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公开(公告)号：US11741566B2
公开(公告)日：2023-08-29
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：US20230260071A1
公开(公告)日：2023-08-17
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
CPC classification number: G06T1/0014 , G06T1/20 , G06T7/90 , G06T7/174 , G06T7/593 , 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：US20220315358A1
公开(公告)日：2022-10-06
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：US20210122054A1
公开(公告)日：2021-04-29
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
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：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
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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Patent Agency Ranking
公开(公告)号：US12296493B2
公开(公告)日：2025-05-13
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
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：US12129132B2
公开(公告)日：2024-10-29
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
CPC classification number: B65G47/917 , B25J9/1612 , B25J9/163 , B25J9/1651 , B25J9/1653 , B25J9/1664 , B25J9/1697 , B25J13/088 , B25J15/0658 , B65G47/918 , B65G2203/0216 , B65G2203/0233 , B65G2203/025 , B65G2203/0258 , B65G2203/0291 , B65G2203/041
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.
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公开(公告)号：US20240158183A1
公开(公告)日：2024-05-16
申请号：US18511677
申请日：2023-11-16
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit 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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公开(公告)号：US20240033906A1
公开(公告)日：2024-02-01
申请号：US18232697
申请日：2023-08-10
Applicant: Dexterity, Inc.
Inventor： Harry Zhe Su , Zhouwen Sun , Samir Menon
CPC classification number: B25J9/1612 , B25J9/163 , B25J9/1633 , B25J13/083 , B25J13/084
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：US11772262B2
公开(公告)日：2023-10-03
申请号：US17029418
申请日：2020-09-23
Applicant: Dexterity, Inc.
Inventor： Harry Zhe Su , Zhouwen Sun , Samir Menon
CPC classification number: B25J9/1612 , B25J9/163 , B25J9/1633 , B25J13/083 , B25J13/084 , B25J13/082 , B25J13/02
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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