Automated manipulation of transparent vessels
US11179852B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 25, 2019 |
| Grant date | Nov 23, 2021 |
| Priority date | — |
| Expiry date | Jan 13, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/20084
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An actuator and end effector are controlled according to images from cameras having a surface in their field of view. Vessels (cups, bowls, etc.) and other objects are identified in the images and their configuration is assigned to a finite set of categories by a classifier that does not output a 3D bounding box or determine a 6D pose. For objects assigned to a first subset of categories, grasping parameters for controlling the actuator and end effector are determined using only 2D bounding boxes, such as oriented 2D bounding boxes. For objects not assigned to the first subset, a righting operation may be performed using only 2D bounding boxes. Objects that are still not in the first set may then be grasped by estimating a 3D bounding box and 6D pose.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.