Sensorized robotic gripping device
AssigneeGoogle Inc.
InventorsJeffrey Bingham, Taylor Alexander, Bianca Homberg, Joseph DelPreto, Alex Shafer
Life of this patent
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Abstract
A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.
Claims20
A robotic gripping device, comprising:
- a plurality of digits;
- a camera comprising an illumination source, wherein the camera is positioned on the robotic gripping device and oriented in a direction extending between the plurality of digits in order to generate image data in the direction extending between the plurality of digits;
- and
- a diffuser positioned over the illumination source, wherein the diffuser is configured to diffuse light emitted by the illumination source in the direction extending between the plurality of digits.
A robot, comprising a robotic gripping device, wherein the robotic gripping device comprises:
- a plurality of digits;
- a camera comprising an illumination source, wherein the camera is positioned on the robotic gripping device and oriented in a direction extending between the plurality of digits in order to generate image data in the direction extending between the plurality of digits;
- and
- a diffuser positioned over the illumination source, wherein the diffuser is configured to diffuse light emitted by the illumination source in the direction extending between the plurality of digits.
A method, comprising:
- illumining, by an illumination source of a camera, an area between a plurality of digits of a robotic gripping device, wherein the camera is positioned on the robotic gripping device and oriented in a direction extending between the plurality of digits;
- diffusing, by a diffuser positioned over the illumination source, light emitted by the illumination source in the direction extending between the plurality of digits;
- and
- generating, by the camera, image data indicative of the area between the plurality of digits of the robotic gripping device, wherein the area is illuminated by the diffused light.
Dependencies are inferred from the claim text.