公开(公告)号：WO2021080678A1

公开(公告)日：2021-04-29

申请号：PCT/US2020/047513

申请日：2020-08-21

Applicant: DEXTERITY, INC.

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

IPC: B25J9/16

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.

公开(公告)号：WO2022197837A1

公开(公告)日：2022-09-22

申请号：PCT/US2022/020601

申请日：2022-03-16

Applicant: DEXTERITY, INC.

Inventor： RYAN, Timothy ,  SUN, Zhouwen ,  SU, Harry Zhe ,  MORRIS-DOWNING, Talbot ,  TONDREAU III, David Leo ,  BAKER, Toby Leonard ,  SHARMA, Ayush ,  WIRTH, Raphael Georg

IPC: B07C1/04 ,  B07C3/18 ,  B25J9/00 ,  B25J9/16 ,  B25J19/02 ,  G06K7/10

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.

公开(公告)号：WO2022197456A1

公开(公告)日：2022-09-22

申请号：PCT/US2022/018772

申请日：2022-03-03

Applicant: DEXTERITY, INC.

Inventor： SUN, Zhouwen ,  SU, Harry Zhe ,  MORRIS-DOWNING, Talbot ,  TONDREAU III, David Leo ,  BAKER, Toby Leonard ,  RYAN, Timothy ,  SHARMA, Ayush ,  WIRTH, Raphael Georg ,  NADER, Cyril

IPC: B65G47/71 ,  B07C5/36 ,  B65G47/54 ,  B07C5/00

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.

公开(公告)号：WO2022197449A1

公开(公告)日：2022-09-22

申请号：PCT/US2022/018562

申请日：2022-03-02

Applicant: DEXTERITY, INC.

Inventor： SUN, Zhouwen ,  SU, Harry Zhe ,  MORRIS-DOWNING, Talbot ,  TONDREAU, David, Leo, III ,  BAKER, Toby Leonard ,  RYAN, Timothy ,  SHARMA, Ayush ,  WIRTH, Raphael Georg ,  NADER, Cyril

IPC: B07C1/04 ,  B25J9/00 ,  B25J9/16 ,  B25J15/06 ,  B65G47/91

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：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.