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公开(公告)号：US11731792B2
公开(公告)日：2023-08-22
申请号：US16143278
申请日：2018-09-26
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Gerald Brantner , Zhouwen Sun , Robert Hegdahl , Kevin Jose Chavez
IPC: B25J9/16 , B65B5/08 , B65B5/12 , B65B35/54 , B65B43/52 , B65B43/54 , B65G1/137 , G05D1/00 , G06Q10/08 , B65B57/14
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：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：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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Patent Agency Ranking
公开(公告)号：US20220402134A1
公开(公告)日：2022-12-22
申请号：US17838034
申请日：2022-06-10
Applicant: Dexterity, Inc.
Inventor： Rohit Arka Pidaparthi , William Arthur Clary , Neeraja Abhyankar , Jonathan Kuck , Ben Varkey Benjamin Pottayil , Kevin Jose Chavez , Shitij Kumar
Abstract: A robotic system is disclosed. The system includes a memory configured to store estimated state information associated with a computer simulation of a robotic operation to stack a plurality of items on a pallet or other receptacle. The system includes one or more processors coupled to the communication interface and configured to perform the computer simulation. The computer simulation is performed at least in part by combining geometric model data based on idealized simulated robotic placement of each item with programmatically generated noise data. The programmatically generated noise data reflects an estimation of the effect that one or more sources of noise in a real-world physical workspace with which the computer simulation is associated would have on a real-world state of the plurality of items and/or the pallet or other receptacle if the plurality of items were stacked on the pallet or other receptacle as simulated in the computer simulation.
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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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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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