公开(公告)号：US12252355B2

公开(公告)日：2025-03-18

申请号：US17696238

申请日：2022-03-16

Applicant: Dexterity, Inc.

Inventor： Timothy Ryan ,  Zhouwen Sun ,  Harry Zhe Su ,  Talbot Morris-Downing ,  David Leo Tondreau, III ,  Toby Leonard Baker ,  Ayush Sharma ,  Raphael Georg Wirth

IPC: B65G47/91 ,  B25J9/16

Abstract: A robotic system comprising an end effector-mounted sensor is disclosed. In various embodiments, a robotic arm is manipulated to move a sensor to a position such that an object of interest is within a read range of the sensor. A sensor data read by the sensor is received via a communication interface. The sensor data is used to determine an attribute of the object; and the determined attribute of the object is used to determine a plan to grasp and move the object.

公开(公告)号：US20220289501A1

公开(公告)日：2022-09-15

申请号：US17202036

申请日：2021-03-15

Applicant: Dexterity, Inc.

Inventor： Zhouwen Sun ,  Harry Zhe Su ,  Talbot Morris-Downing ,  David Leo Tondreau, III ,  Toby Leonard Baker ,  Timothy Ryan ,  Ayush Sharma ,  Raphael Georg Wirth ,  Cyril Nader

IPC: B65G47/91 ,  B25J15/06 ,  B25J9/16 ,  B25J13/08

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data image data associated with a plurality of items present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workspace and place each item singly in a corresponding location in a singulation conveyance structure. The plan includes performing an active measure to change or adapt to a detected state or condition associated with one or more items in the workspace.

公开(公告)号：US12240714B2

公开(公告)日：2025-03-04

申请号：US18109611

申请日：2023-02-14

Applicant: Dexterity, Inc.

Inventor： Zhouwen Sun ,  Michael Fisher ,  Robert Holmberg ,  Harry Zhe Su ,  Talbot Morris-Downing ,  Timothy Ryan ,  Samir Menon

IPC: B25J9/16 ,  B25J5/00 ,  B25J9/00 ,  B25J9/12 ,  B65G41/00 ,  B65G67/02 ,  B65G67/08

Abstract: A robotic system is disclosed which includes a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base; an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location; and a processor configured to control a first set of motors associated with the n degrees of freedom of the robotic arm and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.

公开(公告)号：US12083561B2

公开(公告)日：2024-09-10

申请号：US18120562

申请日：2023-03-13

Applicant: Dexterity, Inc.

Inventor： Timothy Ryan ,  David Leo Tondreau, III ,  Erik Trewitt

IPC: B07C5/36 ,  B07C3/08 ,  G06K7/14 ,  G06V30/10

CPC classification number: B07C5/362 ,  B07C3/082 ,  G06K7/1404 ,  G06V30/10

Abstract: The present application discloses a system, a method, and a computer system for correlating information to facilitate automated sortation. The method includes (i) receiving, by one or more processors, a first optical sensor data comprising a first element of routing data required to route an item but not a second element of routing data required, in addition to the first element, to route the item, (ii) obtaining the second element of routing data from a second optical sensor data, and (iii) causing the item to be routed based at least in part on the first element of routing data and the second element of routing data.

公开(公告)号：US20230302652A1

公开(公告)日：2023-09-28

申请号：US18126310

申请日：2023-03-24

Applicant: Dexterity, Inc.

Inventor： Rohun Kulkarni ,  Toby Leonard Baker ,  David Leo Tondreau, III ,  Harry Zhe Su ,  Talbot Morris-Downing ,  Darshan Hegde ,  Timothy Ryan

IPC: B25J9/16 ,  B25J9/00 ,  B25J13/00 ,  B25J13/08

CPC classification number: B25J9/1697 ,  B25J9/0093 ,  B25J9/1679 ,  B25J13/006 ,  B25J13/082 ,  B25J9/1653

Abstract: The present application discloses a system, a method, and a computer system for handling items deemed to require special handling. The method includes (i) receiving via the communication interface an indication that a given item in a source of items requires special handling, and (ii) actuating an item diversion structure comprising or otherwise associated with the source of items to divert the given item to a location associated with alternative item handling.

公开(公告)号：US20240367200A1

公开(公告)日：2024-11-07

申请号：US18775356

申请日：2024-07-17

Applicant: Dexterity, Inc.

