed using the first predefined strategy: select an alternative strategy from a plurality of alternative strategies to perform the individual task based on a respective confidence score associated with the alternative strategy, and iteratively using at least the robotic retrieval device to perform the individual task according to one or more of the plurality of alternative strategies for the individual task until the individual task is completed or a prescribed number of attempts have been performed. ### Claim 2 (depends on 1) The system of claim 1, wherein the individual task includes performing a kitting operation. ### Claim 3 (depends on 2) The system of claim 2, wherein the kitting operation includes removing the item from a box and placing the item on a kitting machine. ### Claim 4 (depends on 2) The system of claim 2, wherein the individual task includes performing an automatic bin clearing operation. ### Claim 5 (depends on 1) The system of claim 1, wherein the surface comprises a conveyor belt and the actuator is controlled to advance the item from a first end of the conveyor belt at which the item is loaded onto the conveyor belt to a pick up zone at a second end of the conveyor belt. ### Claim 6 (depends on 1) The system of claim 1, wherein in response to a determination by the processor that the prescribed number of attempts have been performed, a teleoperation for human intervention in which a user remotely controls the robotic retrieval device to perform the individual task is invoked. ### Claim 7 (depends on 6) The system of claim 6, wherein the processor is further configured to evaluate, during the teleoperation, whether the processor has a strategy to resume automated fulfillment of a current requirement. ### Claim 8 (depends on 7) The system of claim 7, wherein the processor is further configured to resume automated operation in response to a determination that the processor has a strategy to resume automated fulfillment of the current requirement. ### Claim 9 (depends on 6) The system of claim 6, wherein the processor is configured to learn new or improved strategies during the teleoperation of the robotic retrieval device. ### Claim 10 (depends on 1) The system of claim 1, wherein the processor is configured to receive a list of items to pack in a box and control one or more kitting machines to ensure a required quantity of items included in the list of items are present in a pickup zone. ### Claim 11 (depends on 10) The system of claim 10, wherein the processor is configured to control the robotic retrieval device to retrieve the items from the pickup zone and place them in the box. ### Claim 12 (depends on 1) The system of claim 1, wherein the first predefined strategy is based on one or more attributes associated with an item. ### Claim 13 (depends on 12) The system of claim 12, wherein the one or more attributes include rigidity, fragility, shape, and/or orientation associated with the item. ### Claim 14 (depends on 1) The system of claim 1, wherein the plurality of alternative strategies include using an alternate grip, approaching an item from a different angle, agitating and/or repositioning the item using a robotic gripper associated with the robotic retrieval device, agitating and/or repositioning the item using a robotic shelf, using a shelf motor to shake a shelf, and/or swapping out a gripper associated with the robotic retrieval device for a different type of gripper. ### Claim 15 (depends on 1) The system of claim 1, wherein the processor is further configured to determine a revised plan that utilizes the selected alternative strategy. ### Claim 16 (depends on 1) The system of claim 1, further comprising one or more cameras configured to provide a video feed to assist in a teleoperation for human intervention in which a user remotely controls the robotic retrieval device to perform the individual task. ### Claim 17 (depends on 1) The system of claim 1, wherein the processor is configured to provide an alert to a teleoperation device in response to determining that the prescribed number of attempts have been performed. ### Claim 18 (depends on 1) The system of claim 1, wherein the actuator comprises one or more of a motor, a linear motor, and a motor-driven linear bearing. ### Claim 19 A method to operate a kitting system comprising an actuator configured to move a surface or receptacle to a position associated with item retrieval and a controller associated with a robotic retrieval device, the method comprising: obtaining a plan to retrieve an item and to pack the item into a box or other container, wherein the plan includes a coordination of controlling the robotic retrieval device and the actuator so that the actuator moves the item to the position associated with item retrieval and the robotic retrieval device moves to retrieve the item from the position associated with item retrieval; controlling a robotic retrieval device to attempt to perform an individual task of picking up the item according to a first predefined strategy; and in response to determining that the individual task was not completed using the first predefined strategy: selecting an alternative strategy from a plurality of alternative strategies to perform the individual task based on a respective confidence score associated with the alternative strategy, and iteratively using at least the robotic retrieval device to perform the individual task according to one or more of the plurality of alternative strategies for the individual task until the individual task is completed or a prescribed number of attempts have been performed. ### Claim 20 A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions to operate a kitting system comprising an actuator configured to move a surface or receptacle to a position associated with item retrieval and a controller associated with a robotic retrieval device, the computer program product comprising computer instructions for: obtaining a plan to retrieve an item and to pack the item into a box or other container, wherein the plan includes a coordination of controlling the robotic retrieval device and the actuator so that the actuator moves the item to the position associated with item retrieval and the robotic retrieval device moves to retrieve the item from the position associated with item retrieval; controlling a robotic retrieval device to attempt to perform an individual task of picking up the item according to a first predefined strategy; and in response to determining that the individual task was not completed using the first predefined strategy: selecting an alternative strategy from a plurality of alternative strategies to perform the individual task based on a respective confidence score associated with the alternative strategy, and iteratively using at least the robotic retrieval device to perform the individual task according to one or more of the plurality of alternative strategies for the individual task until the individual task is completed or a prescribed number of attempts have been performed.