US 11,851,290 B2
Robotic multi-item type palletizing and depalletizing
Kevin Jose Chavez, Redwood City, CA (US); Yuan Gao, Santa Clara, CA (US); Rohit Pidaparthi, Mountain View, CA (US); Talbot Morris-Downing, Redwood City, CA (US); Harry Zhe Su, Union City, CA (US); and Samir Menon, Menlo Park, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Jan. 13, 2023, as Appl. No. 18/096,846.
Application 18/096,846 is a continuation of application No. 17/211,679, filed on Mar. 24, 2021, granted, now 11,591,169.
Application 17/211,679 is a continuation of application No. 16/716,284, filed on Dec. 16, 2019, granted, now 10,994,949, issued on May 4, 2021.
Application 16/716,284 is a continuation of application No. 16/380,859, filed on Apr. 10, 2019, granted, now 10,549,928, issued on Feb. 4, 2020.
Claims priority of provisional application 62/809,389, filed on Feb. 22, 2019.
Prior Publication US 2023/0143976 A1, May 11, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 47/90 (2006.01); B25J 9/16 (2006.01)
CPC B65G 47/905 (2013.01) [B25J 9/1697 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic system, comprising:
a communication interface; and
a processor 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, wherein the data associated with the plurality of items enables a first attribute associated with an item of the plurality of items to be identified;
determine a corresponding model for each of the plurality of items, wherein the processor is configured to determine that an item-specific model does not exist for the item and in response to a determination that the item-specific model does not exist for the item, determine whether an attribute-based model exists for the item, wherein the attribute-based model for the item is determined based in part on the first attribute associated with the item;
in response to a determination that the attribute-based model exists for the item, generate based at least in part on the received data a plan to stack the items on or in the destination location based on the corresponding determined models for each of the plurality of items, wherein the plan includes a corresponding grasp strategy to pick and place each of the items based on the data associated with the plurality of items, wherein the corresponding grasp strategy to pick and place the item is based on the attribute-based model; and
implement the plan at least in part by controlling a robotic arm to pick up the items and stack them on or in the destination location according to the plan.