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公开(公告)号：US20220315352A1
公开(公告)日：2022-10-06
申请号：US17219503
申请日：2021-03-31
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett
Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data image including data associated with an item present in a workspace in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to move and place the item singly in a corresponding location in a singulation conveyance structure. The plan takes into consideration an attribute of the item determined based at least in part on the sensor data.
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公开(公告)号：US20240359927A1
公开(公告)日：2024-10-31
申请号：US18659984
申请日：2024-05-09
Applicant: Dexterity, Inc.
Inventor： Joseph Li , Robert Moreno , Gil Matzliach , Cyril Nader , Samir Menon
CPC classification number: B65G47/905 , B25J9/1697
Abstract: Data associated with a plurality of items to be stacked on or in a destination location is received. The data associated with the plurality of items enables a first attribute associated with a first item of the plurality of items to be identified. A plan to stack the items on or in the destination location is generated based at least in part on the received data. The plan includes with respect to the first item a plan, determined based at least in part on the first attribute, to place the first item in a stackable container along with one or more other items and to place the stackable container, once filled, in a corresponding location on or in the destination location. The plan is implemented 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.
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公开(公告)号：US20240391101A1
公开(公告)日：2024-11-28
申请号：US18670253
申请日：2024-05-21
Applicant: Dexterity, Inc.
Inventor： Joseph Li , Robert Moreno , Neeraja Abhyankar
IPC: B25J9/16
Abstract: A robotic system to load or unload pallets or other receptacles is disclosed. Image data is received and used to identify an item associated with a topmost receptacle in a stack of one or more stackable receptacles. A robotic arm is controlled to perform a pick and place operation on the item with respect to the topmost receptacle in the stack of one or more stackable receptacles. Successive iterations of identifying, picking, and placing items are performed until a stop condition is determined to have been met, the stop condition including one or more of determining no further items remain to be processed and determining that the stack of one or more stackable receptacles includes a maximum permitted number of stackable receptacles.
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公开(公告)号：US20240091952A1
公开(公告)日：2024-03-21
申请号：US18368941
申请日：2023-09-15
Applicant: Dexterity, Inc.
Inventor： Joseph Li , Robert Moreno , Cuthbert Sun , Salvador Perez , Neeraja Abhyankar , Arth Beladiya , Kunal Vikas Shinde
IPC: B25J9/16
CPC classification number: B25J9/1697 , B25J9/1674
Abstract: A robotic system is disclosed. The robotic system includes (i) a robotic arm positioned in a known location adjacent to a work zone with respect to which the robotic arm is configured to manipulate one or more items, (ii) one or more sensors each positioned in a corresponding fixed location relative to the work zone, and (iii) one or more processors configured to configure the robotic system to use the robotic arm to manipulate the one or more items, the robotic system being configured based at least in part on sensor data, the sensor data comprising information indicative of a relative position of the robotic arm and one or more other objects in the work zone.
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公开(公告)号：US11833669B2
公开(公告)日：2023-12-05
申请号：US17219509
申请日：2021-03-31
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett
CPC classification number: B25J15/0683 , B25J9/0093
Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.
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Patent Agency Ranking
公开(公告)号：US20220348409A1
公开(公告)日：2022-11-03
申请号：US17246356
申请日：2021-04-30
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett , Cyril Nader , Farshid Farhat , David Leo Tondreau, III
Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operate a robotic structure to move an item along a predetermined path from a source location to a destination location, and autonomously operating the robotic structure to place the item at the destination location based at least in part on the plan. The item comprises one or more identifiers, and in response to a determination that at least one of the one or more identifiers was not obtained by one or more sensors, an active measure is performed to cause the one or more sensors to obtain the at least one identifier that was not obtained. The predetermined path corresponds to a path along which the item is moved from the source location to the destination location. The predetermined path is planned so that the item is moved within a threshold range of the one or more sensors while the item is moved along the predetermined path.
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公开(公告)号：US20240367917A1
公开(公告)日：2024-11-07
申请号：US18652538
申请日：2024-05-01
Applicant: Dexterity, Inc.
Inventor： Joseph Li , Robert Moreno , Cuthbert Sun , James Levin , Yunju Chen , Arth Beladiya
IPC: B65G47/244 , B25J9/16 , B65G47/91
Abstract: A robotic system configured to detect a target feature and place an item at an orientation determined based at least in part on the location of the target feature on the item is disclosed. In various embodiments, sensor data from a sensor in a workspace is received via a communication interface. The sensor data is used to determine the location of a target feature on an item. The determined location is used to generate and implement a plan to use a robotic arm to place the item at a destination location at an orientation determined based at least in part on the determined location of the target feature on the item.
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公开(公告)号：US20240140712A1
公开(公告)日：2024-05-02
申请号：US18406983
申请日：2024-01-08
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett , Cyril Nader , Farshid Farhat , David Leo Tondreau, III
CPC classification number: B65G1/1371 , B07C5/3412 , B07C5/362 , B25J9/0093 , B25J9/1664 , G06K7/10366 , G06K7/1413 , B07C2501/0063 , B25J9/1689
Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operating a robotic structure having a robotic arm to pick an item using an end effector of the robotic arm along a predetermined path from a source location to a destination location according to a plan. The picked item is moved according to the plan. An active measure is determined to be performed at least in part to obtain an identifier determined to be missing based on information received via the communication interface from one or more sensors. The robotic structure is autonomously operated to place the item at the destination location based at least in part on the plan.
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公开(公告)号：US20240109205A1
公开(公告)日：2024-04-04
申请号：US18378548
申请日：2023-10-10
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett
IPC: B25J15/06
CPC classification number: B25J15/0683 , B25J9/0093
Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.
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公开(公告)号：US11905115B2
公开(公告)日：2024-02-20
申请号：US17246356
申请日：2021-04-30
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett , Cyril Nader , Farshid Farhat , David Leo Tondreau, III
CPC classification number: B65G1/1371 , B07C5/3412 , B07C5/362 , B25J9/0093 , B25J9/1664 , G06K7/10366 , G06K7/1413 , B07C2501/0063 , B25J9/1689
Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operate a robotic structure to move an item along a predetermined path from a source location to a destination location, and autonomously operating the robotic structure to place the item at the destination location based at least in part on the plan. The item comprises one or more identifiers, and in response to a determination that at least one of the one or more identifiers was not obtained by one or more sensors, an active measure is performed to cause the one or more sensors to obtain the at least one identifier that was not obtained. The predetermined path corresponds to a path along which the item is moved from the source location to the destination location. The predetermined path is planned so that the item is moved within a threshold range of the one or more sensors while the item is moved along the predetermined path.
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