公开(公告)号：US20230245036A1

公开(公告)日：2023-08-03

申请号：US18100940

申请日：2023-01-24

Applicant: Dexterity, Inc.

Inventor： Jonathan Kuck ,  Zhouwen Sun ,  Jacopo Banfi ,  Vikram Ramanathan ,  William Arthur Clary ,  Kevin Jose Chavez

IPC: G06Q10/083

CPC classification number: G06Q10/083

Abstract: The present application discloses a method, system, and computer system for arranging a set of objects for loading to a transport container. The method includes (i) receiving an indication of the set of objects to be loaded into the transport container for transport from a source location to a destination location, (ii) determining, based at least in part on object information corresponding to the set of objects and resources available to load the set of objects, an arrangement of the set of objects loaded into the transport container that satisfies a weight distribution criteria, and (iii) providing the arrangement as an output to be used in connection with loading the set of objects to the transport container.

公开(公告)号：US20220405439A1

公开(公告)日：2022-12-22

申请号：US17837787

申请日：2022-06-10

Applicant: Dexterity, Inc.

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

IPC: G06F30/20

Abstract: A robotic system is disclosed. The system includes a memory configured to store for each of a plurality of items a set of attribute values representing one or more physical attributes of the item. The system includes one or more processors coupled to the communication interface and configured to use the attribute values as inputs to a physic engine configured to compute the stability of a simulated stack of items comprising at least a subset of the plurality of items.

公开(公告)号：US20230241776A1

公开(公告)日：2023-08-03

申请号：US18100889

申请日：2023-01-24

Applicant: Dexterity, Inc.

Inventor： Jonathan Kuck ,  Zhouwen Sun ,  Jacopo Banfi ,  Vikram Ramanathan ,  William Arthur Clary ,  Kevin Jose Chavez

IPC: B25J9/16 ,  B65G61/00

CPC classification number: B25J9/1687 ,  B65G61/00 ,  B25J9/1697

Abstract: The present application discloses a method, system, and computer system for partitioning a set of objects among a set of transport containers. The method includes (i) receiving an indication of the set of objects to be loaded into the set of transport containers, (ii) determining, based at least in part on object information corresponding to the set of objects and resources available to load the set of objects, an plan to partition the set of objects across the set of transport containers, the plan including an indication of a subset of the objects allocated to a corresponding subset of the containers, and (iii) providing the plan as an output to be used in connection with loading various subsets of objects to corresponding subsets of containers.

公开(公告)号：US20220402134A1

公开(公告)日：2022-12-22

申请号：US17838034

申请日：2022-06-10

Applicant: Dexterity, Inc.

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

IPC: B25J9/16 ,  B25J13/08

Abstract: A robotic system is disclosed. The system includes a memory configured to store estimated state information associated with a computer simulation of a robotic operation to stack a plurality of items on a pallet or other receptacle. The system includes one or more processors coupled to the communication interface and configured to perform the computer simulation. The computer simulation is performed at least in part by combining geometric model data based on idealized simulated robotic placement of each item with programmatically generated noise data. The programmatically generated noise data reflects an estimation of the effect that one or more sources of noise in a real-world physical workspace with which the computer simulation is associated would have on a real-world state of the plurality of items and/or the pallet or other receptacle if the plurality of items were stacked on the pallet or other receptacle as simulated in the computer simulation.

公开(公告)号：US20250100819A1

公开(公告)日：2025-03-27

申请号：US18973428

申请日：2024-12-09

Applicant: Dexterity, Inc.

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

IPC: B65G61/00 ,  B25J9/16

Abstract: A robotic system is disclosed. The system includes a memory that stores for each of a plurality of items a set of attribute values. The system includes a processor(s) that uses the attribute values to simulate the placement of items, including by determining, iteratively, for each next item a placement location at which to place the item on a simulated stack of items on the pallet, using the attribute values and a geometric model of where items have been simulated to have been placed to estimate a state of the stack after each of a subset of simulated placements, and using the estimated state to inform a next placement decision. The steps of determining for each next item a placement location and estimating the state of the stack until all of at least a subset of the plurality of items have been simulated as having been placed on the stack.

