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公开(公告)号：US11964830B2
公开(公告)日：2024-04-23
申请号：US17122929
申请日：2020-12-15
发明人： John C. McCoy, Jr. , James A. Bailey , Carter J. Schultz , Matanya B. Horowitz , Mark Baybutt , Cameron D. Douglas
CPC分类号： B65G47/918 , B25J13/08 , B25J15/0666 , B65G47/917 , B25J9/003 , B25J9/1697
摘要： Using a suction gripper cluster device is disclosed, including: causing airflows to be generated by a plurality of airflow generators of a respective plurality of suction gripper mechanisms included in a suction gripper cluster device comprising a plurality of suction gripper mechanisms, wherein the plurality of airflow generators is configured to cause the airflows to enter respective intake ports of the plurality of suction gripper mechanisms and exit respective outlet ports of the respective plurality of suction gripper mechanisms in response to receiving air at a respective air input port of the respective plurality of suction gripper mechanisms; causing a target object to be captured by the suction gripper cluster device using the airflows; activating a positioning actuator mechanism to position the suction gripper cluster device; and causing the target object to be ejected from the suction gripper cluster device.
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公开(公告)号：US20210179366A1
公开(公告)日：2021-06-17
申请号：US17122929
申请日：2020-12-15
发明人： John C. McCoy, JR. , James A. Bailey , Carter J. Schultz , Matanya B. Horowitz , Mark Baybutt , Cameron D. Douglas
摘要： Using a suction gripper cluster device is disclosed, including: causing airflows to be generated by a plurality of airflow generators of a respective plurality of suction gripper mechanisms included in a suction gripper cluster device comprising a plurality of suction gripper mechanisms, wherein the plurality of airflow generators is configured to cause the airflows to enter respective intake ports of the plurality of suction gripper mechanisms and exit respective outlet ports of the respective plurality of suction gripper mechanisms in response to receiving air at a respective air input port of the respective plurality of suction gripper mechanisms; causing a target object to be captured by the suction gripper cluster device using the airflows; activating a positioning actuator mechanism to position the suction gripper cluster device; and causing the target object to be ejected from the suction gripper cluster device.
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公开(公告)号：US20240299986A1
公开(公告)日：2024-09-12
申请号：US18598770
申请日：2024-03-07
发明人： Jacob Fitzgerald , Jason M. Calaiaro , Carter J. Schultz , Cameron D. Douglas , Matthew J. Koos , Carson C. Potter , Amanda M. Marrs , Matanya B. Horowitz
IPC分类号： B07C5/34 , G05B19/418
CPC分类号： B07C5/3412 , G05B19/4185
摘要： Centralized control of multiple sorting facilities is disclosed, including: a feedback interface configured to collect sorting results feedback data from a first sorting facility, wherein the first sorting facility is associated with a second sorting facility; and one or more processors configured to reconfigure a set of sorting facility devices located in the second sorting facility based at least in part on the sorting results feedback data.
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公开(公告)号：US20240058965A1
公开(公告)日：2024-02-22
申请号：US18448658
申请日：2023-08-11
发明人： Matthew Stanton , Jacob Fitzgerald , Jeffrey Stenberg , Jason M. Calaiaro , Carter J. Schultz , John C. McCoy, JR. , Kevin Taylor , Brian J. Leach , Peter March , Joseph M. Castagneri , Brendan Edward Richards
CPC分类号： B25J9/1674 , B07C5/342 , B25J15/0616 , B25J19/0066
摘要： Pick quality determination is disclosed, including: using a pressure meter to sense a pressure associated with an airflow through a gripper mechanism of a diverting mechanism over time during a pick operation on a target object; storing the sensed pressure associated with the airflow through the gripper mechanism over time as a pressure sequence associated with the pick operation on the target object; and correlating the pressure sequence with representative pressure sequences associated with corresponding pick quality types to determine whether the pick operation on the target object was successful or not.
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公开(公告)号：US20240317505A1
公开(公告)日：2024-09-26
申请号：US18598728
申请日：2024-03-07
发明人： Jacob Fitzgerald , Jason M. Calaiaro , Carter J. Schultz , Cameron D. Douglas , Matthew J. Koos , Carson C. Potter , Amanda M. Marrs , Matanya B. Horowitz
CPC分类号： B65G43/02 , B07C5/361 , B65G43/10 , B65G2203/041 , B65G2207/30
摘要： A reconfigurable sorting facility is disclosed, including: a plurality of sorting facility devices; and one or more processors configured to: store physical layout information that describes corresponding positions of the plurality of sorting facility devices within a sorting facility; collect feedback data from the plurality of sorting facility devices; and identify at least a subset of the plurality of sorting facility devices to reconfigure based at least in part on the collected feedback data and respective positions of the subset of the plurality of sorting facility devices.
