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公开(公告)号：US11752636B2
公开(公告)日：2023-09-12
申请号：US17132446
申请日：2020-12-23
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
CPC classification number: B25J9/1697 , B07C1/04 , B25J9/0093 , B25J9/161 , B25J9/1612 , B25J9/1653 , B25J9/1664 , B25J9/1671 , B25J9/1689 , B25J13/08 , B25J15/0616 , B65G47/905 , B65G47/917 , B65G2201/0285 , B65G2203/0216 , B65G2203/041
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. The three dimensional view as generated at successive points in time is used to model a flow of at least a subset of said plurality of items through at least a portion of the workspace. The model is 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.
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公开(公告)号：US20230266757A1
公开(公告)日：2023-08-24
申请号：US18138618
申请日：2023-04-24
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Gerald Brantner
CPC classification number: G05D1/0061 , G05D1/0088 , B25J9/1689 , G05D1/0027 , G05D2201/0216
Abstract: A robot is operated in an autonomous mode of operation in which the robot autonomously selects a strategy to pick up an item. The item is moved from an initial location to a destination location using the selected strategy. It is determined whether one or more strategies are available to pick up the item in response to the item being dropped while the item is being moved from the initial location to the destination location. It is determined that a further strategy is not available to pick up the item. In response to the determination that the further strategy is not available, a human intervention mode of operation is entered.
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公开(公告)号：US11675350B2
公开(公告)日：2023-06-13
申请号：US17039817
申请日：2020-09-30
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Gerald Brantner
CPC classification number: G05D1/0061 , B25J9/1689 , G05D1/0027 , G05D1/0088 , G05D2201/0216
Abstract: An autonomous robot with on demand human intervention is disclosed. In various embodiments, a robot operates in an autonomous mode of operation in which the robot performs one or more tasks autonomously without human intervention. The robot determines that a strategy is not available to perform a next task autonomously. In response to the determination, the robot enters a human intervention mode of operation.
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公开(公告)号：US20230150137A1
公开(公告)日：2023-05-18
申请号：US17978608
申请日：2022-11-01
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Talbot Morris-Downing , Harry Zhe Su , Toby Leonard Baker , Alberto Leyva Arvayo , Salvador Perez , Samir Menon
CPC classification number: B25J9/1682 , B25J9/1612 , B25J9/1697 , B25J9/1666 , B25J9/0093 , B25J19/023
Abstract: A robotic system is disclosed to control multiple robots to cooperatively load/unload a truck or other container. In various embodiments, image data is received and used to control a first robotic arm and a second robotic arm to load or unload objects into or from the truck or other container, including by loading or unloading one or more of the objects using the first robotic arm and the second robotic arm together to cooperatively to grasp and move each of one or more of the objects along a corresponding trajectory.
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公开(公告)号：US11607816B2
公开(公告)日：2023-03-21
申请号：US17029415
申请日：2020-09-23
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Harry Zhe Su
Abstract: A plurality of sensors are configured to provide respective outputs that reflect a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of the plurality of sensors are used to make a determination associated with engagement of a robotic arm end effector with an item. A first value measured by a first sensor is used to determine a first input associated with a first factor. A second value measured by a second sensor is used to determine a second input associated with a second factor. The first input and the second input are provided to a multi-factor model configured to provide, based at least in part on the first input and the second input, an output associated with engagement of the robotic arm end effector with the item. The output of the multi-factor model is used to make the determination associated with engagement of the robotic arm end effector with the item.
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Patent Agency Ranking
公开(公告)号：US11591169B2
公开(公告)日：2023-02-28
申请号：US17211679
申请日：2021-03-24
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Samir Menon
Abstract: Techniques are disclosed to use a robotic arm to palletize or depalletize diverse items. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received. 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 is implemented at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item: using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location; and using one or more second order sensors to snug the item into a final position.
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公开(公告)号：US20220088778A1
公开(公告)日：2022-03-24
申请号：US17482162
申请日：2021-09-22
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Samir Menon , Kevin Jose Chavez , Toby Leonard Baker , David Leo Tondreau III , Andrew Nguyen , Cuthbert Sun
Abstract: A velocity control-based robotic system is disclosed. In various embodiments, sensor data is received from one or more sensors deployed in a physical space in which a robot is located. A processor is used to determine based at least in part on the sensor data an at least partly velocity-based trajectory along which to move an element comprising the robot. A command to implement the velocity-based trajectory is sent to the robot.
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公开(公告)号：US11090816B2
公开(公告)日：2021-08-17
申请号：US16675972
申请日：2019-11-06
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Robert Hegdahl
IPC: B25J15/00
Abstract: A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.
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公开(公告)号：US20200316782A1
公开(公告)日：2020-10-08
申请号：US16834115
申请日：2020-03-30
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Zhouwen Sun , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Ben Varkey Benjamin Pottayil , Samir Menon
Abstract: A set of one or more potentially graspable features for one or more objects present in a workspace area are determined based on visual data received from a plurality of cameras. For each of at least a subset of the one or more potentially graspable features one or more corresponding grasp strategies are determined to grasp the feature with a robotic arm and end effector. A score associated with a probability of a successful grasp of a corresponding feature is determined with respect to each of a least a subset of said grasp strategies. A first feature of the one or more potentially graspable features is selected to be grasped using a selected grasp strategy based at least in part on a corresponding score associated with the selected grasp strategy with respect to the first feature. The robotic arm and the end effector are controlled to attempt to grasp the first feature using the selected grasp strategy.
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公开(公告)号：US20200273138A1
公开(公告)日：2020-08-27
申请号：US16667661
申请日：2019-10-29
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Samir Menon
Abstract: A multicamera image processing system is disclosed. In various embodiments, image data is received from each of a plurality of sensors associated with a workspace, the image data comprising for each sensor in the plurality of sensors one or both of visual image information and depth information. Image data from the plurality of sensors is merged to generate a merged point cloud data. Segmentation is performed based on visual image data from at least a subset of the sensors in the plurality of sensors to generate a segmentation result. One or both of the merged point cloud data and the segmentation result is/are used to generate a merged three dimensional and segmented view of the workspace.
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