US 12,134,200 B2
Singulation of arbitrary mixed items
Zhouwen Sun, Redwood City, CA (US); Kevin Jose Chavez, Redwood City, CA (US); Samir Menon, Atherton, CA (US); Harry Zhe Su, Union City, CA (US); Talbot Morris-Downing, Redwood City, CA (US); Rohit Arka Pidaparthi, Mountain View, CA (US); Ayush Sharma, Belmont, CA (US); and Raphael Georg Wirth, Breisach (DE)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Jul. 20, 2023, as Appl. No. 18/224,427.
Application 18/224,427 is a continuation of application No. 17/132,446, filed on Dec. 23, 2020, granted, now 11,752,636.
Application 17/132,446 is a continuation of application No. 16/916,605, filed on Jun. 30, 2020, granted, now 10,906,188, issued on Feb. 2, 2021.
Claims priority of provisional application 62/993,579, filed on Mar. 23, 2020.
Claims priority of provisional application 62/926,165, filed on Oct. 25, 2019.
Prior Publication US 2024/0001559 A1, Jan. 4, 2024
Int. Cl. G06F 7/00 (2006.01); B07C 1/04 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/06 (2006.01); B65G 47/90 (2006.01); B65G 47/91 (2006.01)
CPC B25J 9/1697 (2013.01) [B07C 1/04 (2013.01); B25J 9/0093 (2013.01); B25J 9/161 (2013.01); B25J 9/1612 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 9/1671 (2013.01); B25J 9/1689 (2013.01); B25J 13/08 (2013.01); B25J 15/0616 (2013.01); B65G 47/905 (2013.01); B65G 47/917 (2013.01); B65G 2201/0285 (2013.01); B65G 2203/0216 (2013.01); B65G 2203/041 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a communication interface; and
a processor coupled to the communication interface and configured to:
receive sensor data via the communication interface, wherein the sensor data includes three dimensional image data associated with a workspace, and the workspace comprising an item;
use the sensor data to determine whether an item label is on an item surface oriented in a first orientation;
in response to determining that the item label is not on an item surface oriented in the first orientation,
determine a location of the item label on another item surface; and
operate a robotic structure to handle the item according to the location of the item label.
 
18. The system of claim 1, wherein the robotic structure comprises a robotic arm.