US 12,240,713 B2
Robotic palletization system with variable conveyor height
Robert Moreno, Sunnyvale, CA (US); and Salvador Perez, Menlo Park, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Jun. 9, 2021, as Appl. No. 17/343,609.
Claims priority of provisional application 63/162,871, filed on Mar. 18, 2021.
Prior Publication US 2022/0297958 A1, Sep. 22, 2022
Int. Cl. B65G 61/00 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B65G 61/00 (2013.01) [B25J 9/0093 (2013.01); B25J 9/0096 (2013.01); B25J 9/1664 (2013.01); B25J 9/1689 (2013.01); B25J 13/08 (2013.01)] 33 Claims
OG exemplary drawing
 
1. 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 stacked on or in a destination location;
generate based at least in part on the received data a plan to stack 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) a state of a platform or receptacle on which one or more items are to be stacked, wherein the source location is determined from among a plurality of input conveyance structures that respectively carry a subset of the plurality of items to within range of a robotic arm; and
implement the plan at least in part by controlling the robotic arm to pick up to the items and stack the items on or in the destination location according to the plan.