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公开(公告)号：US10549928B1
公开(公告)日：2020-02-04
申请号：US16380859
申请日：2019-04-10
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：US12208524B2
公开(公告)日：2025-01-28
申请号：US18202524
申请日：2023-05-26
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Ivan Alberto Trujillo Priego , Talbot Morris-Downing , Zhouwen Sun , Kevin Jose Chavez , Alberto Leyva Arvayo , Cyril Nader , Farshid Farhat
Abstract: A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.
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公开(公告)号：US12205188B2
公开(公告)日：2025-01-21
申请号：US18138655
申请日：2023-04-24
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit Arka 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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公开(公告)号：US12134200B2
公开(公告)日：2024-11-05
申请号：US18224427
申请日：2023-07-20
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
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：US20240033937A1
公开(公告)日：2024-02-01
申请号：US18485212
申请日：2023-10-11
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Zhouwen Sun , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Ben Varkey Benjamin Pottayil , Samir Menon
CPC classification number: B25J9/1697 , B25J9/1612 , B25J9/1687 , B25J9/1674 , B25J9/1692 , G06T7/55 , G06T7/70 , G06T7/12 , G06T7/13 , B25J9/1689 , G06T2207/10028
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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Patent Agency Ranking
公开(公告)号：US20230302644A1
公开(公告)日：2023-09-28
申请号：US18202524
申请日：2023-05-26
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Ivan Alberto Trujillo Priego , Talbot Morris-Downing , Zhouwen Sun , Kevin Jose Chavez , Alberto Leyva Arvayo , Cyril Nader , Farshid Farhat
IPC: B25J9/16
CPC classification number: B25J9/1664 , B25J9/1679 , B25J9/1694 , B25J9/1633 , B25J9/1687 , B25J13/085
Abstract: A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.
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公开(公告)号：US20230241777A1
公开(公告)日：2023-08-03
申请号：US18101292
申请日：2023-01-25
Applicant: Dexterity, Inc.
Inventor： Talbot Morris-Downing , Zhouwen Sun
IPC: B25J9/16
CPC classification number: B25J9/1687
Abstract: The present application discloses a method, system, and computer system for determining an arrangement of 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, an arrangement of the set of objects loaded into the transport container according to a stability model, and (iii) providing the arrangement of the set of objects to a robotic system to implement in connection with loading the set of objects to the transport container.
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公开(公告)号：US11669930B2
公开(公告)日：2023-06-06
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
CPC classification number: G06T1/0014 , G06T1/20 , G06T7/174 , G06T7/593 , G06T7/90 , G06T2207/10024 , G06T2207/10028 , G06T2207/20221 , H04N13/204
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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公开(公告)号：US20230158676A1
公开(公告)日：2023-05-25
申请号：US17978610
申请日：2022-11-01
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Rohun Kulkarni , Talbot Morris-Downing , Harry Zhe Su , Samir Menon , Kevin Jose Chavez , Robert Holmberg , Alberto Leyva Arvayo , Toby Leonard Baker
CPC classification number: B25J9/1682 , B25J9/1669 , B25J9/1697 , B25J9/1633 , B25J9/1666 , B25J13/082 , B25J13/085 , B25J19/023
Abstract: A robotic system is disclosed to control multiple robots to cooperatively pick and place objects. In various embodiments, the robotic system includes a first robotic arm having a first end effector; a second robotic arm having a second end effector; and a control computer configured to use the first robotic arm and the second robotic arm to pick and place a plurality of objects, including by using the first robotic arm and the second robotic arm to work cooperatively to pick and place one or more of the objects.
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公开(公告)号：US20230143976A1
公开(公告)日：2023-05-11
申请号：US18096846
申请日：2023-01-13
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Samir Menon
CPC classification number: B65G47/905 , B25J9/1697
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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