Patents by Inventor Harry Zhe Su
Harry Zhe Su has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20230260071Abstract: 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.Type: ApplicationFiled: April 24, 2023Publication date: August 17, 2023Inventors: Kevin Jose Chavez, Yuan Gao, Rohit Arka Pidaparthi, Talbot Morris-Downing, Harry Zhe Su, Samir Menon
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Publication number: 20230191621Abstract: A value associated with a plurality of measurement objects that are embedded in a material associated with an intermediate layer of a plurality of layers associated with a tactile sensing unit is sensed. The value associated with the plurality of measurement objects is sensed by a sensor that is included a layer below the intermediate layer of the tactile sensing unit. An output of the sensor is used to make a determination associated with engagement of a robotic arm end effector with an item.Type: ApplicationFiled: February 8, 2023Publication date: June 22, 2023Inventors: Samir Menon, Zhouwen Sun, Harry Zhe Su
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Patent number: 11669930Abstract: 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.Type: GrantFiled: October 29, 2019Date of Patent: June 6, 2023Assignee: Dexterity, Inc.Inventors: Kevin Jose Chavez, Yuan Gao, Rohit Pidaparthi, Talbot Morris-Downing, Harry Zhe Su, Samir Menon
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Publication number: 20230158676Abstract: A robotic system is disclosed to control multiple robots to cooperatively pick and place objects. In various embodiments, the robotic system includes a first robotic arm having a first end effector; a second robotic arm having a second end effector; and a control computer configured to use the first robotic arm and the second robotic arm to pick and place a plurality of objects, including by using the first robotic arm and the second robotic arm to work cooperatively to pick and place one or more of the objects.Type: ApplicationFiled: November 1, 2022Publication date: May 25, 2023Inventors: Zhouwen Sun, Rohun Kulkarni, Talbot Morris-Downing, Harry Zhe Su, Samir Menon, Kevin Jose Chavez, Robert Holmberg, Alberto Leyva Arvayo, Toby Leonard Baker
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Publication number: 20230150137Abstract: A robotic system is disclosed to control multiple robots to cooperatively load/unload a truck or other container. In various embodiments, image data is received and used to control a first robotic arm and a second robotic arm to load or unload objects into or from the truck or other container, including by loading or unloading one or more of the objects using the first robotic arm and the second robotic arm together to cooperatively to grasp and move each of one or more of the objects along a corresponding trajectory.Type: ApplicationFiled: November 1, 2022Publication date: May 18, 2023Inventors: Zhouwen Sun, Robert Holmberg, Talbot Morris-Downing, Harry Zhe Su, Toby Leonard Baker, Alberto Leyva Arvayo, Salvador Perez, Samir Menon
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Publication number: 20230143976Abstract: Techniques are disclosed to use a robotic arm to palletize or depalletize diverse items. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received. 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 is implemented at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item: using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location; and using one or more second order sensors to snug the item into a final position.Type: ApplicationFiled: January 13, 2023Publication date: May 11, 2023Inventors: Kevin Jose Chavez, Yuan Gao, Rohit Arka Pidaparthi, Talbot Morris-Downing, Harry Zhe Su, Samir Menon
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Publication number: 20230134924Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.Type: ApplicationFiled: November 1, 2022Publication date: May 4, 2023Inventors: Zhouwen Sun, Talbot Morris-Downing, Harry Zhe Su, Rohun Kulkarni, Kevin Jose Chavez, Samir Menon, Toby Leonard Baker, David Leo Tondreau, III, Robert Holmberg
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Patent number: 11607816Abstract: A plurality of sensors are configured to provide respective outputs that reflect a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of the plurality of sensors are used to make a determination associated with engagement of a robotic arm end effector with an item. A first value measured by a first sensor is used to determine a first input associated with a first factor. A second value measured by a second sensor is used to determine a second input associated with a second factor. The first input and the second input are provided to a multi-factor model configured to provide, based at least in part on the first input and the second input, an output associated with engagement of the robotic arm end effector with the item. The output of the multi-factor model is used to make the determination associated with engagement of the robotic arm end effector with the item.Type: GrantFiled: September 23, 2020Date of Patent: March 21, 2023Assignee: Dexterity, Inc.Inventors: Samir Menon, Zhouwen Sun, Harry Zhe Su
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Patent number: 11591169Abstract: Techniques are disclosed to use a robotic arm to palletize or depalletize diverse items. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received. 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 is implemented at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item: using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location; and using one or more second order sensors to snug the item into a final position.Type: GrantFiled: March 24, 2021Date of Patent: February 28, 2023Assignee: Dexterity, Inc.Inventors: Kevin Jose Chavez, Yuan Gao, Rohit Pidaparthi, Talbot Morris-Downing, Harry Zhe Su, Samir Menon
