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公开(公告)号：US20240165808A1
公开(公告)日：2024-05-23
申请号：US18428427
申请日：2024-01-31
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , William Arthur Clary , Kevin Jose Chavez , Ben Varkey Benjamin Pottayil , Rohit Arka Pidaparthi , Roger Lam Hau , Samir Menon
IPC: B25J9/16
CPC classification number: B25J9/1671 , B25J9/1612 , B25J9/163 , B25J9/1661 , B25J9/1674 , B25J9/1697
Abstract: Techniques are disclosed to use robotic system simulation to control a robotic system. In various embodiments, a communication indicating an action to be performed by a robotic element is received from a robotic control system. Performance of the action by the robotic element is simulated. A state tracking data is updated to reflect a virtual change to one or more state variables as a result of simulated performance of the action. Successful completion of the action by the robotic element is reported to the robotic control system.
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公开(公告)号：US20240149462A1
公开(公告)日：2024-05-09
申请号：US18501303
申请日：2023-11-03
Applicant: Dexterity, Inc.
Inventor： Robert Holmberg , Gil Matzliach , Samir Menon , Zhouwen Sun , Prabhat Kumar Sinha
IPC: B25J9/16
CPC classification number: B25J9/1697
Abstract: A variable payload robot is disclosed. In various embodiments, a robot includes two or more joints, each actuated by an associated joint motor and each joint motor having a different capacity, the robot comprising an end effector configured to grasp an object. A processor coupled to the robot is configured to determine based at least in part on the respective capacities of at least a subset of the joint motors and a payload related attribute of the object a plan and trajectory to move the object from a source location to a destination location.
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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：US11931902B2
公开(公告)日：2024-03-19
申请号：US17034902
申请日：2020-09-28
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , William Arthur Clary , Kevin Jose Chavez , Ben Varkey Benjamin Pottayil , Rohit Arka Pidaparthi , Roger Lam Hau , Samir Menon
IPC: B25J9/16
CPC classification number: B25J9/1671 , B25J9/1612 , B25J9/163 , B25J9/1661 , B25J9/1674 , B25J9/1697
Abstract: Techniques are disclosed to use robotic system simulation to control a robotic system. In various embodiments, a communication indicating an action to be performed by a robotic element is received from a robotic control system. Performance of the action by the robotic element is simulated. A state tracking data is updated to reflect a virtual change to one or more state variables as a result of simulated performance of the action. Successful completion of the action by the robotic element is reported to the robotic control system.
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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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Patent Agency Ranking
公开(公告)号：US11806880B2
公开(公告)日：2023-11-07
申请号：US16797359
申请日：2020-02-21
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Robert Hegdahl , Yuan Gao , Andrew Lovett , Roger Lam Hau , Samir Menon
CPC classification number: B25J9/1687 , B25J9/1612 , B25J9/1689 , B25J9/1694 , B25J9/1697 , B25J11/0045 , B25J15/0616 , B25J15/0683
Abstract: Techniques are disclosed to perform robotic handling of soft products in non-rigid packaging. In various embodiments, sensor data associated with a workspace is received. An action to be performed in the workspace using one or more robotic elements is determined, the action including moving an end effector of one of the robotic elements relatively quickly to a location in proximity to an item to be grasped; actuating a grasping mechanism of the end effector to grasp the item using an amount of force and structures associated with minimized risk of damage to one or both of the item and its packaging; and using sensor data generated subsequent to the item being grasped to ensure the item has been grasped securely. Control communications are sent to the robotic element via the communication interface to cause robotic element to perform the action.
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公开(公告)号：US11801608B2
公开(公告)日：2023-10-31
申请号：US18083932
申请日：2022-12-19
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Robert Hegdahl
CPC classification number: B25J15/0061
Abstract: A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.
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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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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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