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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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公开(公告)号：US20230321825A1
公开(公告)日：2023-10-12
申请号：US18126306
申请日：2023-03-24
Applicant: Dexterity, Inc.
Inventor： Rohun Kulkarni , Harshit Shah , Toby Leonard Baker , David Leo Tondreau, III , Harry Zhe Su , Talbot Morris-Downing , Darshan Hegde , Timothy Ryan
CPC classification number: B25J9/1653 , B25J9/0093 , B25J9/161 , B25J9/163 , B25J9/1633 , B25J19/023
Abstract: The present application discloses a system, a method, and a computer system for moving items deemed to be too heavy to be picked up by a robotic arm. The method includes (i) receiving sensor data from one or more sensors associated with a source conveyor configured to convey items to a pick location, (ii) determining, based at least in part on the sensor data, that an item that is too heavy to be lifted by a robotic arm controlled by the one or more processors has entered the source conveyor, and (iii) providing an output indicating that the item too heavy to be lifted by the robotic arm has been detected.
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公开(公告)号：US11780096B2
公开(公告)日：2023-10-10
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
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：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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Patent Agency Ranking
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：US20210122043A1
公开(公告)日：2021-04-29
申请号：US17068572
申请日：2020-10-12
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：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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