Back to results
US 11,633,854 B2Granted
System and method for detection and correction of robot payload position
AssigneePersimmon Technologies Corporation
InventorsMartin Hosek, Scott Wilkas, Sripati Sah, Itsui Yamayoshi
Life of this patent
Estimating the term…
Abstract
Disclosed herein is a method. The method includes moving a payload through a motion path proximate at least one sensor. Detecting edges of the payload such that at least three points on at least two edges are detected. Capturing a position when the at least one sensor detects at least one edge of the payload.
Claims20
A method comprising:
- moving a payload through a motion path proximate at least one sensor;
- detecting edges of the payload such that at least three points on at least two edges are detected;
- using the detected at least three points to determine a position of the payload;
- and
- capturing a position of an end-effector carrying the payload when the at least one sensor detects at least one edge of the payload;
- wherein using the detected at least three points to determine the position of the payload comprises fitting edges of a rectangle to the at least three points, determining a positional offset and a rotational offset of the rectangle, and using the positional offset and the rotational offset to capture an adjusted destination position of the end-effector.
3 more elements
An apparatus comprising:
- an end-effector configured to move a payload;
- at least one sensor configured to detect edges of the payload;
- and
- a controller comprising at least one processor and at least one non-transitory memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to:
- move the payload through a motion path proximate the at least one sensor;
- detect the edges of the payload such that at least three points on at least two edges are detected;
- use the detected at least three points to determine a position of the payload;
- and
- capture a position of an end-effector carrying the payload when the at least one sensor detects at least one edge of the payload;
- wherein causing the apparatus to use the detected at least three points to determine the position of the payload comprises fitting edges of a rectangle to the at least three points, determining a positional offset and a rotational offset of the rectangle, and using the positional offset and the rotational offset to capture an adjusted destination position of the end-effector.
7 more elements
A non-transitory program storage device readable by a machine, tangibly embodying a program of instructions executable by the machine for performing operations comprising:
- moving a payload through a motion path proximate at least one sensor;
- detecting edges of the payload such that at least three points on at least two edges are detected;
- using the detected at least three points to determine a position of the payload;
- and
- capturing a position of an end-effector carrying the payload when the at least one sensor detects at least one edge of the payload;
- wherein using the detected at least three points to determine the position of the payload comprises fitting edges of a rectangle to the at least three points, determining a positional offset and a rotational offset of the rectangle, and using the positional offset and the rotational offset to capture an adjusted destination position of the end-effector.
3 more elements
Dependencies are inferred from the claim text.