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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：US20230241776A1
公开(公告)日：2023-08-03
申请号：US18100889
申请日：2023-01-24
Applicant: Dexterity, Inc.
Inventor： Jonathan Kuck , Zhouwen Sun , Jacopo Banfi , Vikram Ramanathan , William Arthur Clary , Kevin Jose Chavez
CPC classification number: B25J9/1687 , B65G61/00 , B25J9/1697
Abstract: The present application discloses a method, system, and computer system for partitioning a set of objects among a set of transport containers. The method includes (i) receiving an indication of the set of objects to be loaded into the set of transport containers, (ii) determining, based at least in part on object information corresponding to the set of objects and resources available to load the set of objects, an plan to partition the set of objects across the set of transport containers, the plan including an indication of a subset of the objects allocated to a corresponding subset of the containers, and (iii) providing the plan as an output to be used in connection with loading various subsets of objects to corresponding subsets of containers.
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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：US20220315355A1
公开(公告)日：2022-10-06
申请号：US17217474
申请日：2021-03-30
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Cuthbert Sun , Andrew Nguyen , Samuel Tay , Emilie Peck , Kevin Jose Chavez , Robert Holmberg
Abstract: A robotic line kitting system is disclosed. In various embodiments, a sensor reading associated with a force sensor associated with a robotic instrumentality comprising the robotic line kitting system is received. It is determined based at least in part on the sensor reading that a condition requiring human intervention has been detected. A task to be performed by a human worker to correct the condition is scheduled.
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公开(公告)号：US20220306402A1
公开(公告)日：2022-09-29
申请号：US17216503
申请日：2021-03-29
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Cyril Nader , Varun Uday Nayak , Alberto Leyva Arvayo , Michael Root , Andrew Lovett , Kevin Jose Chavez
Abstract: An autonomous tray handling robotic system is disclosed. In various embodiments, data indicating a set of output stacks to be assembled is stored, each output stack including an associated set of trays each of a corresponding tray type. Operation of one or more robots is controlled, each robot being configured to grasp, move, and place one or more trays at a time, according to a plan, to iteratively pick trays from source stacks of trays and assemble the set of output stacks, including by building each output stack by successively placing on the output stack trays picked from one or more corresponding source stacks. Each of the robots comprises a robotic arm and a tray handling end effector configured to grasp, move, and place one or more trays without assistance from another robot.
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Patent Agency Ranking
公开(公告)号：US20210122586A1
公开(公告)日：2021-04-29
申请号：US17132426
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
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.
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公开(公告)号：US20210122039A1
公开(公告)日：2021-04-29
申请号：US17029418
申请日：2020-09-23
Applicant: Dexterity, Inc.
Inventor： Harry Zhe Su , Zhouwen Sun , Samir Menon
Abstract: A plurality of sensors are configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of one or more sensors comprising the plurality of sensors are used to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector. A determination associated with slippage of the item within or from the grasp of the robotic arm end effector is made based at least in part on an output of the multi-modal model. A responsive action is taken based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.
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公开(公告)号：US12263977B2
公开(公告)日：2025-04-01
申请号：US18212121
申请日：2023-06-20
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Gerald Brantner , Zhouwen Sun , Robert Hegdahl , Kevin Jose Chavez
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.
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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
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.
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公开(公告)号：US20250033900A1
公开(公告)日：2025-01-30
申请号：US18916529
申请日：2024-10-15
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Cuthbert Sun , Andrew Nguyen , Samuel Tay , Emilie Peck , Kevin Jose Chavez , Robert Holmberg
Abstract: A robotic line kitting system is disclosed. In various embodiments, a sensor reading associated with a force sensor associated with a robotic instrumentality comprising the robotic line kitting system is received. It is determined based at least in part on the sensor reading that a condition requiring human intervention has been detected. A task to be performed by a human worker to correct the condition is scheduled.
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