公开(公告)号：WO2022265942A1

公开(公告)日：2022-12-22

申请号：PCT/US2022/033101

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij

IPC: G06Q10/08 ,  G16Z99/00

Abstract: A robotic system is disclosed. The system includes a memory that stores a machine learning-based model to provide a scoring function value for a candidate item placement on a pallet on which are plurality of items are to be stacked given a current state value of the pallet and a set of zero or more items placed previously. The system includes one or more processors that use the model to determine a corresponding score for each of a plurality of candidate placements for a next item to be placed and the current state value associated with the current state of the pallet and a set of zero or more items placed previously, select a selected placement based at least in part on the respective scores, control a robotic arm to place the next item according to the selected placement.

公开(公告)号：WO2022265933A1

公开(公告)日：2022-12-22

申请号：PCT/US2022/033048

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij ,  MORENO, Robert ,  BELADIYA, Arth ,  PEREZ, Salvador ,  BAEK, Jeesu

IPC: B65G57/00 ,  B25J9/16 ,  G05B19/418 ,  B65G47/00

Abstract: A robotic system is disclosed. The system includes a communication interface configured to receive, from one or more sensors deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that use a geometric model based at least in part on past item placements in combination with the sensor data to estimate a state of the pallet or other receptacle and one or more items stacked on or in the pallet or other receptacle, and use the estimated state to generate or update a plan to control a robotic arm to place a next item on or in, or remove a next item from, the pallet or other receptacle in a manner that avoids having the next item collide with any other item stacked on or in the pallet or other receptacle.

公开(公告)号：WO2022265931A1

公开(公告)日：2022-12-22

申请号：PCT/US2022/033044

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij

IPC: B65G57/00 ,  B25J9/16 ,  G05B19/418 ,  B65G47/00

Abstract: A robotic system is disclosed. The system includes a memory that stores for each of a plurality of items a set of attribute values. The system includes a processor(s) that uses the attribute values to simulate the placement of items, including by determining, iteratively, for each next item a placement location at which to place the item on a simulated stack of items on the pallet, using the attribute values and a geometric model of where items have been simulated to have been placed to estimate a state of the stack after each of a subset of simulated placements, and using the estimated state to inform a next placement decision. The steps of determining for each next item a placement location and estimating the state of the stack until all of at least a subset of the plurality of items have been simulated as having been placed on the stack.

公开(公告)号：WO2022265929A1

公开(公告)日：2022-12-22

申请号：PCT/US2022/033041

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij

IPC: B65G61/00 ,  B25J9/16 ,  B25J13/08 ,  B65G47/90 ,  B65G47/91 ,  G06T1/00 ,  B25J9/1661 ,  B25J9/1671 ,  B25J9/1697

Abstract: A robotic system is disclosed. The system includes a communication interface that receives, from a sensor(s) deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that control a robotic arm to place a first set of items on or in, or remove the first set of items from, the pallet or other receptacle, update a geometric model based on the first set of items placed on or in a receptacle, use the geometric model in combination with the sensor data to estimate a stack of one or more items on or in the receptacle, and use the estimated state to generate or update a plan to control the robotic arm to place a second set of items.

公开(公告)号：WO2022265941A1

公开(公告)日：2022-12-22

申请号：PCT/US2022/033100

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij

IPC: B65G57/00 ,  B25J9/16 ,  G05B19/418 ,  B65G47/00

Abstract: A robotic system is disclosed. The system includes a communication interface that receives, from one or more sensors deployed in a workspace, sensor data indicative of a current state of the workspace. The system includes one or more processors that use the sensor data to estimate a state of one or both of the pallet or other receptacle and the set of zero or more items stacked on or in the receptacle, and use the estimated state to generate or update a plan to control a robotic arm to place a next set of items on or in, or remove the next set of items from, the pallet or other receptacle, the plan comprising an ordered sequence of item placements or removals. The plan is generated or updated based at least in part by performing a bounded tree search in which a subset of possible ordered sequences is explored.

公开(公告)号：WO2022265940A1

公开(公告)日：2022-12-22

申请号：PCT/US2022/033099

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij

IPC: B65G61/00 ,  G06N20/00

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.

公开(公告)号：WO2022265932A1

公开(公告)日：2022-12-22

申请号：PCT/US2022/033047

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij

IPC: B65G57/22 ,  B65G57/20 ,  B65G57/16 ,  B25J9/00 ,  B25J9/02 ,  B25J9/18

Abstract: A robotic system is disclosed. The system includes a memory configured to store for each of a plurality of items a set of attribute values representing one or more physical attributes of the item. The system includes one or more processors coupled to the communication interface and configured to use the attribute values as inputs to a physic engine configured to compute the stability of a simulated stack of items comprising at least a subset of the plurality of items.

公开(公告)号：WO2022265929A8

公开(公告)日：2022-12-22

申请号：PCT/US2022/033041

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij

IPC: B65G61/00 ,  B25J9/16 ,  B25J13/08 ,  B65G47/90 ,  B65G47/91 ,  G06T1/00 ,  B25J9/1661 ,  B25J9/1671 ,  B25J9/1697 ,  B65G2203/0233 ,  B65G2203/0258 ,  B65G2203/041 ,  B65G2203/042 ,  B65G57/03

Abstract: A robotic system is disclosed. The system includes a communication interface that receives, from a sensor(s) deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that control a robotic arm to place a first set of items on or in, or remove the first set of items from, the pallet or other receptacle, update a geometric model based on the first set of items placed on or in a receptacle, use the geometric model in combination with the sensor data to estimate a stack of one or more items on or in the receptacle, and use the estimated state to generate or update a plan to control the robotic arm to place a second set of items.