Inventor： Timothy Ryan ,  David Leo Tondreau, III ,  Erik Trewitt

IPC: B07C5/36 ,  B07C3/08 ,  G06K7/14 ,  G06V30/10

Abstract: The present application discloses a system, a method, and a computer system for correlating information to facilitate automated sortation. The method includes (i) receiving, by one or more processors, a first optical sensor data comprising a first element of routing data required to route an item but not a second element of routing data required, in addition to the first element, to route the item, (ii) obtaining the second element of routing data from a second optical sensor data, and (iii) causing the item to be routed based at least in part on the first element of routing data and the second element of routing data.

公开(公告)号：US20230306363A1

公开(公告)日：2023-09-28

申请号：US18125031

申请日：2023-03-22

Applicant: Dexterity, Inc.

Inventor： Timothy Ryan ,  David Leo Tondreau, III ,  Harsh Vardhan

IPC: G06Q10/087 ,  G06K7/14

CPC classification number: G06Q10/087 ,  G06K7/1417 ,  G06K7/1413

Abstract: A robotic singulation system configured to enable automated routing of manually scanned packages is disclosed. In various embodiments, image data associated with a workspace in which at least a portion of a segmented conveyance structure is located is received at a processor via a communication interface. A visually-provided user input indicating a receptacle comprising the segmented conveyance structure is detected, based at least in part on the image data. A receptacle identifier associated with the receptacle indicated by the visually-provided user input is determined, in response to the visually-provided input and based at least in part on the image data. A scanned package information is associated with the receptacle identifier, at least in part in response to the visually-provided input.

公开(公告)号：US20230286019A1

公开(公告)日：2023-09-14

申请号：US18120562

申请日：2023-03-13

Applicant: Dexterity, Inc.

Inventor： Timothy Ryan ,  David Leo Tondreau, III ,  Erik Trewitt

IPC: B07C5/36 ,  G06K7/14 ,  G06V30/10 ,  B07C3/08

CPC classification number: B07C5/362 ,  G06K7/1404 ,  G06V30/10 ,  B07C3/082

Abstract: The present application discloses a system, a method, and a computer system for correlating information to facilitate automated sortation. The method includes (i) receiving, by one or more processors, a first optical sensor data comprising a first element of routing data required to route an item but not a second element of routing data required, in addition to the first element, to route the item, (ii) obtaining the second element of routing data from a second optical sensor data, and (iii) causing the item to be routed based at least in part on the first element of routing data and the second element of routing data.

公开(公告)号：US20220339800A1

公开(公告)日：2022-10-27

申请号：US17716388

申请日：2022-04-08

Applicant: Dexterity, Inc.

Inventor： Austen Poteet ,  Jeesu Baek ,  Devon Weinberger ,  Jordan Cedarleaf-Pavy ,  Timothy Ryan

IPC: B25J15/06 ,  B25B11/00

Abstract: A vacuum cup connected to a robotic arm for picking and placing items is disclosed. The vacuum cup includes one or more walls that defines (i) a first internal cavity and (ii) an opening to the first internal cavity, wherein the first internal cavity is defined at least in part by an interior surface adjacent to the opening to the first internal cavity, the interior surface defining an internal ridge positioned to mechanically engage a material drawn into the first internal cavity through the opening at an angle such that the mechanical engagement resists the material being removed from the first internal cavity via the opening. In response to the item being engaged and the suction system controlling the pressure within the first internal cavity to create a vacuum seal between the vacuum cup and the item, at least part of the item is caused to enter the first internal cavity at least during engagement of the vacuum seal.

公开(公告)号：US20250091824A1

公开(公告)日：2025-03-20

申请号：US18891250

申请日：2024-09-20

Applicant: Dexterity, Inc.

Inventor： Cyril Nader ,  Shawn Wang ,  Abhay Prithvi Komanduri ,  Shalini Ragothaman ,  Monika Spytek ,  Robert Holmberg ,  Timothy Ryan ,  Tom Vardon ,  Aaron Schultz ,  Stephan Pleines

IPC: B65G67/08 ,  B65G43/02 ,  B65G65/02 ,  B65G67/20

Abstract: A robotic loading/unloading system is disclosed. In various embodiments, sensor data is received via a communication interface. The sensor data is used to determine a position and orientation of an extendable conveyor relative to a robotic loader comprising one or more robotic arms mounted on a robotically controlled rover. The determined position and orientation of the extendable conveyor relative to the robotic loader are used to control one or both of the extendable conveyor and the robotic loader to place the extendable conveyor and robotic loader to position a distal end of the extendable conveyor within reach of the one or more robotic arms at a location within a work area from which one or more pick or placement locations within the work area are within reach of at least one of the one or more robotic arms.