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公开(公告)号：US20230192418A1
公开(公告)日：2023-06-22
申请号：US17559798
申请日：2021-12-22
发明人： Matanya B. Horowitz , Joseph M. Castagneri , Carter J. Schultz , Kevin Taylor , Austin Anderson , Paul Dawes
CPC分类号： B65G47/46 , G06T7/20 , G06V20/50 , B65G2203/0208
摘要： Object path planning in a sorting facility is disclosed, including: obtain data describing a trajectory associated with a target object; generate a control signal for a sorting device to perform a sorting operation on the target object based at least in part on the trajectory associated with the target object; and provide the control signal to the sorting device, wherein the sorting device is configured to execute the control signal with respect to the target object.
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公开(公告)号：US20200338758A1
公开(公告)日：2020-10-29
申请号：US16843162
申请日：2020-04-08
摘要： Systems and methods for a telescoping suction gripper assembly are provided. In one embodiment, a robotic system comprises: a robot comprising a robotic actuator and at least one robotic arm mechanically coupled to the robotic actuator; a telescoping suction gripper assembly comprising a telescoping member and a suction gripper mechanism, wherein a first end of the telescoping member is coupled to a vacuum supply conduit via a first flexible conduit member and a second end of the telescoping member is coupled to the suction gripper mechanism by a second flexible conduit member, and wherein the suction gripper mechanism is pivotally coupled to the at least one robotic; wherein the telescoping member is configured to adjust in length in response to the at least one robotic arm relocating the suction gripper mechanism from a first position to a second position.
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公开(公告)号：US20240299990A1
公开(公告)日：2024-09-12
申请号：US18598751
申请日：2024-03-07
发明人： Jacob Fitzgerald , Jason M. Calaiaro , Carter J. Schultz , Cameron D. Douglas , Matthew J. Koos , Carson C. Potter , Amanda M. Marrs , Matanya B. Horowitz
CPC分类号： B07C5/368 , B07C5/3422 , B65G43/08 , B65G47/525 , B07C2501/0054 , B65G2203/041
摘要： Time-varying control of a controllable air stream is disclosed, including: a set of image sensors configured to capture image data showing a target object being conveyed by a conveyor device along a Y-direction; an array of air jets located along an X-direction, wherein the X-direction crosses the Y-direction; and a processor configured to: receive the image data from the set of image sensors; determine a classification of the target object within the image data; and modify a two-dimensional firing polygon of air to be directed by the array of air jets on the target object based at least in part on the classification of the target object; and wherein the array of air jets is configured to perform a sorting operation on the target object as the target object is translated across the array of air jets based at least in part on the modified two-dimensional firing polygon.
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公开(公告)号：US20240299953A1
公开(公告)日：2024-09-12
申请号：US18598778
申请日：2024-03-07
发明人： Jacob Fitzgerald , Jason M. Calaiaro , Carter J. Schultz , Cameron D. Douglas , Matthew J. Koos , Carson C. Potter , Amanda M. Marrs , Matanya B. Horowitz
CPC分类号： B03B9/06 , B30B9/3007 , B30B15/30
摘要： Dynamic bale creation is disclosed, including: a plurality of sorting facility devices configured to capture objects from a material stream based at least in part on target sorting metrics specified by a bale recipe; and one or more processors configured to: determine current sorting metrics associated with captured objects that are to be added to a collection mechanism at a sorting facility; and determine whether to trigger reconfiguration of at least a subset of the plurality of sorting facility devices based at least in part on a comparison between the target sorting metrics and the current sorting metrics.
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公开(公告)号：US20230196132A1
公开(公告)日：2023-06-22
申请号：US17559814
申请日：2021-12-22
发明人： Matanya B. Horowitz , Joseph M. Castagneri , Joshua M. Browning , Carter J. Schultz , Carson C. Potter
IPC分类号： G06N5/02 , G06V10/774 , G06V10/58 , G06V10/764
CPC分类号： G06N5/022 , G06V10/58 , G06V10/764 , G06V10/774
摘要： Object material type identification using multiple types of sensors is disclosed, including: obtaining a machine learning model, wherein the machine learning model has been trained using training data comprising vision sensor data on a set of objects, and wherein the vision sensor data on the set of objects is associated with material characteristic labels that are determined based at least in part on non-vision sensor data on the set of objects; obtaining a vision sensor signal corresponding to an object; and using the machine learning model and the vision sensor signal to determine a material characteristic type associated with the object.
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