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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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公开(公告)号：US20200095001A1
公开(公告)日：2020-03-26
申请号：US16224513
申请日：2018-12-18
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Robert Hegdahl , Zhouwen Sun , Kevin Jose Chavez , Talbot Morris-Downing , Cuthbert Sun
Abstract: A kitting system is disclosed. In various embodiments, the kitting system includes a conveyance structure configured to impart to an item a first net resultant force substantially in a first direction, wherein the first direction is associated with a direction of flow from a source end of the conveyance structure to a destination end opposite the source end and associated with a pick-up zone from which the item is to be retrieved; a sensor configured to provide a sensor output associated with the pick-up zone; and a processor configured to provide a control input to one or both of the conveyance structure and a disrupter device associated with the conveyance structure based at least in part on the sensor output.
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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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Patent Agency Ranking
公开(公告)号：US20240408751A1
公开(公告)日：2024-12-12
申请号：US18807758
申请日：2024-08-16
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：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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公开(公告)号：US20230331411A1
公开(公告)日：2023-10-19
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
CPC classification number: B65B5/08 , B25J9/1679 , B25J9/1697 , B65B5/12 , B65B35/54 , B65B43/52 , B65B43/54 , B65B57/14 , B25J9/1689
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：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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