公开(公告)号：US20230278219A1

公开(公告)日：2023-09-07

申请号：US18100900

申请日：2023-01-24

Applicant: Dexterity, Inc.

Inventor： Jonathan Kuck ,  Zhouwen Sun ,  Jacopo Banfi ,  Vikram Ramanathan ,  William Arthur Clary ,  Kevin Jose Chavez

IPC: B25J9/16

CPC classification number: B25J9/1687 ,  B25J9/1653 ,  B25J9/1661

Abstract: The present application discloses a method, system, and computer system for sequencing a set of objects to be loaded into a transport container. The method includes (i) receiving an indication of the set of objects to be loaded into the transport container for transport from a source location to a destination location, (ii) determining, based at least in part on object information corresponding to the set of objects and resources available to load the set of objects, a sequence according to which the set of objects are to be loaded into the transport container, and (iii) providing the sequence to a robotic system to implement in connection with loading the set of objects to the transport container.

公开(公告)号：US20220402710A1

公开(公告)日：2022-12-22

申请号：US17837779

申请日：2022-06-10

Applicant: Dexterity, Inc.

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

IPC: B65G61/00 ,  B25J9/16

Abstract: A robotic system is disclosed. The system includes a memory that stores for each of a plurality of items a set of attribute values. The system includes a processor(s) that uses the attribute values to simulate the placement of items, including by determining, iteratively, for each next item a placement location at which to place the item on a simulated stack of items on the pallet, using the attribute values and a geometric model of where items have been simulated to have been placed to estimate a state of the stack after each of a subset of simulated placements, and using the estimated state to inform a next placement decision. The steps of determining for each next item a placement location and estimating the state of the stack until all of at least a subset of the plurality of items have been simulated as having been placed on the stack.

公开(公告)号：US12258227B2

公开(公告)日：2025-03-25

申请号：US17837779

申请日：2022-06-10

Applicant: Dexterity, Inc.

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

IPC: B65G61/00 ,  B25J9/16

Abstract: A robotic system is disclosed. The system includes a memory that stores for each of a plurality of items a set of attribute values. The system includes a processor(s) that uses the attribute values to simulate the placement of items, including by determining, iteratively, for each next item a placement location at which to place the item on a simulated stack of items on the pallet, using the attribute values and a geometric model of where items have been simulated to have been placed to estimate a state of the stack after each of a subset of simulated placements, and using the estimated state to inform a next placement decision. The steps of determining for each next item a placement location and estimating the state of the stack until all of at least a subset of the plurality of items have been simulated as having been placed on the stack.

公开(公告)号：US20220402708A1

公开(公告)日：2022-12-22

申请号：US17837797

申请日：2022-06-10

Applicant: Dexterity, Inc.

Inventor： Rohit Arka Pidaparthi ,  William Arthur Clary ,  Neeraja Abhyankar ,  Jonathan Kuck ,  Ben Varkey Benjamin Pottayil ,  Kevin Jose Chavez ,  Shitij Kumar ,  Robert Moreno ,  Arth Beladiya ,  Salvador Perez ,  Jeesu Baek

IPC: B65G57/24

Abstract: A robotic system is disclosed. The system includes a communication interface configured to receive, from one or more sensors 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 use a geometric model based at least in part on past item placements in combination with the sensor data to estimate a state of the pallet or other receptacle and one or more items stacked on or in the pallet or other receptacle, and use the estimated state to generate or update a plan to control a robotic arm to place a next item on or in, or remove a next item from, the pallet or other receptacle in a manner that avoids having the next item collide with any other item stacked on or in the pallet or other receptacle.

公开(公告)号：US12214975B2

公开(公告)日：2025-02-04

申请号：US17837775

申请日：2022-06-10

Applicant: Dexterity, Inc.

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

IPC: B65G61/00 ,  B25J9/16

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.