STATE ESTIMATION USING GEOMETRIC DATA AND VISION SYSTEM FOR PALLETIZING

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.

Inventor(s): Rohit Arka Pidaparthi, William Arthur Clary, Neeraja Abhyankar, Jonathan Kuck, Ben Varkey Benjamin Pottayil, Kevin Jose Chavez, Shitij Kumar

CPC Classification: B65G61/00 (Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for)

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