公开(公告)号：WO2020172579A1

公开(公告)日：2020-08-27

申请号：PCT/US2020/019300

申请日：2020-02-21

Applicant: DEXTERITY, INC.

Inventor： CHAVEZ, Kevin Jose ,  HEGDAHL, Robert ,  GAO, Yuan ,  LOVETT, Andrew ,  HAU, Roger Lam ,  MENON, Samir

IPC: B25J15/06 ,  G05B19/418 ,  B65B57/00 ,  B65G47/91

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.

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：WO2022212018A1

公开(公告)日：2022-10-06

申请号：PCT/US2022/020166

申请日：2022-03-14

Applicant: DEXTERITY, INC.

Inventor： SUN, Zhouwen ,  SUN, Cuthbert ,  NGUYEN, Andrew ,  TAY, Samuel ,  PECK, Emilie ,  CHAVEZ, Kevin Jose ,  HOLMBERG, Robert

IPC: B25J9/16 ,  B65B5/08 ,  B65B35/00 ,  B65B35/54 ,  B65G1/137 ,  G06Q10/08

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.

公开(公告)号：WO2022212015A1

公开(公告)日：2022-10-06

申请号：PCT/US2022/020161

申请日：2022-03-14

Applicant: DEXTERITY, INC.

Inventor： SUN, Zhouwen ,  NADER, Cyril ,  NAYAK, Varun Uday ,  ARVAYO, Alberto Leyva ,  ROOT, Michael ,  LOVETT, Andrew ,  CHAVEZ, Kevin Jose

IPC: B25J15/00

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：WO2022066800A1

公开(公告)日：2022-03-31

申请号：PCT/US2021/051595

申请日：2021-09-22

Applicant: DEXTERITY, INC.

Inventor： SUN, Zhouwen ,  MENON, Samir ,  CHAVEZ, Kevin Jose ,  BAKER, Toby Leonard ,  TONDREAU III, David Leo ,  NGUYEN, Andrew ,  SUN, Cuthbert

IPC: B25J5/00 ,  B25J9/00 ,  B25J9/16 ,  B25J13/08

Abstract: A velocity control-based robotic system is disclosed. In various embodiments, sensor data is received from one or more sensors deployed in a physical space in which a robot is located. A processor is used to determine based at least in part on the sensor data an at least partly velocity-based trajectory along which to move an element comprising the robot. A command to implement the velocity-based trajectory is sent to the robot.

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：WO2022212016A1

公开(公告)日：2022-10-06

申请号：PCT/US2022/020162

申请日：2022-03-14

Applicant: DEXTERITY, INC.

Inventor： SUN, Zhouwen ,  SUN, Cuthbert ,  NGUYEN, Andrew ,  TAY, Samuel ,  PECK, Emilie ,  CHAVEZ, Kevin Jose ,  HOLMBERG, Robert

IPC: B25J9/16 ,  B65B5/08 ,  B65B35/00 ,  B65B35/54 ,  B65G1/137 ,  G06Q10/08

Abstract: A robotic line kitting system is disclosed. In various embodiments, a signal associated with an unsafe condition is received via a communication interface. In response to the signal, a controlled operation to reduce a speed of movement of a robotic instrumentality is performed prior to a safety stop of the robotic instrumentality being triggered.

公开(公告)号：WO2021080677A1

公开(公告)日：2021-04-29

申请号：PCT/US2020/047510

申请日：2020-08-21

Applicant: DEXTERITY, INC.

Inventor： SUN, Zhouwen ,  CHAVEZ, Kevin Jose ,  MENON, Samir ,  SU, Harry Zhe ,  MORRIS-DOWNING, Talbot ,  PIDAPARTHI, Rohit Arka ,  SHARMA, Ayush ,  WIRTH, Raphael, Georg

IPC: B65G47/91

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.