US 12,258,224 B2
Robotic system with zone-based control
Zhouwen Sun, San Mateo, CA (US); Cuthbert Sun, San Francisco, CA (US); Andrew Nguyen, San Francisco, CA (US); Samuel Tay, Sunnyvale, CA (US); Emilie Peck, Palo Alto, CA (US); Kevin Jose Chavez, Redwood City, CA (US); and Robert Holmberg, Mountain View, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Jan. 8, 2024, as Appl. No. 18/407,242.
Application 18/407,242 is a continuation of application No. 17/217,467, filed on Mar. 30, 2021, granted, now 11,897,706.
Prior Publication US 2024/0140731 A1, May 2, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 13/08 (2006.01); B25J 5/02 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); B25J 19/06 (2006.01); B65G 1/137 (2006.01); B65G 47/90 (2006.01); B65G 61/00 (2006.01); F16P 3/08 (2006.01); F16P 3/14 (2006.01)
CPC B65G 47/905 (2013.01) [B25J 9/1651 (2013.01); B25J 9/1661 (2013.01); B25J 9/1666 (2013.01); B25J 9/1676 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 13/089 (2013.01); B65G 2203/0283 (2013.01); B65G 2203/041 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic system, comprising:
a memory configured to store data indicating, for each of a plurality of operating zones comprising a workspace with which the robotic system is associated, a corresponding safety state information indicating an extent to which that operating zone currently is or is not available to the robotic system to perform tasks using one or more robotic instrumentalities comprising the robotic system; and
a processor coupled to the memory and configured to:
use the data indicating, for each of the plurality of operating zones, the extent to which that operating zone currently is or is not available to the robotic system to perform tasks using the one or more robotic instrumentalities to dynamically schedule and perform tasks associated with a higher level objective, including by operating the one or more robotic instrumentalities in one or more operating zones, if any, indicated by said data to currently be available to perform tasks using the one or more robotic instrumentalities and by not operating the one or more robotic instrumentalities in one or more operating zones, if any, indicated by said data to not currently be available to perform tasks using the one or more robotic instrumentalities;
receive from one or more sensors associated with a first operating zone of the plurality of operating zones, the corresponding safety state information associated with the first operating zone indicating one of a plurality of safety states associated with a presence of a human worker in the first operating zone; and
alter autonomous behavior of the one or more robotic instrumentalities based on the one of the plurality of safety states associated with the presence of the human worker in the first operating zone indicated by the corresponding safety state information.