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.
Claims20
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 placed on or in a destination location;
- generate based at least in part on the received data a plan to place 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) an attribute of the destination location, wherein at least one of the attribute of the source location and the attribute of the destination location comprises an expected fit a collection of items after the item has been placed at the destination location;
- and
- implement the plan at least in part by controlling the robotic arm to pick up to the items and place the items on or in the destination location according to the plan.
The system of claim 4, wherein:
- the destination location is the stack of items;
- and
- the expected stability of the stack of items is determined based at least in part on simulating the placement of the item to the stack of items, and determining the stability of the stack of items after the simulated placement of the item.
A method to control a robot, comprising:
- receiving, via the communication interface, data associated with a plurality of items to be placed on or in a destination location;
- generating, by one or more processors, a plan to place 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) an attribute of the destination location, wherein at least one of the attribute of the source location and the attribute of the destination location comprises an expected fit a collection of items after the item has been placed at the destination location;
- and
- implementing the plan at least in part by controlling the robotic arm to pick up to the items and place the items on or in the destination location according to the plan.
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 placed on or in a destination location;
- generating, by one or more processors, a plan to place 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) an attribute of the destination location, wherein at least one of the attribute of the source location and the attribute of the destination location comprises an expected fit a collection of items after the item has been placed at the destination location;
- and
- implementing the plan at least in part by controlling the robotic arm to pick up to the items and place the items on or in the destination location according to the plan.
Dependencies are inferred from the claim text.