US 12,214,975 B2
State estimation using geometric data and vision system for palletizing
Rohit Arka Pidaparthi, Mountain View, CA (US); William Arthur Clary, Palo Alto, CA (US); Neeraja Abhyankar, Menlo Park, CA (US); Jonathan Kuck, Palo Alto, CA (US); Ben Varkey Benjamin Pottayil, Foster City, CA (US); Kevin Jose Chavez, Redwood City, CA (US); and Shitij Kumar, Redwood City, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Jun. 10, 2022, as Appl. No. 17/837,775.
Claims priority of provisional application 63/211,361, filed on Jun. 16, 2021.
Prior Publication US 2022/0402709 A1, Dec. 22, 2022
Int. Cl. B65G 61/00 (2006.01); B25J 9/16 (2006.01)
CPC B65G 61/00 (2013.01) [B25J 9/1661 (2013.01); B25J 9/1671 (2013.01); B25J 9/1697 (2013.01)] 31 Claims
OG exemplary drawing
 
1. A robotic system, comprising:
a communication interface configured to receive, from one or more sensors deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on the pallet or in the other receptacle; and
one or more processors coupled to the communication interface and configured to:
control a robotic arm to place a first set of items on or in, or remove the first set of items from, the pallet or the other receptacle;
update a geometric model based on the first set of items placed on or in, or removed from, the pallet or ether the other receptacle;
use the geometric model in combination with the sensor data to estimate a state of the pallet or the other receptacle and one or more items stacked on the pallet or in the other receptacle; and
use the estimated state to generate or update a plan to control the robotic arm to place a second set of items on or in, or remove the second set of items from, the pallet or the other receptacle, wherein the estimated state of the pallet or other receptacle and the one or more items stacked on the pallet or in the other receptacle is determined based at least in part on an interpolation between the sensor data and the geometric model.