公开(公告)号：US10954081B1

公开(公告)日：2021-03-23

申请号：US16916601

申请日：2020-06-30

Applicant: Dexterity, Inc.

Inventor： Zhouwen Sun ,  Kevin Jose Chavez ,  Samir Menon ,  Harry Zhe Su ,  Talbot Morris-Downing ,  Rohit Arka Pidaparthi ,  Ayush Sharma ,  Raphael Georg Wirth

IPC: G06F7/00 ,  B65G47/91 ,  B65G47/90 ,  B25J9/16 ,  B25J15/06 ,  B25J13/08

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. A grasp strategy is determined for each of at least a subset of items, and for each grasp strategy a corresponding probability of grasp success is computed. The grasp strategies and corresponding probabilities of grasp success are used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

公开(公告)号：US20200094997A1

公开(公告)日：2020-03-26

申请号：US16143278

申请日：2018-09-26

Applicant: Dexterity, Inc.

Inventor： Samir Menon ,  Gerald Brantner ,  Zhouwen Sun ,  Robert Hegdahl ,  Kevin Jose Chavez

IPC: B65B5/08 ,  B65B43/52 ,  B65B57/14 ,  B65B43/54 ,  B65B5/12 ,  B65B35/54 ,  B25J9/16

Abstract: A kitting machine is disclosed. In various embodiments, the machine includes an actuator configured to move a surface or receptacle to a position associated with item retrieval; and a controller configured to control operation of the actuator to position an item in the position associated with item retrieval, in a manner that is synchronized at least in part with operation of a robotic retrieval device configured to retrieve the item from the position associated with item retrieval.