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公开(公告)号：US20210206587A1
公开(公告)日：2021-07-08
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：US10994949B2
公开(公告)日：2021-05-04
申请号：US16716284
申请日：2019-12-16
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit Arka 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：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：US20250114940A1
公开(公告)日：2025-04-10
申请号：US18988590
申请日：2024-12-19
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 manifest or other data indicating a high-level objective to move a plurality of items from a source location to a destination location is received. The manifest or other data is utilized to generate a plan to pick and place the plurality of items from the source location to the destination location in a particular order and manner. A first item of the plurality of items is moved to a first location at the destination location as indicated by the manifest or other data using a robotic arm having an end effector. Force sensor information generated by a force sensor is received. The force sensor information is used to align a structure comprising the first item with an opening associated with the first location. The first item is inserted into the opening associated with the first location.
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公开(公告)号：US12240123B2
公开(公告)日：2025-03-04
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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Patent Agency Ranking
公开(公告)号：US12194507B2
公开(公告)日：2025-01-14
申请号：US18126309
申请日：2023-03-24
Applicant: Dexterity, Inc.
Inventor： Darshan Hegde , Harry Zhe Su , Talbot Morris-Downing
Abstract: The present application discloses a system, a method, and a computer system for detecting objects that require special handling. The method includes (i) receiving image data from one or more cameras associated with a source conveyor configured to convey items to a pick location, (ii) determining, based at least in part on the image data, that an item requiring special handling has entered the source conveyor, and (iii) providing an output indicating that the item requiring special handling has been detected.
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公开(公告)号：US20250010484A1
公开(公告)日：2025-01-09
申请号：US18896738
申请日：2024-09-25
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：US20240391707A1
公开(公告)日：2024-11-28
申请号：US18794652
申请日：2024-08-05
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
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：US20240091949A1
公开(公告)日：2024-03-21
申请号：US18238048
申请日：2023-08-25
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. 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：US20240001559A1
公开(公告)日：2024-01-04
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
CPC classification number: B25J9/1697 , B25J9/0093 , B25J15/0616 , B25J9/1664 , B25J9/1612 , B65G47/917 , B25J9/1689 , B07C1/04 , B25J9/1671 , B25J9/161 , B25J9/1653 , B25J13/08 , B65G47/905 , 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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