State estimation using geometric data and vision system for palletizing
US12214975B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 10, 2022 |
| Grant date | Feb 4, 2025 |
| Priority date | — |
| Expiry date | Jan 21, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45063
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic system is disclosed. The system includes a communication interface that receives, from a sensor(s) deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that control a robotic arm to place a first set of items on or in, or remove the first set of items from, the pallet or other receptacle, update a geometric model based on the first set of items placed on or in a receptacle, use the geometric model in combination with the sensor data to estimate a stack of one or more items on or in the receptacle, and use the estimated state to generate or update a plan to control the robotic arm to place a second set of items.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.