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Publication number: 20220315358Abstract: 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.Type: ApplicationFiled: March 16, 2022Publication date: October 6, 2022Inventors: Timothy Ryan, Zhouwen Sun, Harry Zhe Su, Talbot Morris-Downing, David Leo Tondreau, III, Toby Leonard Baker, Ayush Sharma, Raphael Georg Wirth
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Publication number: 20220289501Abstract: 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.Type: ApplicationFiled: March 15, 2021Publication date: September 15, 2022Inventors: Zhouwen Sun, Harry Zhe Su, Talbot Morris-Downing, David Leo Tondreau, III, Toby Leonard Baker, Timothy Ryan, Ayush Sharma, Raphael Georg Wirth, Cyril Nader
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Publication number: 20220289502Abstract: 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.Type: ApplicationFiled: March 15, 2021Publication date: September 15, 2022Inventors: Zhouwen Sun, Harry Zhe Su, Talbot Morris-Downing, David Leo Tondreau, III, Toby Leonard Baker, Timothy Ryan, Ayush Sharma, Raphael Georg Wirth, Cyril Nader
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Publication number: 20210206587Abstract: Techniques are disclosed to use a robotic arm to palletize or depalletize diverse items. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received. 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 is implemented at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item: using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location; and using one or more second order sensors to snug the item into a final position.Type: ApplicationFiled: March 24, 2021Publication date: July 8, 2021Inventors: Kevin Jose Chavez, Yuan Gao, Rohit Pidaparthi, Talbot Morris-Downing, Harry Zhe Su, Samir Menon
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Patent number: 10994949Abstract: Techniques are disclosed to use a robotic arm to palletize or depalletize diverse items. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received. 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 is implemented at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item: using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location; and using one or more second order sensors to snug the item into a final position.Type: GrantFiled: December 16, 2019Date of Patent: May 4, 2021Assignee: Dexterity, Inc.Inventors: Kevin Jose Chavez, Yuan Gao, Rohit Arka Pidaparthi, Talbot Morris-Downing, Harry Zhe Su, Samir Menon
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Publication number: 20210122586Abstract: 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.Type: ApplicationFiled: December 23, 2020Publication date: April 29, 2021Inventors: Zhouwen Sun, Kevin Jose Chavez, Samir Menon, Harry Zhe Su, Talbot Morris-Downing, Rohit Arka Pidaparthi, Ayush Sharma, Raphael Georg Wirth
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Publication number: 20210122054Abstract: 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.Type: ApplicationFiled: December 23, 2020Publication date: April 29, 2021Inventors: Zhouwen Sun, Kevin Jose Chavez, Samir Menon, Harry Zhe Su, Talbot Morris-Downing, Rohit Arka Pidaparthi, Ayush Sharma, Raphael Georg Wirth
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Publication number: 20210122056Abstract: A plurality of sensors are configured to provide respective outputs that reflect a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of the plurality of sensors are used to make a determination associated with engagement of a robotic arm end effector with an item. A first value measured by a first sensor is used to determine a first input associated with a first factor. A second value measured by a second sensor is used to determine a second input associated with a second factor. The first input and the second input are provided to a multi-factor model configured to provide, based at least in part on the first input and the second input, an output associated with engagement of the robotic arm end effector with the item. The output of the multi-factor model is used to make the determination associated with engagement of the robotic arm end effector with the item.Type: ApplicationFiled: September 23, 2020Publication date: April 29, 2021Inventors: Samir Menon, Zhouwen Sun, Harry Zhe Su
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Publication number: 20210122039Abstract: A plurality of sensors are configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of one or more sensors comprising the plurality of sensors are used to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector. A determination associated with slippage of the item within or from the grasp of the robotic arm end effector is made based at least in part on an output of the multi-modal model. A responsive action is taken based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.Type: ApplicationFiled: September 23, 2020Publication date: April 29, 2021Inventors: Harry Zhe Su, Zhouwen Sun, Samir Menon
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Patent number: 10954081Abstract: 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.Type: GrantFiled: June 30, 2020Date of Patent: March 23, 2021Assignee: Dexterity, Inc.Inventors: Zhouwen Sun, Kevin Jose Chavez, Samir Menon, Harry Zhe Su, Talbot Morris-Downing, Rohit Arka Pidaparthi, Ayush Sharma, Raphael Georg Wirth
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Patent number: 10906188Abstract: 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.Type: GrantFiled: June 30, 2020Date of Patent: February 2, 2021Assignee: Dexterity, Inc.Inventors: Zhouwen Sun, Kevin Jose Chavez, Samir Menon, Harry Zhe Su, Talbot Morris-Downing, Rohit Arka Pidaparthi, Ayush Sharma, Raphael Georg Wirth