US 12,304,074 B2
Robot carriage tray table
Justin Sunjoon Kim, Cupertino, CA (US); Andrew Lovett, Burlingame, CA (US); Alberto Leyva Arvayo, Palo Alto, CA (US); Shitij Kumar, Redwood City, CA (US); Cyril Nader, Palo Alto, CA (US); and Yuan Gao, Mountain View, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Oct. 5, 2022, as Appl. No. 17/960,544.
Claims priority of provisional application 63/253,049, filed on Oct. 6, 2021.
Prior Publication US 2023/0109294 A1, Apr. 6, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 5/02 (2006.01); B25J 9/00 (2006.01); B25J 13/06 (2006.01); B25J 13/08 (2006.01); B25J 19/04 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 5/02 (2013.01); B25J 9/0084 (2013.01); B25J 9/0096 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B25J 13/06 (2013.01); B25J 13/089 (2013.01); B25J 19/04 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A method, comprising:
determining, by one or more processors, to move a set of items from respect source locations to one or more receptacles; and
controlling a robotic arm to move the set of items to the one or more receptacles,
controlling a robotic arm to pick a first receptacle from a receptacle source location to a task table that is mounted to the robotic arm or a carriage on which the robotic arm is mounted; and
determining, for the set of items, a plan for pick a particular item from its respective source location and placing the particular item in the one or more receptacles, comprising:
determining whether the first receptacle has sufficient capacity for a next item of the set of items;
in response to determining that the first receptacle has sufficient capacity for the next item, determining a plan to pick the next item from a next item source location and placing the next item in the first receptacle; and
in response to determining that the first receptacle does not have sufficient capacity for the next item,
determining a plan to move the first receptacle to a receptacle return location;
controlling the robotic arm to move the first receptacle to the receptacle return location;
determining a plan to move a second receptacle to the task table;
controlling the robotic arm to pick the second receptacle from the receptacle source location and place the second receptacle on the task table; and
in response to determining that the second receptacle is placed on the task table, determining a plan to pick the next item from a next item source location and placing the next item in the second receptacle.