US 11,752,636 B2
Singulation of arbitrary mixed items
Zhouwen Sun, Redwood City, CA (US); Kevin Jose Chavez, Redwood City, CA (US); Samir Menon, Palo Alto, CA (US); Harry Zhe Su, Union City, CA (US); Talbot Morris-Downing, Menlo Park, CA (US); Rohit Arka Pidaparthi, Mountain View, CA (US); Ayush Sharma, Santa Clara, CA (US); and Raphael Georg Wirth, Freiburg (DE)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Dec. 23, 2020, as Appl. No. 17/132,446.
Application 17/132,446 is a continuation of application No. 16/916,605, filed on Jun. 30, 2020, granted, now 10,906,188.
Claims priority of provisional application 62/993,579, filed on Mar. 23, 2020.
Claims priority of provisional application 62/926,165, filed on Oct. 25, 2019.
Prior Publication US 2021/0122054 A1, Apr. 29, 2021
Int. Cl. G06F 7/00 (2006.01); B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 15/06 (2006.01); B65G 47/91 (2006.01); B07C 1/04 (2006.01); B25J 13/08 (2006.01); B65G 47/90 (2006.01)
CPC B25J 9/1697 (2013.01) [B07C 1/04 (2013.01); B25J 9/0093 (2013.01); B25J 9/161 (2013.01); B25J 9/1612 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 9/1671 (2013.01); B25J 9/1689 (2013.01); B25J 13/08 (2013.01); B25J 15/0616 (2013.01); B65G 47/905 (2013.01); B65G 47/917 (2013.01); B65G 2201/0285 (2013.01); B65G 2203/0216 (2013.01); B65G 2203/041 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A system, comprising:
a communication interface; and
a processor coupled to the communication interface and configured to:
receive sensor data via the communication interface, the sensor data including three dimensional image data associated with a workspace;
use the sensor data to model a flow of a plurality of items through the workspace; and
use the model to operate a robotic structure to pick one or more items from the workspace and place each item singly in a corresponding location in a singulation conveyance structure.
 
21. A method, comprising:
receiving sensor data via a communication interface, the sensor data including three dimensional image data associated with a workspace;
using the sensor data to model flow of a plurality of items through the workspace; and
using the model to operate a robotic structure to pick one or more items from the workspace and place each item singly in a corresponding location in a singulation conveyance structure.