US 12,227,374 B2
Robotic system with dynamic packing mechanism
Rosen Nikolaev Diankov, Tokyo (JP); and Denys Kanunikov, Tokyo (JP)
Assigned to Mujin, Inc., Tokyo (JP)
Filed by MUJIN, Inc., Tokyo (JP)
Filed on Sep. 26, 2022, as Appl. No. 17/953,275.
Application 17/953,275 is a continuation of application No. 16/858,536, filed on Apr. 24, 2020, granted, now 11,488,323.
Application 16/858,536 is a continuation of application No. 16/428,714, filed on May 31, 2019, granted, now 10,679,379, issued on Jun. 9, 2020.
Prior Publication US 2023/0008946 A1, Jan. 12, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 57/22 (2006.01); B25J 9/16 (2006.01); B65B 57/00 (2006.01); B65G 1/137 (2006.01); B65G 47/90 (2006.01); B65G 61/00 (2006.01); G05B 17/02 (2006.01); G06T 7/73 (2017.01); G06V 10/20 (2022.01); G06V 20/10 (2022.01); G06V 20/20 (2022.01)
CPC B65G 57/22 (2013.01) [B25J 9/1679 (2013.01); B25J 9/1687 (2013.01); B65B 57/00 (2013.01); B65G 1/1378 (2013.01); B65G 47/90 (2013.01); B65G 61/00 (2013.01); G05B 17/02 (2013.01); G06T 7/75 (2017.01); G06V 10/255 (2022.01); G06V 20/10 (2022.01); B65G 2201/0267 (2013.01); G06T 2210/32 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for operating a robotic system, the method comprising:
determining a two-dimensional (2D) discretized object model representing a target object according to discretization units, wherein determining the 2D discretized object model according to the discretization units includes overlaying the discretization units over an area representative of the target object;
deriving a candidate position for placing the target object by overlapping the 2D discretized object model over a 2D discretized model representing a placement area according to the discretization units; and
generating instructions for placing the target object at a placement location associated with the placement area and based at least in part on the candidate position.
 
19. A robotic system comprising:
at least one processor; and
at least one memory device connected to the at least one processor and having stored thereon instructions executable by the at least one processor to:
determine a two-dimensional (2D) discretized object model representing a target object according to discretization units, wherein determining the 2D discretized object model according to the discretization units includes overlaying the discretization units over an area representative of the target object; and
derive a candidate position for placing the target object at a destination area based on a 2D discretized model representing the destination area according to the discretization units.
 
20. A tangible, non-transient computer-readable medium having processor instructions stored thereon that, when executed by a robotic system via one or more processors thereof, cause the robotic system to perform a method, the instructions comprising:
instructions to determine a two-dimensional (2D) discretized object model representing a target object according to discretization units, wherein determining the 2D discretized object model according to the discretization units includes overlaying the discretization units over an area representative of the target object;
instructions to derive a candidate position for placing the target object based at least in part on the 2D discretized object model and a 2D discretized model representing a placement area according to the discretization units; and
instructions for placing the target object at a placement location associated with a task location and based at least in part on the candidate position.