Robot carriage tray table

Patent metadata

Field	Value
Publication number	US-12304074-B2
Application number	US-202217960544-A
Country	US
Kind code	B2
Filing date	Oct 5, 2022
Priority date	Oct 6, 2021
Publication date	May 20, 2025
Grant date	May 20, 2025

Abstract

A task table for use in a robotic system comprising a robot mounted on a carriage configured to move the robot along a path is disclosed. The task table includes a substantially horizontal table surface, and one or more mounting arms to which the table surface is affixed at a first distal end and comprising, at a second distal end opposite the first distal end, one or more mounting structures, the one or more mounting arms having a length that allows the table surface to be mounted to the robot or the carriage at a distance from a base of the robot that enables the robot to reach a plurality of locations on the table surface each with a desired pose.

First claim

What is claimed is:

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.

2. The method of claim 1 , wherein a determination of whether the first receptacle has sufficient capacity is based at least in part one or more of: (i) a number of items in the first receptacle; (ii) an available space within the first receptacle, (iii) a size of the next item, and (iii) a weight of the first receptacle.

3. The method of claim 2 , further comprising:
receiving information from one or more sensors within a workspace of the robotic arm;
determining a weight of the first receptacle based at least in part on the information; and
in response to determining that the weight of the first receptacle is greater than a predefined weight threshold, determining that the first receptacle does not have sufficient capacity for the next item.

4. A computer program product to control a robot, the computer program product being embodied in a non-transitory computer readable medium and comprising computer instructions for:
determining, by one or more processors, to move a set of items from respect source locations to one or more receptacles; and
controlling a robot 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.

5. A robotic system, comprising:
a communication interface; and
one or more processors coupled to the communication interface and configured to:
determine to move a set of items from respect source locations to one or more receptacles;
receive, via the communication interface, data associated with a set of items; and
control a robotic arm to move the set of items to the one or more receptacles based at least in part on the data associated with the set of items, comprising:
control 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
determine, 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:
determine 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, determine 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,
 determine a plan to move the first receptacle to a receptacle return location;
 control the robotic arm to move the first receptacle to the receptacle return location;
 determine a plan to move a second receptacle to the task table;
 control 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, determine a plan to pick the next item from a next item source location and placing the next item in the second receptacle.

Assignees

• Dexterity Inc

Inventors

• Kim Justin Sunjoon
• Lovett Andrew
• Arvayo Alberto Leyva
• Kumar Shitij
• Nader Cyril
• Gao Yuan

Classifications

• B25J9/1697

  Vision controlled systems · CPC title

• B25J9/0084

  comprising a plurality of manipulators · CPC title

• B25J9/0096

  co-operating with a working support, e.g. work-table · CPC title

• B25J13/06

  Control stands, e.g. consoles, switchboards · CPC title

• B25J13/089

  Determining the position of the robot with reference to its environment · CPC title