公开(公告)号：US20240135585A1

公开(公告)日：2024-04-25

申请号：US18491259

申请日：2023-10-19

Applicant: Dexterity, Inc.

Inventor： Ayush Sharma ,  Joseph W. Weber ,  Cyril Nader ,  Jonathan Anglingdarma ,  Vladimir Bulvakhter

IPC: G06T7/80 ,  B25J9/16 ,  H04N17/00 ,  H04N23/66

CPC classification number: G06T7/80 ,  B25J9/1692 ,  B25J9/1697 ,  H04N17/002 ,  H04N23/66 ,  G06T2200/24 ,  G06T2207/30204

Abstract: Techniques are disclosed to calibrate a camera for use with one or more robots to perform a robotic application. In various embodiments, selection of a camera to be calibrated is received via a user interface. A region of interest associated with the camera and a robot with which the camera is associated is determined. A set of sample points within the region of interest is selected. The robot is moved through a set of trajectories to position the robot, successively with respect to each of at least a subset of the sample points, in a predetermined pose at a location associated with the sample point and, at each location cause the camera to generate a corresponding image that includes at least a fiducial marker located on the robot. The respective predetermined poses and corresponding images are used to perform a set of calibration computations with respect to the camera.

公开(公告)号：US11731287B2

公开(公告)日：2023-08-22

申请号：US17712915

申请日：2022-04-04

Applicant: Dexterity, Inc.

Inventor： Alberto Leyva Arvayo ,  Cyril Nader ,  Varun Uday Nayak ,  Andrew Lovett ,  Shitij Kumar

IPC: B25J15/00

CPC classification number: B25J15/0028

Abstract: A robotic end effector is disclosed. The end effector is configured to grasp, move, and place one or more objects without assistance from another robot. The end effector includes a lateral member configured to be coupled to a robotic arm, a passive side member coupled substantially rigidly to the lateral member at a first distal end and configured to engage mechanically with a first recess on a first side of an object to be grasped, and an active side member coupled to the lateral member at a second distal end opposite the first distal end and configured to engage mechanically with a second recess on a second side of the object to be grasped, the second side being opposite the first side of the object to be grasped. The passive side member and the active side member each include a structure, and the structure on the passive side member and the active side member have different profiles.

公开(公告)号：US11701776B2

公开(公告)日：2023-07-18

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

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1664 ,  B25J9/1633 ,  B25J9/1679 ,  B25J9/1687 ,  B25J9/1694 ,  B25J13/085 ,  G05B2219/39322 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45063

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.

公开(公告)号：US11745956B2

公开(公告)日：2023-09-05

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

IPC: B25J9/16 ,  B65G47/90 ,  B25J13/08

CPC classification number: B65G47/905 ,  B25J9/1612 ,  B25J9/1633 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1679 ,  B25J9/1697 ,  B25J13/082 ,  B65G2201/0258 ,  B65G2203/041

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.

公开(公告)号：US20220348409A1

公开(公告)日：2022-11-03

申请号：US17246356

申请日：2021-04-30

Applicant: Dexterity, Inc.

Inventor： Zhouwen Sun ,  Robert Holmberg ,  Shitij Kumar ,  Jeesu Baek ,  Joseph Li ,  Kishore Ranganath Ramakrishnan ,  Andrew Lovett ,  Cyril Nader ,  Farshid Farhat ,  David Leo Tondreau, III

IPC: B65G1/137 ,  B25J9/00 ,  B25J9/16 ,  B07C5/34 ,  B07C5/36 ,  G06K7/14 ,  G06K7/10

Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operate a robotic structure to move an item along a predetermined path from a source location to a destination location, and autonomously operating the robotic structure to place the item at the destination location based at least in part on the plan. The item comprises one or more identifiers, and in response to a determination that at least one of the one or more identifiers was not obtained by one or more sensors, an active measure is performed to cause the one or more sensors to obtain the at least one identifier that was not obtained. The predetermined path corresponds to a path along which the item is moved from the source location to the destination location. The predetermined path is planned so that the item is moved within a threshold range of the one or more sensors while the item is moved along the predetermined path.

公开(公告)号：US20220289501A1

公开(公告)日：2022-09-15

申请号：US17202036

申请日：2021-03-15

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

IPC: B65G47/91 ,  B25J15/06 ,  B25J9/16 ,  B25J13/08

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.

公开(公告)号：US20240359927A1

公开(公告)日：2024-10-31

申请号：US18659984

申请日：2024-05-09

Applicant: Dexterity, Inc.

Inventor： Joseph Li ,  Robert Moreno ,  Gil Matzliach ,  Cyril Nader ,  Samir Menon

IPC: B65G47/90 ,  B25J9/16

CPC classification number: B65G47/905 ,  B25J9/1697

Abstract: Data associated with a plurality of items to be stacked on or in a destination location is received. The data associated with the plurality of items enables a first attribute associated with a first item of the plurality of items to be identified. 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 includes with respect to the first item a plan, determined based at least in part on the first attribute, to place the first item in a stackable container along with one or more other items and to place the stackable container, once filled, in a corresponding location on or in the destination location. The plan is implemented at least in part by controlling a robotic arm to pick up the items and stack them on or in the destination location according to the plan.

公开(公告)号：US12129132B2

公开(公告)日：2024-10-29

申请号：US17202036

申请日：2021-03-15

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

IPC: B25J9/16 ,  B25J9/00 ,  B25J13/08 ,  B25J15/06 ,  B65G47/91 ,  B65G59/00 ,  G05B19/418

CPC classification number: B65G47/917 ,  B25J9/1612 ,  B25J9/163 ,  B25J9/1651 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1697 ,  B25J13/088 ,  B25J15/0658 ,  B65G47/918 ,  B65G2203/0216 ,  B65G2203/0233 ,  B65G2203/025 ,  B65G2203/0258 ,  B65G2203/0291 ,  B65G2203/041

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.

公开(公告)号：US20220331990A1

公开(公告)日：2022-10-20

申请号：US17712915

申请日：2022-04-04

Applicant: Dexterity, Inc.

Inventor： Alberto Leyva Arvayo ,  Cyril Nader ,  Varun Uday Nayak ,  Andrew Lovett ,  Shitij Kumar

IPC: B25J15/00

Abstract: A robotic end effector is disclosed. The end effector is configured to grasp, move, and place one or more objects without assistance from another robot. The end effector includes a lateral member configured to be coupled to a robotic arm, a passive side member coupled substantially rigidly to the lateral member at a first distal end and configured to engage mechanically with a first recess on a first side of an object to be grasped, and an active side member coupled to the lateral member at a second distal end opposite the first distal end and configured to engage mechanically with a second recess on a second side of the object to be grasped, the second side being opposite the first side of the object to be grasped. The passive side member and the active side member each include a structure, and the structure on the passive side member and the active side member have different profiles.

公开(公告)号：US20220289502A1

公开(公告)日：2022-09-15

申请号：US17202040

申请日：2021-03-15

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

IPC: B65G47/91 ,  B25J15/06 ,  B25J9/16 ,  B25J13/08

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including data associated with an item present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to move and place the item singly in a corresponding location in a singulation conveyance structure. The plan takes into consideration an attribute of the item determined based at least in part on the sensor data.